CN107024928B - Intelligent floor sweeping robot and control method thereof - Google Patents
Intelligent floor sweeping robot and control method thereof Download PDFInfo
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- CN107024928B CN107024928B CN201610070995.8A CN201610070995A CN107024928B CN 107024928 B CN107024928 B CN 107024928B CN 201610070995 A CN201610070995 A CN 201610070995A CN 107024928 B CN107024928 B CN 107024928B
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Abstract
The invention discloses an intelligent sweeping robot and a control method thereof, which solve the technical problem that the intelligent sweeping robot in the prior art cannot detect short obstacles and carpets encountered ahead in the sweeping process, and the intelligent sweeping robot and the control method thereof comprise a robot body, wherein the robot body is provided with a control part, a sensing device and a driving device, the driving device and the sensing device are respectively connected to the control part, the sensing device at least comprises a speed sensor and a light sensor, the speed sensor is used for detecting the walking speed of the robot body, the light sensor is used for sensing the light intensity in a region corresponding to the installation position of the robot body and the light sensor, the walking speed of the robot body and the light intensity of the environment around the robot body are detected in real time through the speed sensor and the light sensor, the control unit detects an obstacle based on a detection signal of the speed sensor and a sensing signal of the light sensor.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of cleaning robots, in particular to an intelligent sweeping robot and a control method of the intelligent sweeping robot.
[ background of the invention ]
The existing intelligent floor sweeping robot generally utilizes the following sensing mechanisms for detecting and judging obstacles: 1. the infrared sensor is installed on the front side or two sides of the intelligent sweeping robot and used for detecting obstacles or wall bodies within 10cm, but has quite high requirements on the use environment, when the intelligent sweeping robot encounters a house object obstacle with a light color or a dark color, the infrared sensor cannot reflect the obstacle, the intelligent sweeping robot cannot detect the obstacle, the intelligent sweeping robot collides with the house object obstacle, and the bottom of the house object can be collided in a long time. 2. An ultrasonic sensor: the intelligent sweeping robot is installed on the front side of the intelligent sweeping robot, and obstacles within 40cm are detected by utilizing a bionic principle. The detection effect of the infrared sensor and the detection effect of the ultrasonic sensor are both limited by the installation height of the infrared sensor, and if the infrared sensor and the ultrasonic sensor are installed too high, short obstacles such as keys, toys, slippers and the like cannot be detected, at the moment, two situations occur, namely, the intelligent floor sweeping robot pushes the toys and the slippers to move forwards, so that the toys and the slippers are scattered at various positions of a room and are difficult to find, the room is messy, and inconvenience is brought to a user for collecting the room; secondly, for small objects such as keys, the intelligent floor sweeping robot can suck the keys in the process of traveling, and the keys can be clamped under the chassis in the sucking process so as to damage the intelligent floor sweeping robot; if the installation is too low, false operation is easy, the low threshold is misjudged as a wall body, and the threshold cannot be crossed, so that inconvenience is brought to cleaning; 3. a crash switch sensor: the intelligent floor sweeping robot is arranged on the front side of the intelligent floor sweeping robot, and can trigger the crash switch after encountering an obstacle. However, if the quality of obstacles (such as keys, toys, slippers and the like) in front of the intelligent floor sweeping robot is not enough to trigger the slam-off switch, the intelligent floor sweeping robot can continue to walk, and for the slippers, the toys and the like, the intelligent floor sweeping robot can push the toys and the slippers to move forward, so that the toys and the slippers are scattered at various positions of a room and are difficult to find, the room is messy, and inconvenience is brought to a user for collecting the room; for small articles such as keys, the intelligent floor sweeping robot can suck the keys in the process of traveling, and the keys can be clamped under the chassis in the sucking process, so that the intelligent floor sweeping robot is damaged.
In a home, an office or other places, a carpet is often laid on a hard surface floor, the hard surface floor includes but is not limited to hardwoods, cement, ceramic tiles, vinyl synthetic floor tiles, felts, smooth mats and laminated materials, the carpet includes a soft sheet-shaped floor covering woven or woven in other manners, because the hard surface floor and the carpet use different cleaning solutions and cleaning manners, the intelligent floor sweeping robot is often provided with two different sweeping modes, a sensing mechanism for detecting and judging an obstacle in the prior art cannot identify whether the obstacle is the carpet, and therefore the intelligent floor sweeping robot can adopt the sweeping mode for cleaning the hard surface floor when cleaning the carpet, so that the carpet can be damaged, the service life of the carpet can be shortened, and losses can be caused to users.
