CN106998984B - 用于机器人清洁设备的清洁方法 - Google Patents
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Abstract
本发明涉及一种在待清洁的表面(35,35’)上操作机器人清洁设备(10)的方法,所述方法由所述机器人清洁设备执行,所述方法包括以下步骤:当在所述表面上以一定间隔记录(S03)路径标记(36)时,跟随(S02)第一物体(34,34’)的边界(38,38’),所述路径标记包括位置信息;在遇到预先记录的路径标记中的一个或多个之后,以偏移(D)跟踪(S04)所述预先记录的路径标记(36’);以及在检测到第二物体之后,从跟踪所述预先记录的路径标记切换(S05)到跟随(S06)所述第二物体(40)的边缘(38”)。
Description
技术领域
本发明涉及一种机器人清洁设备以及一种操作机器人清洁设备以便提高清洁效率的方法。
背景技术
在许多技术领域中,希望使用具有自主行为的机器人,使得它们可以在空间内四处自由移动而不与可能的物体和障碍物碰撞。
进一步被称为机器人清洁设备的机器人真空吸尘器或机器人地板拖把在本领域是已知的并且通常装备有呈一个或多个电机形式的驱动装置用于使该吸尘器在待清洁的表面上移动。机器人清洁设备可以进一步配备有呈用于引起自主行为的一个或多个微处理器和导航装置形式的智能,从而使得机器人真空吸尘器能够自由地来回移动并且清洁例如呈房间形式的空间。因此,这些现有技术机器人真空吸尘器具有或多或少地自主地对其中具有家具(如桌椅)以及其他物体(如墙壁和楼梯)的房间进行真空吸尘或擦干的能力。
基本上存在两类本领域已知的机器人清洁设备;——通过随机移动清洁表面的机器人清洁设备以及使用各种传感器数据在表面上导航的机器人清洁设备。
使用随机移动的机器人清洁设备还随机地寻找充电器。这些机器人清洁设备按照偶然性原则导航和清洁。这种机器人清洁设备可以包括碰撞传感器来避免在清洁时发生碰撞。通常,它们包括用于当它们碰巧经过充电器时或当充电器进入视野中时检测并定位充电器的装置。这明显不是清洁和导航非常有效的方式,并且具体地无法针对大表面或复杂的布局很好地工作。
使用传感器数据导航的本领域另一种类型的机器人清洁设备根据它们可以安全地行驶而不碰撞物体或障碍物的传感器数据进行推断。由于它们基于在大部分情况下并不完整的传感器数据来假设它们的环境,因此它们冒着卡住或迷路的高风险。此外,提取数据并且因此根据传感器数据作出假设额外地需要昂贵的电子部件。
在一些情况下,现有技术机器人清洁设备使用行程方法进行清洁,这意味着它们来回逐行程地行驶以便清洁表面。当将这种现有机器人清洁设备从一个房间导航到另一个房间或者导航回至充电器时,机器人清洁设备使用传感器数据进行导航。由于这种机器人清洁设备还被迫基于传感器数据作出假设,因此碰撞物体或障碍物的风险则可比较地较高。这可能使机器人清洁设备减速并且由此降低清洁效率。此外,逐行程方法可能使大量碎屑或灰尘剩余,例如靠近物体或障碍物的边缘。这种清洁可能不整洁。
一些已知的机器人清洁设备可以包括被安排靠近或位于清洁开口的左或右外围的侧刷,以便将碎屑和灰尘刷到清洁开口中以及清洁开口前方。当将侧刷(具体地仅一个侧刷)安装在机器人清洁设备上时,清洁模式需要相应地调节到确保侧刷正在以最佳方式除去碎屑和灰尘。
发明内容
本发明的目的是提供一种用于操作机器人清洁设备的方法以及一种被配置成用于执行整洁、有效且鲁棒的方法的机器人清洁设备。
本发明的诸位发明人已经意识到可以提供一种用于有效地操作机器人清洁设备以便提供整洁且整齐的清洁的通用方法。所述方法增强了机器人清洁设备的导航的鲁棒性并且改善了清洁的整体性能。
本文中公开了一种在待清洁的表面上操作机器人清洁设备的方法,所述方法由所述机器人清洁设备执行,所述方法包括以下步骤:
当在所述表面上以一定间隔记录路径标记时,跟随第一物体的边界,所述路径标记包括位置信息;
在遇到预先记录的路径标记中的一个或多个之后,以偏移跟踪所述预先记录的路径标记;以及
在检测到第二物体之后,从跟踪所述预先记录的路径标记切换到跟随所述第二物体的边缘。
此方法允许所述机器人清洁设备根据向内清洁模式或向外清洁模式进行清洁。所述机器人清洁设备可以由此通过跟随第一物体(如墙壁等)的边界开始清洁待清洁的表面,并且通过以螺旋模式向内清洁来朝表面的内部移动,或者其可以检测由此在表面内被安排在远离表面的边界的某处的第二物体,并且通过跟随所述第二物体的边缘开始清洁并且通过以螺旋模式从第二物体向外移动进行清洁。
第一和第二物体可以是家具、墙壁、楼梯、电梯井等。在许多情况下,第一物体可以是房间的墙壁,并且第二物体可以是家具。
间隔可以是时间间隔或者距离间隔。
偏移可以分别小于机器人清洁设备的宽度和机器人清洁设备的清洁部分。
有利地,所述机器人清洁设备跟随所述第二物体的所述边缘直到再次遇到预先记录的路径标记。
当遇到预先记录的路径标记时,所述机器人清洁设备将意识到或者第二障碍物被完全包围或者第二障碍物的侧之一被预先清洁,并且将由此再次切换到跟随预先存放的路径标记。
这可以允许机器人清洁设备建立包括清洁期间所有遇到的物体的映射图。
在另一个实施例中,机器人清洁设备可以跟随第二物体的边缘直到所述第二物体被包围。
由此,所述机器人清洁设备可以继续跟随所述第二物体,即使在如此做之后会遇到预先记录的路径标记。一旦完全包围第二物体,机器人清洁设备就将再次以偏移跟随或跟踪预先存放的路径标记。
跟踪和切换到边界或边缘跟随的步骤允许机器人清洁设备以自主且有效的方式在待清洁的表面上移动,并且另外确保整洁且整齐的清洁,即使在遇到物体时。
在另一个优选实施例中,所述方法包括以下步骤:在遇到所述预先记录的路径标记中的一个或多个之后识别限定待清洁的区域的环路,其中,所述环路包括多个所述预先记录的路径标记。
根据环路的形状,可以调节剩余表面的清洁模式。在识别之后,可以封闭环路。例如,仅当前跟随的并由机器人清洁设备记录的环路可以被打开并且被机器人清洁设备认为是有效的。
优选地,在识别以便生成高效且简单的清洁模式之后,环路在映射图内被简化。
由于可以避免已经清洁的区域并且可以避免多次清洁例如走廊或窄路中的相同区域,因此这可以改善导航以及机器人清洁设备的清洁效率。
所述简化包括以下步骤:封闭所述环路和/或将所述环路拆分成限定多个待清洁的区域的多个环路,从而使得所述机器人清洁设备可以一个接一个地清洁所述区域。
当待清洁的表面例如包括被走廊互连的两个房间时,环路可以在已经完成了沿着两个房间的边界的第一环路时被分成两个环路,每个房间一个环路。每个环路可以限定待清洁的区域,并且机器人清洁设备可以一个接一个地清洁两个区域。
在以上例如走廊的情况下,这种简化避免了在预先清洁的区域上的多个行程,并且其降低了机器人清洁设备的复杂度。
如果假设在环路的完成中不涉及物体或障碍物是安全的,则所述简化可以替代性地包括所述完成。
此外,当检测到表面大于阈值时,所述简化可以涉及在已经完成第一环路之后通过引导机器人清洁设备沿着分离表面的边线来拆分待清洁的表面。
在实施例中,在所述机器人清洁设备在任何方向上移动而不能够向预先记录的路径标记中的任何路径标记建立所述偏移时遇到预先记录的路径标记的情况下,所述多个区域中的第一区域可以被认为是清洁的。
当预先记录的路径标记的围绕当前记录的路径标记的所有路径标记比偏移更靠近机器人清洁设备时,假设第一区域已经被完全地清洁并且由此已完成是安全的。
如果以上不是这种情况,则机器人清洁设备将朝预先记录的路径标记仍然以比偏移更大的距离间隔开的区域移动并且继续清洁。
进一步,所述方法可以包括避免进入预先记录的路径标记之间的距离小于偏移的区域的步骤。
当来自多个区域中的区域的待清洁的第一区域可以被认为已完成时,机器人清洁设备可以移动到多个区域中待清洁的第二区域,并且开始跟踪限定待清洁的第二区域的环路的预先记录的路径标记。
机器人清洁设备可以由此通过完成每个区域直到没有剩余区域为止来逐步工作。
在优选的实施例中,如在所述机器人清洁设备的移动方向上看到的,路径标记可以记录在所述机器人清洁设备的左或右外围或者所述机器人清洁设备的清洁开口处。
在另一个实施例中,如在机器人清洁设备的移动方向上看到的,机器人清洁设备可以使用机器人清洁设备的右或左外围或者机器人清洁设备的清洁部分来跟随左或右路径标记。
具体地,如果侧刷被安装在机器人清洁设备上,则机器人清洁设备可以在遇到预先记录的路径标记时使用侧刷跟随路径标记。
在进一步实施例中,所述机器人清洁设备可以跟随所述第一和第二物体的所述边界或所述边缘,从而使得所述路径标记记录在所述机器人清洁设备的所述外围上或者所述机器人清洁设备的位于远离所述边界或所述边缘的所述清洁开口上。
以上内容可以根据于机器人清洁设备是逆时针方向还是顺时针方向进行清洁以及是否安装了侧刷来应用。如果安装了侧刷,则有利的是,侧刷是否跟随第一或第二物体的边界或边缘。机器人清洁设备可以由此被配置成用于将清洁模式改变成逆时针方向或顺时针方向,以便确保当遇到物体时侧刷跟随物体的边缘或边界。
当检测到第一物体的拐角时,可以开始记录路径标记。
这可能在某种程度上简化清洁模式,如在本文中稍后描述的。
本文中还公开了一种机器人清洁设备,所述机器人清洁设备包括:主体;推进系统,所述推进系统被安排成用于移动所述机器人清洁设备;接触检测部分,所述接触检测部分连接至所述主体并且被安排成用于检测所述机器人清洁设备是否与物体接触;以及航位推算传感器,所述航位推算传感器可操作地连接至所述推进系统。机器人清洁设备可以进一步包括处理单元,所述处理单元被安排成用于控制所述推进系统;由此,所述处理单元可以连接至所述航位推算传感器并且被配置成用于执行包括先前描述的步骤和/或特征中任一项的方法。