[ summary of the invention ]
The invention aims to provide an intelligent sweeping robot and a control method thereof, which can effectively detect short obstacles and carpets encountered by the intelligent sweeping robot in the sweeping process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides an intelligence robot of sweeping floor, includes the robot, be equipped with control part, sensing device on the robot and be used for driving the drive arrangement that the robot walked, drive arrangement and sensing device are connected to respectively on the control part, sensing device includes speedtransmitter and optical line sensors at least, speedtransmitter is used for detecting the walking speed of robot, optical line sensors is used for the light intensity in perception robot and the corresponding region of optical line sensors mounted position, the control part carries out the obstacle according to speedtransmitter's detected signal and optical line sensors's sensed signal and detects.
When the intelligent sweeping robot of the invention is used for cleaning, when the robot body encounters an obstacle, the walking speed of the robot body becomes slow, when the robot body is not obstructed by the obstacle, the walking speed of the robot body becomes fast, and the control part detects the obstacle according to a detection signal of the speed sensor, the speed sensor of the invention overcomes the defects brought by the sensing device in the prior art, can detect short obstacles and carpets, and is used for sensing the light intensity of the environment around the robot body, when the light in the environment around the robot body is obstructed by the obstacle, the light received by the light sensor is dim, the light intensity is small, when the obstacle is not obstructed, the light received by the light sensor is bright, the light intensity is large, so the control part detects the obstacle according to the sensing signal of the light sensor, compared with the prior art, the intelligent sweeping robot has the following advantages: 1. the robot can detect the short barrier, avoid the robot body pushing the short barrier to move forward, prevent a user from quickly finding back the object and prevent the short barrier from scratching the floor; 2. the missing detection can be prevented, and the intelligent sweeping robot is effectively prevented from being damaged by short obstacles; 3. whether can detect and get into the carpet, avoid the carpet to damage, reduce user's loss.
According to the first specific embodiment, the light sensor comprises a front-end light sensor, the front-end light sensor is arranged at a position, close to the bottom, of the front side face of the traveling direction of the robot body, and the front-end light sensor is used for sensing the light intensity in front of the robot body. By the design, the light sensor can detect low obstacles such as paper, plastic paper and the like and carpets.
Second embodiment: the light sensor further comprises a top end light sensor which is arranged on the top surface of the robot body and faces upwards, and the top end light sensor is used for sensing the light intensity above the robot body. So design, further judge the environment that intelligent robot is located, prevent that intelligence from sweeping the floor the robot and carry out the false detection to guarantee that intelligence sweeps the floor the robot and sweep the dark position such as bed bottom or sofa bottom.
The utility model provides an intelligence robot control method of sweeping floor, intelligence robot of sweeping floor includes the robot, be equipped with control part, sensing device on the robot and be used for driving the drive arrangement of robot walking, drive arrangement and sensing device are connected to respectively on the control part, sensing device includes speedtransmitter and optical line sensors at least, and its characterized in that, intelligence robot control method of sweeping floor is, and in the robot walking process, through speedtransmitter and optical line sensors real-time detection robot's walking speed and the light intensity in the corresponding region of perception robot and optical line sensors mounted position, the control part carries out the obstacle detection according to speedtransmitter's detected signal and optical line sensors's perception signal.
The control method of the intelligent sweeping robot can prevent the missed detection of part of short obstacles and improve the detection precision.
The first embodiment: the step of the control part detecting the obstacle according to the detection signal of the speed sensor comprises the steps of,
s01) the intelligent sweeping robot starts sweeping;
s02) the speed sensor detects the walking speed of the robot body in real time, the control part judges whether the walking speed of the robot body is slowed or not according to the detection signal of the speed sensor, if the walking speed of the robot body is slowed, the step S03) is carried out, and if the walking speed of the robot body is not changed, the detection is finished;
s03) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S04);
s04), the control part judges whether the walking speed of the robot body is faster according to the detection signal of the speed sensor, if the walking speed of the robot body is faster, the obstacle is judged to be a short obstacle, and then the detection is finished; if the walking speed of the robot body is not changed, judging that the obstacle is a carpet, and entering the step S05;
s05) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
Second embodiment: the sensing device further includes at least one of an infrared sensor, an ultrasonic sensor, and a collision sensor, and the control section shields the detection of the speed sensor when the control section detects an obstacle based on a detection signal of any one of the infrared sensor, the ultrasonic sensor, and the collision sensor.
The third embodiment: the light sensor comprises a front end light sensor, the front end light sensor is arranged at the position, close to the bottom, of the front side surface of the advancing direction of the robot body and is used for sensing the light intensity in front of the robot body, the step of detecting the obstacle by the control part according to the sensing signal of the front end light sensor comprises the following steps,
s11) the intelligent sweeping robot starts sweeping;
s12) the front light sensor senses the light intensity in front of the robot body in real time, the control part judges whether the light in front of the robot body is changed from bright light to dark according to the sensing signal of the front light sensor, if the light in front of the robot body is changed from bright light to dark, the step S13) is carried out, and if the light in front of the robot body is unchanged, the detection is finished;
s13) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S14);
s14), the control part judges whether the light in front of the robot body changes from dark to light according to the sensing signal of the front end light sensor, if the light in front of the robot body changes from dark to light, the obstacle is judged to be a short obstacle, and then the detection is finished; if the light in front of the robot body is unchanged, judging that the obstacle is a carpet, and entering the step S15;
s15) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
The fourth embodiment: the sensing device further comprises at least one of an infrared sensor, an ultrasonic sensor and a collision sensor, and when the control part detects an obstacle according to a detection signal of any one of the infrared sensor, the ultrasonic sensor and the collision sensor, the control part shields the detection of the front end light sensor.
Fifth embodiment: the light sensor also comprises a top light sensor which is arranged on the top surface of the robot body and faces upwards, the top light sensor is used for sensing the light intensity above the robot body, the step of detecting the obstacle by the control part according to the sensing signal of the front light sensor and the sensing signal of the top light sensor comprises,
s21) the intelligent sweeping robot starts sweeping;
s22) the front light sensor senses the light intensity in front of the robot body in real time, the control part judges whether the light in front of the robot body is changed from bright light to dark according to the sensing signal of the front light sensor, if the light in front of the robot body is changed from bright light to dark, the step S23) is carried out, and if the light in front of the robot body is not changed, the detection is finished;
s23) the top light sensor detects the light intensity above the robot body in real time, the control part judges whether the light above the robot body is changed from bright to dark or not according to the sensing signal of the top light sensor, if the light above the robot body is changed from bright to dark, the detection is finished, and if the light above the robot body is not changed, the step S24) is carried out;
s24) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S25);
s25), the control part judges whether the light in front of the robot body changes from dark to light according to the sensing signal of the front end light sensor, if the light in front of the robot body changes from dark to light, the obstacle is judged to be a short obstacle, and if the light in front of the robot body does not change, the step S26 is carried out;
s26) the top light sensor detects the light intensity above the robot body, the control part judges whether the light above the robot body is changed from bright to dark according to the sensing signal of the top light sensor, if the light above the robot body is not changed, the obstacle is judged to be a carpet, and S27) the step is carried out, and if the light above the robot body is changed from bright to dark, the detection is finished;
s27) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
So design, further judge the environment that intelligent robot is located, prevent that intelligence from sweeping the floor the robot and carry out the false detection to guarantee that intelligence sweeps the floor the robot and sweep the dark position such as bed bottom or sofa bottom.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural view of an intelligent floor sweeping robot according to a first embodiment of the present invention;
fig. 2 is a block diagram of an internal structure of the intelligent floor sweeping robot according to the first embodiment of the present invention;
fig. 3 is a flowchart of a step of detecting an obstacle by a control unit according to a detection signal of a speed sensor in the control method of the intelligent floor sweeping robot according to the first embodiment of the present invention;
fig. 4 is a flowchart illustrating a step of detecting an obstacle by a control unit according to a sensing signal of a front-end light sensor in the control method of the intelligent floor sweeping robot according to the embodiment of the present invention;
fig. 5 is a schematic structural view of an intelligent floor sweeping robot according to a second embodiment of the present invention;
fig. 6 is a block diagram of an internal structure of the intelligent floor sweeping robot according to the second embodiment of the present invention;
fig. 7 is a flowchart of steps of the control part performing obstacle detection according to the sensing signal of the front end optical sensor and the sensing signal of the top end optical sensor in the intelligent floor sweeping robot control method according to the second embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1 to 2, an intelligent floor sweeping robot according to an embodiment of the present invention includes a robot body 1, a driving device 7, a dust collecting device 8, a battery device 9, a control unit 11 and a sensing device are disposed in the robot body 1, the control unit 11 controls the driving device 7 to drive the robot body 1 to complete wall walking, spiral walking, straight walking, turning and other actions according to a preset instruction, the dust collecting device 8 is disposed at the bottom of the robot body 1, the control unit 11 cleans impurities such as dust on a floor or a carpet by controlling the dust collecting device 8, the control unit 11 performs obstacle detection according to the sensing device, and the battery device 9 is configured to provide electric power to the control unit 11, so as to ensure that the intelligent floor sweeping robot can normally operate.