本文中进一步公开了一种包括计算机可执行指令的计算机程序,所述计算机可执行指令用于在所述计算机可执行指令在所述机器人清洁设备中所包括的处理单元上被执行时使所述机器人清洁设备执行包括先前描述的步骤和/或特征中任一项的方法。
进一步公开了一种包括计算机可读存储介质的计算机程序产品,所述计算机可读存储介质具有在其中实施的根据以上内容的计算机程序。
总的来说,除非本文中另有明确定义,否则在权利要求书中所使用的所有术语是根据它们在技术领域中的普通含义来解释的。除非另有明确声明,否则所有引用的“一/一个/元件、装置、部件、手段、设备、步骤等”是如参考所述元件、装置、部件、手段、设备、步骤等中的至少一个实例开放性解释的。除非明确阐述,否则本文中所公开的任何方法的步骤不必按照所公开的确切顺序来执行。
附图说明
现在将通过示例方式通过参考附图来描述本发明,在附图中:
图1示意性地展示了根据本发明的机器人清洁设备的实施例的俯视图;
图2示意性地展示了根据本发明实施例的机器人清洁设备的正视图;
图3a示意性地展示了根据本发明的方法的当开始向内清洁时对路径标记的记录;
图3b示意性地展示了根据本发明的方法的当开始向外清洁时对路径标记的记录;
图4示意性地展示了如何识别并且潜在地封闭环路;
图5a示意性地展示了在遇到物体之后从跟踪路径标记切换到跟随物体的边缘;
图5b示意性地展示了与图5a类似的视图;在这种情况下,在切换回至路径标记跟踪之前物体被完全包围;
图5c示意性地展示了与图5a和图5b类似的视图;在这种情况下,在切换回路径标记跟踪之前物体没有被完全包围;
图6a示意性地展示了向外清洁;
图6b示意性地展示了在根据图6a的环境中如何简化环路;
图7示意性地展示了在第一区域清洁之后,机器人清洁设备如何从第一区域移动到第二区域;以及
图8展示了根据本发明的方法步骤。
具体实施方式
现在将参照这些附图在下文中更为全面地描述本发明,在附图中示出了本发明的某些实施例。然而,本发明可以采用许多不同形式来实施,并不应被解释为局限于本文中提出的这些实施例;而是,这些实施例是以示例方式提供的,这样使得本公开将是全面和完整的,并将向本领域技术人员完整地传达本发明的范围。贯穿本说明书,相同的数字指代相同的元件。
本发明涉及机器人清洁设备,或者换言之,涉及用于清洁表面的自动自推进机器,例如,机器人真空吸尘器、机器人清洁器或机器人地板洗涤器。根据本发明的机器人清洁设备10能够用市电操作并且具有电绳、是用电池操作的、或者使用任何其他种类的合适的能源,例如太阳能。
图1示出了根据本发明的实施例的机器人清洁设备10的底视图,即,示出了机器人清洁设备10的底侧。箭头指示了机器人清洁设备的前进方向。机器人清洁设备10包括主体11,所述主体容纳了如推进系统的部件,所述推进系统包括呈能够使驱动轮12、13移动的两个电动轮电机15a、15b形式的驱动装置,从而使得机器人清洁设备10能够在待清洁的表面上移动。每个轮电机15a、15b能够控制各自的驱动轮12、13彼此独立地旋转以便使机器人清洁设备10跨待清洁的表面移动。可以设想许多不同的驱动轮安排以及各种不同的轮电机安排。应注意的是,机器人清洁设备10可以具有任何合适的形状,如所展示的圆形主体11或三角形主体。
作为上文所描述的推进系统的替代方案,可以使用跟踪推进系统或甚至气垫船推进系统。
所述推进系统另外连接至两个航位推算传感器30、30’上,给每个驱动轮12、13指派了一个航位推算传感器,如图1中所展示的。航位推算传感器30、30’被配置成用于通过观察驱动轮12、13的相应移动和转动来独立地测量机器人清洁设备10所行驶的距离,以便帮助将机器人清洁设备10定位在例如房间内。
图1中所展示的机器人清洁设备10的实施例包括两个航位推算传感器30、30’,但是能够想象机器人清洁设备包括仅一个航位推算传感器30、30’。
控制器(如处理单元16)鉴于从障碍物检测设备(图2中示出)处接收的信息来控制轮电机15a、15b根据需要使驱动轮12、13旋转,所述障碍物检测设备用于检测机器人清洁设备必须在绕其导航的呈墙壁、落地灯、桌腿形式的障碍物。如图1中所展示的,航位推算传感器30、30’例如经由电动轮电机15a、15b连接至处理单元16上。
障碍物检测设备可以以红外(IR)传感器和/或声呐传感器、微波雷达、记录其周围环境借助于例如3D相机、与激光器组合的相机、激光扫描仪等实现的3D传感器系统的形式被实施,用于检测障碍物并将关于任何检测到的障碍物的信息传达至处理单元16。处理单元16与轮电机15a、15b通信,以便根据由障碍物检测设备提供的信息控制轮12、13的移动。
在图1中,进一步展示了机器人清洁设备10的宽度W。由于主体11具有圆形形状,因此宽度W与主体的直径相对应。概括地说,宽度W可以被限定为机器人清洁设备10的最宽部分或最大尺寸,如在正向方向M上测量的。
主体11可以可选地提供有用于从待清洁的表面上除去碎屑和灰尘的清洁构件17,所述清洁构件呈安排在机器人吸尘器10的底部处的开口18中的可旋转刷辊的形式。因此,可旋转刷辊17沿水平轴线安排在开口18中,以增强清洁设备10的灰尘和碎屑收集特性。为了使刷辊17旋转,刷辊电机19操作性地耦合至刷辊上,以根据从处理单元16处接收的指令控制其旋转。可选地,机器人清洁设备10包括侧刷(未示出)以便使清洁最优化。侧刷可以被安排在开口18的外围处或靠近开口的外围,从而使得碎屑和灰尘被刷到开口前方的刷辊17中。在图3a至图7中所展示的示例中,可以假设侧刷(未示出)被安排在机器人清洁设备10的开口18的右外围处,尽管本发明不依赖于此,这意味着根据本发明的方法还在没有侧刷的情况下工作。
此外,机器人吸尘器10的主体11包括抽风机20,所述抽风机创造气流以便经由主体11的底侧中的开口18将碎屑运输到被容纳在主体中的集尘袋或旋流器安排(未示出)。抽风机20由连接至处理单元16上的风扇电机21驱动,风扇电机21从所述处理单元处接收用于控制抽风机20的指令。应注意的是,可以设想机器人清洁设备10具有可旋转刷辊17和抽风机20中的任一者用于将碎屑运输到集尘袋。然而,这两个的组合会增强机器人清洁设备10的除屑能力。
替代性地,机器人清洁设备10可以包括拖把(未示出)和/或旋转地板刷(未示出)。
进一步参考图1,可以以一个或多个微处理器形式实施的处理单元16被安排成用于执行被下载到与微处理器相关联的合适存储介质26中的计算机程序25,如随机存取存储器(RAM)、闪存或硬盘驱动器。处理单元16被安排成用于在包括计算机可执行指令的适当计算机程序25被下载至存储介质26并且被处理单元16执行时实施根据本发明的实施例的方法。存储介质26还可以是包括计算机程序25的计算机程序产品。替代性地,计算机程序25可以通过合适的计算机程序产品(如数字化通用磁盘(DVD)、光盘(CD)或者记忆棒)来传递至存储介质26。作为另外一个替代方案,计算机程序25可以通过网络下载至存储介质26。处理单元16可以替代性地以数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、复杂可编程逻辑器件(CPLD)的形式被实施。
在图1中进一步展示了接触检测部分32。如在移动方向上看到的,接触检测部分32被安排在机器人清洁设备10的前端处。接触检测部分32可以延伸跨过机器人清洁设备10的整个前部、类似于现代汽车的停车距离传感器。替代性地,接触检测部分32可以仅延伸跨过机器人清洁设备10的前极端,如图1中所展示的。接触检测部分32被安排成用于检测机器人清洁设备10是否与物体或地标相接触。当不得不避免与障碍物碰撞时,这可能是有用的。
图2示出了根据实施例的机器人清洁设备10的正视图,展示了呈3D相机系统22形式的前述障碍物检测设备,所述相机系统至少包括相机23以及第一和第二结构光源27、28,所述结构光源可以是水平或竖直定向的线激光器。另外展示了前面参照图1讨论的处理单元16、主体11、驱动轮12、13和可旋转刷辊17。处理单元16操作性地耦合至用于记录机器人清洁设备10的附近的图像的相机23。第一和第二结构光源27、28可以优选地是竖直线激光器并且被安排在相机23的侧面、被配置成用于照亮比机器人清洁设备10的高度和宽度更大的高度和宽度。相机23由处理单元16控制来每秒捕捉和记录多张图像。由处理单元16从图像中提取数据,并且通常将数据与计算机程序25一起保存在存储介质26中。
第一和第二结构光源27、28被配置成用于优选地朝竖直朝向、正常朝机器人清洁设备10的移动方向扫描机器人清洁设备10的附近。第一和第二结构光源27、28被配置成用于发出照亮家里或房间的家具、墙壁和其他障碍物的激光束。在机器人清洁设备10在待清洁的表面上移动时,相机23被处理单元16控制,以捕捉并记录图像,通过从所述图像提取特征并通过测量被机器人清洁设备10覆盖的距离,处理单元16从所述图像中创建机器人清洁设备10在其中操作的周围环境的表示或布局。由此,处理单元16可以从所记录的图像中得出机器人清洁设备10的关于待清洁的表面的位置数据,以便生成周围环境(特别是障碍物)的3D表示。
从3D相机系统22记录的图像中生成的3D表示因此帮助对墙壁、落地灯、桌腿等形式的、机器人清洁设备10必须在其周围导航的障碍物以及机器人清洁设备10必须横越的小地毯、地毯、门阶等进行检测。
关于图2,为了说明目的,3D相机系统22是与机器人清洁设备10的主体11分开的。然而,在实际实现方式中,3D相机系统22可能与机器人清洁设备10的主体11集成在一起,以使机器人清洁设备10的高度最小化,由此允许它在如(例如)沙发的障碍物下面穿过。
现在已经描述了包括障碍物检测设备的机器人清洁设备10,所述障碍物检测设备具有3D相机23以及第一和第二结构光源27、28,同样这提供了机器人清洁设备的高效且相当快的导航。然而,在其最简单的形式中,机器人清洁设备10可以仅包括接触检测部分32,因为此接触检测部分32使机器人清洁设备10能够围绕检测到的物体和障碍物导航。对本文中所展示的方法而言,机器人清洁设备10包括接触检测部分32是足够的,障碍物检测设备是执行本文中所描述的方法必不可少的。