In order to improve the detection accuracy of the obstacle, the sensing device comprises an infrared sensor 2, an ultrasonic sensor 6 and a collision switch sensor, wherein the infrared sensor 2, the ultrasonic sensor 6 and the collision switch sensor are arranged on the left side and the right side of the robot body 1, the ultrasonic sensor 6 is arranged on the front side of the robot body 1, the front side in the invention refers to one side of the robot body 1 facing the advancing direction of the robot body, and the left side and the right side refer to two sides located in the left-right direction of the advancing route.
The infrared sensor 2 is used for detecting barriers or walls within 10cm, but has quite high requirements on the use environment, when the obstacles of the household objects with light colors or dark colors are encountered, infrared reflection signals are weaker or infrared signal reflection cannot be carried out, the barriers cannot be detected by the infrared sensor 2 at the moment, the intelligent floor sweeping robot and the obstacles of the household objects collide, and the bottom of the household objects can be collided with spots for a long time. The ultrasonic sensor 6 detects obstacles within a certain distance (generally within 40 cm) by utilizing a bionic principle, the advantages and the disadvantages of the detection effects of the infrared sensor 2 and the ultrasonic sensor 6 are related to the height of the robot body 1 at which the robot is installed, and if the installation position is too high, short obstacles such as keys, toys, slippers and the like cannot be detected, at the moment, two situations occur, namely, the intelligent floor sweeping robot pushes the toys and the slippers to move forwards, so that the toys and the slippers are scattered at various positions of a room and are difficult to find, the room is disordered, inconvenience is brought to a user to pick up the room, and for small objects such as the keys, the intelligent floor sweeping robot sucks the keys in the process of moving, and the keys are clamped under a chassis in the sucking process, so that the intelligent floor sweeping robot is damaged; if the installation is too low, false operation is easy, the low threshold is misjudged as a wall body, the threshold cannot be crossed, and inconvenience is brought to cleaning. The collision switch sensor is installed at the front side of the robot body 1, and triggers the collision switch when the collision switch sensor collides with an obstacle. However, if the quality of obstacles (such as keys, toys, slippers and the like) in front of the intelligent floor sweeping robot is not enough to trigger the slam-off switch, the intelligent floor sweeping robot can continue to walk, and for the slippers, the toys and the like, the intelligent floor sweeping robot can push the toys and the slippers to move forward, so that the toys and the slippers are scattered at various positions of a room and are difficult to find, the room is messy, and inconvenience is brought to a user for collecting the room; for small articles such as keys, the intelligent floor sweeping robot can suck the keys in the process of traveling, and the keys can be clamped under the chassis in the sucking process, so that the intelligent floor sweeping robot is damaged.
In homes, offices or other places, carpets are often laid on hard floors, including but not limited to hardwoods, cements, tiles, vinyl tiles, felts and smooth mats and laminates, and include woven or otherwise woven soft sheet-shaped floor coverings, and intelligent floor-sweeping robots are often provided with two different cleaning modes due to different cleaning solutions and cleaning modes used for the hard floors and the carpets, and missing detection occurs because the infrared sensor 2, the ultrasonic sensor 6 and the collision switch sensor can only be used for detecting obstacles such as walls, sofas, wardrobes, beds, doors, seats and the like, but can not be used for effectively detecting short obstacles and carpets, and the short obstacles mainly include obstacles lower than the installation height of the sensing device in the prior art and obstacles that can be pushed forward by the intelligent floor-sweeping robot, such as: if the short obstacle cannot be detected, the robot body 1 can push the short obstacle to move forward, so that a messy room is caused, and the floor is scratched; if the carpet can not be detected, the cleaning mode of the intelligent floor cleaning robot is still the cleaning mode of the hard-surface floor, the carpet can be damaged at the moment, the service life of the carpet is shortened, and the loss is brought to a user.