在以下图3a至图7中,机器人清洁设备10在图中由示出其当前位置的实线展示,而机器人清洁设备10的更早的位置11以虚线展示。此外,图3a至图7中的箭头A展示了机器人清洁设备10的移动方向,由此机器人清洁设备10已经如何在所展示的不同映射图中行驶或者采用由路径标记36概括的清洁模式行驶。
尽管在图3a至图7中展示了相对于机器人清洁设备10而中心地记录路径标记36,但是如在机器人清洁设备10的移动方向上看到的,可以在机器人清洁设备10的左或右外围处或在机器人清洁设备10的清洁开口18处记录路径标记。
现在参照图3a和图3b(其展示了机器人清洁设备10如何检测S01或者作为待清洁的表面35的一部分或者围绕表面35的第一物体34、34’。第一物体可以呈房间的墙壁34或者安排在表面35上的家具34’的形式。第一物体还可以例如是烟囱、电梯井、楼梯、地毯等。机器人清洁设备10检测S01第一物体34、34’并且朝着它移动S01。一旦到达第一物体34、34’,机器人清洁设备10就以在表面35上以一定间隔记录S03路径标记36的同时跟随S02第一物体34、34’的边界或边缘开始。
图3a展示了机器人清洁设备10如何检测S01被具体化为房间的墙壁的第一物体34。机器人清洁设备10朝着第一物体34移动,直到到达边界38(在所展示的情况下,为墙壁)为止。当机器人清洁设备10观察到到达边界38时(例如,经由由障碍物检测设备或接触检测部分32进行的检测),处理单元16开始以一定间隔记录S03路径标记36并将其存储例如到存储介质26上,同时使用接触检测部分32或障碍物检测设备来跟随S02边界38。图3a展示了机器人清洁设备10如何以外边界38通过向内清洁开始,向内清洁将稍后参照图4至图5c以及图7而加以描述。图3a中的边界38被表示为墙壁并且因此可以被认为是外边界38。
另一方面,图3b展示了机器人清洁设备10如何检测并移动S01至被安排在表面35内的第一物体34’。如之前所描述的,机器人清洁设备10检测并朝着被安排在表面35内例如由桌子或橱柜表示的第一物体34’移动S01。一旦到达第一物体34’,机器人清洁设备10就开始跟随S02边缘38’,而处理单元16以一定间隔连续地记录S03路径标记36。因此,在图3b中,机器人清洁设备10执行向外清洁。将在参照图6a和图6b时进一步解释这种情况。
优选的是,机器人清洁设备10仅在机器人清洁设备10已经开始跟随如在图3a和图3b中所展示的边缘38’或边界38时开始记录S03路径标记。
因此,本文中所描述的方法起作用以便如图3a和图4至图7中所展示地向内清洁并且如图3b、图6a和图6b中所展示地向外清洁。
所记录S03的路径标记36之间的间隔可以是时间间隔或距离间隔。因此,可以以例如1至30秒(优选地3至20秒并且更优选地从5至15秒)的时间间隔或者以例如1至20cm(优选地5至15cm并且更优选地在7至13cm的范围内)的距离间隔来落下或记录S03路径标记36。
替代性地,距离间隔可以在机器人清洁设备10的最大尺寸的1%至100%的范围内(更优选地,机器人清洁设备10的最大尺寸的20%至50%),在所展示的情况下,所述尺寸为直径或宽度W,但是在其他情况下,可以为机器人清洁设备10的长度或宽度。
在图3a和图3b中,路径标记36被展示为在其之间具有相当大的距离,这主要是用于说明性目的。在图4至图7中,路径标记36被展示为点线,其中,每个点表示路径标记36。机器人清洁设备10与路径标记36之间的间隔/距离之间的大小关系将仅被理解为是说明性的而不是绝对的。
图4展示了在遇到预先记录S03的路径标记36’之前,机器人清洁设备10是如何跟随S02边界38的。当机器人清洁设备10遇到预先记录的路径标记36’时,其开始跟踪S04预先记录的路径标记36’,同时继续以一定间隔以偏移D记录S03路径标记36。在图4中的展示情况下,机器人清洁设备10沿着物体34的边界38执行完整环路42,直到其遇到预先记录的路径标记36’为止。
再次,如之前所提及的,如在机器人清洁设备10的移动方向上看到的,机器人清洁设备可以使用机器人清洁设备的右或左外围或者机器人清洁设备10的清洁开口18来跟踪S04预先记录的路径标记36’。预先记录的路径标记36’可能已经在机器人清洁设备的左或右外围或者清洁开口18处记录了自身。
此外,如果在清洁开口18或机器人清洁设备10的左或右外围处记录了路径标记36、36’,则机器人清洁设备10可以跟随第一物体34、34’的边界38、38’或者第一和第二物体40的边缘38”,从而使得在机器人清洁设备10的外围上或者机器人清洁设备10的被定位成远离边界38、38’的清洁开口18上记录路径标记36。
如果在机器人清洁设备10上(例如,如在机器人清洁设备10的移动方向上看到的在清洁开口18的右侧上)安装了侧刷(未示出),则机器人清洁设备10可以被配置成用于总是跟随S02第一物体34、34’或第二物体40的边界38、38’或边缘40,从而使得侧刷跟随边界38、38’或边缘40,同时将路径标记36记录S03在如在机器人清洁设备的移动方向上看到的清洁开口18的左侧上。
优选地,偏移D小于机器人清洁设备10的开口18(参考图1)的宽度。这可以确保适当清洁。在一些情况下,例如如果使用了一个侧刷或两个侧刷,则偏移D可以更大。然后,偏移D可以小于清洁开口18和侧刷的动作范围。尽管在附图中,朝着边界38、38’的距离被展示为类似于偏移D,但是清楚的是,在实践中,当机器人清洁设备10跟随边界38、38’时,此距离至少大约对应于偏移D的一半。
可选地,因为当机器人清洁设备从跟随S02和记录S03切换到跟踪S04预先记录的路径标记36’时,通常将存在未记录任何路径标记36的小间隙,所以处理单元16可以被配置成用于识别S07并封闭图4的环路42。因此,处理单元16可以封闭此小间隙并在存储于存储介质26上的映射图中将环路42表示为闭环。
图5a展示了在跟踪S04预先存放的路径标记36’的同时,机器人清洁设备10怎样可以遇到第二物体40。如图5a中所展示的,机器人清洁设备10在先前位置11处遇到第二物体40。一旦机器人清洁设备10检测到并且识别到第二物体40,其就切换S05至跟随S06/跟随模式并沿着边缘38”跟随S06第二物体40。当机器人清洁设备10无法通过第二物体40时(因此,当其将需要改变方向以便围绕第二物体导航时),其可以仅切换S05到跟随S06边界38、38’或边缘38”。换言之,当其直接朝着并且因此基本上行驶到第二物体40中时,其可以仅切换S05。
图5a进一步展示了如垂直于被安排成最靠近第二物体40的边缘部分44和边缘部分44的一系列预先记录的路径标记36’而测量的距离R。如参照图5b和图5c所描述的,距离R可以确定机器人清洁设备10的未来决定。
当机器人清洁设备10到达如图5a中所示出的当前位置P时,其将再次遇到预先记录的路径标记36’并且然后具有两种继续的可能性。这两种可能性分别在图5b和图5c中加以展示。
图5b展示了在处理单元16检测到已经完全包围第二物体40之前,在遇到预先记录的路径标记36’之后,机器人清洁设备10将如何继续跟随S06第二物体40的边缘38”。当处理单元16检测到完全包围了第二物体时,机器人清洁设备10切换回至以偏移D跟踪S04预先记录的路径标记36’。如在图5b中可以看到的,这种围绕第二设备的完整循环可能导致对特定区域(在所展示的情况下,靠近第二物体40的下边缘部分44的区域)的双重清洁。对第二物体40的完整包围可以向机器人清洁设备10提供关于第二物体40的准确形状和位置/延伸部的信息。
仍参照图5b,如果检测到距离R大于偏移D的一半,则机器人清洁设备10可以决定完全包围第二物体40。可以例如由处理单元16通过对映射图进行连续地分析来检测这种情况。当距离R大于偏移D的一半时,靠近下边缘部分44的区域不是完全清洁的并且因此机器人清洁设备10可以决定完全包围第二物体44以便清洁此区域。
另一方面,如果处理单元16检测到距离R小于偏移D的一半或大约与偏移D的一半相同,则如在图5c中所展示的,在跟随第二障碍物44的边缘38”时,一旦遇到预先存放的路径标记36’,机器人清洁设备10就可以切换回至跟踪S04预先存放的路径标记36’。在图5c中,当机器人清洁设备10到达位置S时,遇到预先记录的路径标记36’。因此,在位置S处,机器人清洁设备10可以从跟随S06切换回至跟踪S04预先记录的路径标记。
现在参照图6a和图6b(其展示了通过封闭和拆分环路42以便形成两个环路42’、42”来简化S08环路42的步骤),如果以下将解释的某些条件适用,则环路42将仅被封闭和拆分S08a。通过如之前所描述的向外清洁示例来展示对环路42的简化S08。图6a与图6b之间的箭头示意性地展示了简化S08步骤。
图6a展示了机器人清洁设备10如何通过以下方式来清洁表面35:开始跟随S02被安排在待清洁的表面35内的第二物体34’的边界38’以及通过跟踪S04预先记录的路径标记36’来执行向外清洁。虚线位置11再次展示了机器人清洁设备10的先前位置11,在所展示的情况下,所述先前位置为清洁的起点。从跟随S02第二物体34’起,机器人清洁设备10已经向外移动,直到其遇到呈边界38的形式的外部第一物体34为止,在所述边界处,其切换S05到跟随S06外部第一物体34的边缘38的墙壁。
因此,图6a展示了机器人清洁设备10可以从被安排在待清洁的表面35内的物体34’、40开始。因此,所述方法当机器人清洁设备10例如开始在第二物体34’、40处进行清洁时工作良好,如图5a至图5c中所展示的。