In order to solve the technical problem, the sensing device of the present invention further includes a speed sensor 3 and a light sensor, the speed sensor 3 is used for detecting the walking speed of the robot body 1, the light sensor is used for sensing the light intensity in the area corresponding to the installation position of the light sensor in the environment where the robot body 1 is located, and the correspondence specifically means: when light sensor installs in the front side of robot body 1, light sensor is used for the light intensity in perception robot body 1 the place ahead, when light sensor installs the top surface at robot body 1, light sensor is used for the light intensity of perception robot body 1 top, when light sensor installs the both sides at robot body 1, light sensor is used for the light intensity of perception robot body 1 both sides direction, when light sensor installs the rear side at robot body 1, light sensor is used for the light intensity of perception robot body 1 rear. The light sensor comprises at least one front-end light sensor 4, a photosensitive resistor for sensing light intensity is arranged in the front-end light sensor 4, and the larger the light intensity is, the smaller the resistance value of the photosensitive resistor is, and the smaller the light intensity is, the larger the resistance value of the photosensitive resistor is. The front end light sensor 4 is arranged at a position close to the bottom of the front side surface of the traveling direction of the robot body 1 at intervals, and under the condition that the installation requirement and the performance are met, the close is that the distance between the position of the front end light sensor 4 and the bottom is the smallest as possible so as to detect a short obstacle. The front end light sensor 4 is used for detecting the light intensity in the front area of the robot body 1. When intelligence robot cleaning work of sweeping floor, when robot 1 runs into the barrier, robot 1's walking speed slows down, after robot avoids the barrier, robot 1's walking speed becomes fast, control unit 11 carries out the barrier according to speed sensor 3's detected signal and detects, light sensor is used for perception robot 1 surrounding environment's light intensity, when light in robot 1 surrounding environment is sheltered from by the barrier, light sensor received light is dim, the light intensity is less, light sensor's resistance increases this moment, when no barrier shelters from, light sensor received light is bright, the light intensity is great, light sensor's resistance reduces this moment, consequently, control unit 11 can carry out the barrier according to light sensor's sensed signal and detect.
The invention provides a control method of an intelligent sweeping robot, which comprises the following steps: in the walking process of the robot body 1, the walking speed of the robot body 1 is detected in real time through the speed sensor 3 and the light sensor, the light intensity in the area corresponding to the installation position of the light sensor is detected in the surrounding environment of the robot body 1, the control part 11 detects obstacles according to the detection signal of the speed sensor 3 and the sensing signal of the light sensor, and meanwhile, whether the obstacles encountered by the robot body 1 are short obstacles or carpets can be identified, if the obstacles encountered by the robot body 1 are carpets, the carpet cleaning mode is started, and then the carpets are protected.
When the control part 11 detects an obstacle according to a detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor in the walking process of the robot body 1, the obstacle is a large obstacle such as a wall, a wardrobe, a sofa and the like, but not a short obstacle or a carpet, and the control part 11 can shield the detection of the speed sensor 3 and the front end light sensor 4; when the control unit 11 does not detect an obstacle based on the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6, and the collision sensor, indicating that there is no obstacle in front or a short obstacle or a carpet exists, the control unit 11 turns on the speed sensor 3 and the front end light sensor 4 to perform further detection.
As shown in fig. 3, the step of the control unit 11 detecting an obstacle based on the detection signal of the speed sensor 3 includes:
s01) the intelligent sweeping robot starts sweeping;
s02) the speed sensor 3 detects the walking speed of the robot body 1 in real time, the control part 11 judges whether the walking speed of the robot body 1 becomes slow according to the detection signal of the speed sensor, for example, the speed of the robot body 1 is reduced by 3mm/S within 3 seconds and continues for 3 seconds, if the walking speed of the robot body 1 becomes slow, the robot body 1 is judged to encounter short obstacles or carpets, S03) is entered, if the walking speed of the robot body 1 is not changed, it is indicated that no obstacle is detected, and the intelligent floor sweeping robot continues to move forward along the original route;
s03) the control part 11 controls the robot body 1 to avoid, that is, the control part 11 controls the robot body 1 to turn 0 to 90 degrees or to turn 0 to 90 degrees after retreating for a certain distance, and then proceeds to S04);
s04) the control part 11 determines whether the walking speed of the robot body 1 is fast according to the detection signal of the speed sensor 3, if the walking speed of the robot body 1 is fast, for example, the speed of the robot body 1 is increased by 3mm/S within 3 seconds and continues for 3 seconds, it determines S02) that the obstacle encountered by the robot body 1 is a short obstacle, the intelligent sweeping robot detects the end, and the intelligent sweeping robot moves forward along the steered route; if the walking speed of the robot body 1 is not changed, that is, the walking speed of the robot body 1 is not changed before and after the robot body 1 performs the avoidance operation, it is determined that the obstacle encountered by the robot body 1 in the step S02) is a carpet, and the process proceeds to the step S05;
s05) the control unit 11 controls the intelligent floor sweeping robot to start the carpet sweeping mode.
When the intelligent floor sweeping robot encounters an obstacle, the walking speed of the robot body 1 is slowed, at this time, in order to avoid the walking speed of the robot body 1 being slowed, the driving device 7 changes the speed to be slowed by increasing the motor load, the motor load can cause changes of some working parameters before and after the motor load is increased, such as current, voltage, power and the like, and since the walking speed of the robot body 1 is in direct proportion to the current (voltage or power), a person skilled in the art can easily think that the obstacle encountered in front of the robot body 1 can be detected according to changes of parameters such as a current signal, a voltage signal and a power signal, and the detailed description is omitted here.
As shown in fig. 4, since the light sensor includes the front light sensor 4, the step of the control unit 11 detecting the obstacle based on the sensing signal of the front light sensor 4 includes,
s11) the intelligent sweeping robot starts sweeping;
s12) the front end light sensor 4 senses the light intensity in front of the robot body 1 in real time, when the light intensity is in an initial state, the light intensity in front of the robot body 1 is bright, and when the light intensity is dark, the light intensity is reduced, the control part 11 judges whether the light in front of the robot body 1 is dark or bright according to a sensing signal of the front end light sensor 4, if the light in front of the robot body 1 is dark or bright, the step S13) is carried out, if the light in front of the robot body 1 is in front of a low obstacle or a carpet, the step S13) is carried out, if the light in front of the robot body 1 is bright, no obstacle is judged, the detection is finished, and the intelligent sweeping robot continues to move forwards along the original route;
s13) the control part 11 controls the robot body 1 to avoid, that is, the control part 11 controls the robot body 1 to turn 0 to 90 degrees or to turn 0 to 90 degrees after retreating for a certain distance, and then proceeds to S14);
s14) the control part 11 judges whether the front light of the robot body 1 changes from dark to light according to the sensing signal of the front light sensor 4, if the front light of the robot body 1 changes from dark to light, the obstacle encountered by the robot body 1 in the step S12) is a short obstacle, the intelligent sweeping robot detects the end, and the intelligent sweeping robot moves forwards along the steered route; if the front light of the robot body 1 is dark, judging that the obstacle encountered by the robot body 1 in the step S12) is a carpet, and entering the step S15;
s15) the control unit 11 controls the intelligent floor sweeping robot to start the carpet sweeping mode.
The criteria defined by the light sensor brightness and darkness in the present invention are: the change range of the AD value of the photoresistor is larger than M within N seconds and lasts for Z seconds, so that the intelligent robot can be prevented from carrying out false detection when entering the shadow of a person or an object and switching on and off the lamp indoors suddenly. When the photodiode is illuminated, the saturation reverse leakage current is greatly increased to form a photocurrent which changes with the change of the incident light intensity, and the judgment standard is that the change of the on and off of the photodiode lasts for Z seconds.