图6b展示了可以如何将环路42封闭并拆分S08a成限定了多个区域46’、46”的多个环路42’、42”。为了简化S08清洁,处理单元16将当前闭环42封闭并拆分S08a成第一和第二环路42’、42”。可以例如在机器人清洁设备10到达其当前位置P时完成这一点。简化包括在图6b中指示的位置处添加桥序列48。这些桥序列48可以包括虚拟地添加的路径标记36,所述路径标记可由机器人清洁设备10在分别对待清洁的第一区域46’和第二区域46”进行清洁时进行跟踪S04。
桥序列48可以具有比偏移D更小的长度L1、L2,否则桥序列48将基于不存在添加桥序列的任何物体34、34’、40或障碍物的假设。因此,不存在任何所作出的假设。桥序列48基于不存在添加这些桥序列48的任何物体或障碍物的知识。
图6b中所展示的距离R1、R2是在垂直于机器人清洁设备10的移动方向A的方向上在两个相邻序列部分之间测量的,每个序列部分包括多个记录的路径标记36、36’。距离R1、R2必须小于偏移D,否则处理单元16将不会添加如以上所描述的桥序列48。
可以在许多情况下(如例如,同样在图5c中所展示的映射图中)应用所描述的对环路的封闭和拆分S08a。如果当前序列部分与相邻序列部分之间的确定距离R、R1、R2小于偏移D,则可以例如在图5c中的位置B处添加桥序列48’,以便简化当前环路42。
当机器人清洁设备10完成第一区域46’时,将通过跟踪S04第二环路42”的预先记录的路径标记36’来清洁第二区域46”。
图7展示了由例如通过门洞而互连的两个房间组成的另一个待清洁的表面35’。在图7中,机器人清洁设备10已经清洁了待清洁的第一区域46’,并且已经通过添加两个桥序列48(从而使得环路42被简化成两个环路42’、42”)来简化了环路42。开始位置11展示了机器人清洁设备10开始通过以规则间隔记录S03路径标记36的同时跟随S02物体34的边界38来开始其清洁。当机器人清洁设备10到达其当前位置P时,其将检测到在为预先记录的路径标记36’中的任何一个路径标记建立偏移D的情况下,其无法再跟踪S04任何预先记录的路径标记36’并且将因此记录第一区域46’已经被完全清洁。
然后,机器人清洁设备10将移动S09到待清洁的第二区域46”并通过跟踪S04第二环路42”的预先记录的路径标记36’来完成此第二区域46”。
如图7中示意性地展示的,可能有益的是,在第一物体34、34’的拐角50中开始清洁,因为这简化了映射图以及因此环路42’、42”的形状。
图8以流程图来展示了根据本发明的方法步骤。每当遇到预先记录的路径标记36’或第二、第三、第四等物体40或者如果环路42需要被简化时,可以重复步骤S02至S08。
尽管现在已经通过各种示例来描述了本发明,但是本发明不限于这些特定示例。根据本发明的方法是多功能且通用的并且可以应用于具有简单或非常复杂的布局的许多可能的待清洁的表面。
进一步地,从跟随S02边界38、38’开始,直到完成清洁为止,连续地记录S03以上所描述的路径标记36、36’。
另外地,尽管在附图中未展示,但是机器人清洁设备10和处理单元16分别可以通过将待清洁的表面35拆分成两个或更多个表面来决定待清洁的表面35是否太大。在这种情况下,机器人清洁设备10可以被配置成用于跟随两个表面之间的边线或边界桥序列,以便封闭大表面的环路并且以便确保沿着边界桥序列不存在任何障碍物。边界桥序列可以甚至比偏移D更长,并且因此需要验证是否可以作出沿着边界桥序列未安排任何物体的假设。对大表面的这种拆分因此还可以是简化步骤的一部分。
上文主要参照一些实施例对本发明进行了描述。然而,本领域技术人员容易了解的是,除了上文公开的实施例之外的其他实施例在由所附专利权利要求书限定的本发明的范围内同样是可能的。
Claims (15)
1.一种在待清洁的表面(35,35’)上操作机器人清洁设备(10)的方法,所述方法由所述机器人清洁设备(10)执行,所述方法包括以下步骤:
当在所述表面上以一定间隔记录(S03)路径标记(36)时,跟随(S02)第一物体(34,34’)的边界(38,38’),所述路径标记包括位置信息;
响应于遇到预先记录的路径标记中的一个或多个,以偏移(D)跟踪(S04)所述预先记录的路径标记(36’);以及
在检测到第二物体之后,从跟踪所述预先记录的路径标记切换(S05)到跟随(S06)所述第二物体(40)的边缘(38”)。
2.根据权利要求1所述的方法,其中,所述机器人清洁设备跟随所述第二物体(40)的所述边缘(38”)直到再次遇到预先记录的路径标记(36’)。
3.根据权利要求1所述的方法,其中,所述机器人清洁设备跟随所述第二物体(40)的所述边缘(38”)直到所述第二物体被包围。
4.根据以上权利要求中任一项所述的方法,包括以下步骤:在遇到所述预先记录的路径标记(36’)中的一个或多个之后识别(S07)限定待清洁的区域的环路(42),其中,所述环路包括多个所述预先记录的路径标记。
5.根据权利要求4所述的方法,包括以下步骤:简化(S08)所述环路(42)以便生成有效清洁模式。