Referring to fig. 3 and 4, a method of detecting an obstacle by the control unit 11 in combination with the detection signal of the speed sensor 3 and the sensing signal of the front end light sensor 4 will be described as an example:
1. when the short obstacle is a slipper or a carpet, when the control unit 11 detects an obstacle according to the detection signal of the speed sensor 3, since both the slipper and the carpet slow the walking speed of the robot body 1, the control unit 11 controls the robot body 1 to perform an avoidance operation according to the step S02), and proceeds to the step S04), and according to the step S04), if the walking speed of the robot body 1 is changed from slow to fast, the obstacle is a slipper, and if the walking speed of the robot body 1 is not changed, the obstacle is a carpet, so the control unit 11 can determine that the slipper and the carpet are detected according to the detection signal of the speed sensor 3; when the control unit 11 detects an obstacle based on the sensing signal of the front light sensor 4, since both the slippers and the carpet make the front light of the robot body 1 change from bright to dark, according to the step S12), the control unit 11 controls the robot body 1 to perform an avoidance operation, and proceeds to the step S14), and according to the step S14), if the front light of the robot body 1 changes from dark to bright, the obstacle is a slipper, and if the front light of the robot body 1 changes from dark to bright, the obstacle is a carpet. Because the difference change and the duration around the detected signal of speedtransmitter 3 and the perception signal of front end optical sensor 4 all reach the specified value, consequently intelligent robot's of sweeping floor control portion 11 can effectively discern the barrier that robot body 1 met according to the detected signal of speedtransmitter 3 and the perception signal of front end optical sensor 4 homoenergetic.
2. If the obstacle is a small article and does not have a great influence on the traveling speed of the robot body 1, for example, a paper sheet or plastic paper, when the control unit 11 detects the obstacle according to the detection signal of the speed sensor 3, since the traveling speed of the robot body 1 changes little or constantly, it is determined according to the step S02) that no obstacle exists in front of the robot body 1, the control unit 11 determines that no obstacle exists in front of the robot body 1 according to the detection signal of the speed sensor 3, and then the control unit 11 further determines whether an obstacle exists in front of the robot body 1 according to the sensing signal of the front end light sensor 4, and since the paper sheet or plastic paper blocks the front end light sensor 4, the light in front of the robot body 1 is made bright or dark, it is determined according to the steps S22) to S25) that a short obstacle exists in front of the robot body 1, and then avoid low barrier, prevent that it from plugging up the mesh of filter screen, cause dust extraction can not inhale the dust, and then avoid the unclean of sanitary cleaning. Because the change that the detected signal of speed sensor 3 takes place does not reach the specified value, and the perception signal of front end light sensor 4 exceeds the specified value, the control division 11 of intelligence robot of sweeping the floor can discern the barrier that robot body 1 met according to the perception signal of front end light sensor 4 this moment, and then avoids some barriers to miss examining.
3. If the obstacle is small (small bottle, nail clipper, etc.) and located between two adjacent front light sensors 4, when the control part 11 detects the obstacle according to the sensing signal of the front light sensor 4, because the obstacle can not block the light entering the front light sensor 4, it can be determined that there is no obstacle in front of the robot body 1 according to the step S22), the control part 11 determines that there is no obstacle in front of the robot body 1 according to the sensing signal of the front light sensor 4, then the control part 11 further determines whether there is an obstacle in front of the robot body 1 according to the sensing signal of the speed sensor 3, because the small bottle, nail clipper, etc. can slow down the walking speed of the robot body 1, it can be determined that there is a low obstacle in front of the robot body 1 according to the steps S02) to S04), and then avoid short barrier, prevent that dust extraction 8 from inhaling article such as little bottle, nail clippers to influence the effect of sweeping the floor and the life of intelligence robot of sweeping the floor. Because the sensing signal of front end light sensor 4 does not reach the specified value, and the change that the detection signal of speedtransmitter 3 takes place exceeds the specified value, the control division 11 of intelligence robot of sweeping the floor can discern the barrier that robot body 1 met according to the detection signal of speedtransmitter 3 this moment, and then avoids some barriers to miss examining.