6.根据权利要求5所述的方法,其中,所述简化包括以下步骤:将所述环路(42)封闭和/或拆分(S08a)成限定多个待清洁的区域(46’,46”)的多个环路(42’,42”),从而使得所述机器人清洁设备可以一个接一个地清洁所述区域。
7.根据权利要求6所述的方法,其中,在所述机器人清洁设备在任何方向上移动而不能够向所述预先记录的路径标记(36’)中的任何路径标记建立所述偏移(D)时遇到预先记录的路径标记的情况下,所述多个待清洁的区域中的第一区域(46’)被认为是清洁的。
8.根据权利要求7所述的方法,包括以下步骤:从所述第一区域(46’)移动(S09)到所述多个待清洁的区域中待清洁的第二区域(46”)并且跟踪(S04)限定所述待清洁的第二区域的环路(42”)的预先记录的路径标记(36’)。
9.根据权利要求1-3中任一项所述的方法,其中,如在所述机器人清洁设备的移动方向上看到的,所述路径标记(36)记录在所述机器人清洁设备的左或右外围或者所述机器人清洁设备的清洁开口(18)处。
10.根据权利要求9所述的方法,其中,如在所述机器人清洁设备的移动方向上看到的,所述机器人清洁设备使用所述机器人清洁设备的右或左外围或者所述机器人清洁设备的所述清洁开口(18)来跟踪(S04)左或右预先记录的路径标记(36’)。
11.根据权利要求9所述的方法,其中,所述机器人清洁设备跟随(S02,S06)所述第一物体(34,34’)的所述边界(38,38’)或所述第二物体(34,34’,40)的所述边缘(38”),从而使得所述路径标记记录在所述机器人清洁设备的所述左或右外围上或者在所述机器人清洁设备的位于远离所述边界(38,38’)或所述边缘(38”)的所述清洁开口(18)上。
12.根据权利要求1-3中任一项所述的方法,其中,当检测到所述第一物体的拐角时,开始对路径标记(36,36’)进行所述记录(S03)。
13.一种机器人清洁设备(10),包括:
主体(11);
推进系统(12,13,15a,15b),所述推进系统被安排成用于移动所述机器人清洁设备;
接触检测部分(32),所述接触检测部分连接至所述主体(11)并且被安排成用于检测所述机器人清洁设备是否与物体接触;
航位推算传感器(30,30’),所述航位推算传感器可操作地连接至所述推进系统;
处理单元(16),所述处理单元被安排成用于控制所述推进系统;
其中,所述处理单元(16)连接至所述航位推算传感器并且被配置成用于执行根据权利要求1至12中任一项所述的方法。
14.一种计算机程序(25),包括计算机可执行指令,所述计算机可执行指令用于当在包括在机器人清洁设备(10)中的处理单元(16)上执行所述计算机可执行指令时使所述机器人清洁设备(10)执行如权利要求1至12中任一项所述的步骤。
15.一种包括计算机可读存储介质(26)的计算机程序产品,所述计算机可读存储介质(26)具有在其中实施的根据权利要求14所述的计算机程序(25)。
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- 2014-12-16 EP EP14816216.7A patent/EP3234713B1/en active Active
- 2014-12-16 KR KR1020177014792A patent/KR102326401B1/ko active IP Right Grant
- 2014-12-16 CN CN201480084067.6A patent/CN106998984B/zh active Active
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CN102150030A (zh) * | 2008-09-12 | 2011-08-10 | Mts系统公司 | 在风洞中使用的自动驾驶系统 |
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WO2016095966A1 (en) | 2016-06-23 |
KR20170094171A (ko) | 2017-08-17 |
CN106998984A (zh) | 2017-08-01 |
KR102326401B1 (ko) | 2021-11-16 |
JP2018500633A (ja) | 2018-01-11 |
US20170344013A1 (en) | 2017-11-30 |
EP3234713B1 (en) | 2022-06-15 |
US10678251B2 (en) | 2020-06-09 |
EP3234713A1 (en) | 2017-10-25 |
JP6532530B2 (ja) | 2019-06-19 |
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