To sum up, the detection signal of the speed sensor 3 and the sensing signal of the front-end light sensor 4 are independent from each other and do not interfere with each other, and when the control unit 11 detects the obstacle missing detection individually according to the detection signal of the speed sensor 3 or the sensing signal of the front-end light sensor 4, the control unit 11 of the present invention combines the detection signal of the speed sensor 3 and the sensing signal of the front-end light sensor 4 to make up for the respective detection defects, and the combination belongs to physical combination, and there is no mutual combination in the control flow. The control part 11 receives the detection signal of the speed sensor 3 and the sensing signal of the front end light sensor 4 at the same time, and comprehensively analyzes the difference value between the front and the back of the two signals and the duration to judge whether the obstacle exists, and the following advantages are achieved: 1. the robot can effectively detect and judge short obstacles and carpets encountered in the cleaning process, avoid the robot body from pushing the short obstacles to move forward, prevent a user from quickly finding back objects, and prevent the short obstacles from scratching the floor; 2. the damage to the intelligent floor sweeping robot and the hard-surface floor caused by the missed detection of part of obstacles is avoided; 3. the carpet can be detected and then switched to a carpet cleaning mode to protect the carpet, the service life of the carpet is prolonged, and the loss of users is reduced.
Example two:
as shown in fig. 5 and 6, in actual use, because dark positions such as a bed bottom and a sofa bottom exist in some rooms and office spaces of a home, and because these places also need the intelligent floor sweeping robot to sweep, according to the analysis of the control method of the intelligent floor sweeping robot in the first embodiment, when the intelligent floor sweeping robot is about to enter the dark position or is already located at the dark position, the front light of the intelligent floor sweeping robot becomes dark, according to the step S12), the control part 11 controls the robot body 1 to perform avoidance action, so that the intelligent floor sweeping robot cannot sweep the dark position, and in order to prevent this, the dark position existing in the room or office space can also be swept, the light sensor in the invention further comprises at least one top light sensor 5 arranged towards the upper part, a photo resistor for sensing light intensity is arranged in the top light sensor 5, the top light sensor 5 is arranged on the top surface of the robot body 1 at intervals and used for detecting light intensity in the area above the robot body 1.
As shown in fig. 7, the step of the control unit 11 detecting an obstacle based on the sensing signal of the front end light sensor 4 and the sensing signal of the front end light sensor 5 includes:
s21) the intelligent sweeping robot starts sweeping;
s22) the front light sensor 4 senses the light intensity in front of the robot body 1 in real time, the control part 11 judges whether the light in front of the robot body 1 is bright or dark or not according to the sensing signal of the front light sensor 4, if the light in front of the robot body 1 is bright or dark and the infrared sensor 2, the ultrasonic sensor 6, the crash switch sensor and the like do not detect obstacles, the front of the robot body 1 is judged to encounter a low obstacle or a carpet or the robot body 1 enters a dark position, and S23) the step is carried out, if the light in front of the robot body 1 is not changed, the robot body is judged to have no obstacle and does not enter a dark environment, and the detection is finished;
s23) the top light sensor 5 detects the light intensity above the robot body 1 in real time, when the light intensity is in an initial state, the light intensity above the robot body 1 is bright, and when the light intensity is dark, the light intensity is reduced, the control part 11 judges whether the light intensity above the robot body 1 is dark or not according to the sensing signal of the top light sensor 5, if the light intensity above the robot body 1 is dark or bright, the robot body 1 is judged to enter a dark position in the step S22), the detection is finished, the intelligent floor sweeping robot continues to move forward and sweeps the dark position, if the light intensity above the robot body 1 is unchanged, the front of the robot body 1 is judged to encounter a low obstacle or a carpet, and the step S24) is carried out;
s24) the control part 11 controls the robot body 1 to avoid, that is, the control part 11 controls the robot body 1 to turn 0 to 90 degrees or to turn 0 to 90 degrees after retreating for a certain distance, and then proceeds to S25);
s25) the controller 11 determines whether the light in front of the robot body 1 changes from dark to light according to the sensing signal of the front light sensor 4, and if the light in front of the robot body 1 changes from dark to light, determines S22) that the obstacle encountered by the robot body 1 is a short obstacle, and if the light in front of the robot body 1 does not change, the process goes to S26;
s26) the top light sensor 5 detects the light intensity above the robot body 1, the control part 11 judges whether the light above the robot body 1 is changed from bright to dark or not according to the sensing signal of the top light sensor 5, if the light above the robot body is not changed, the obstacle met by the robot body 1 in the step S22) is a carpet, and the step S27) is carried out, if the light above the robot body is changed from bright to dark, the robot body 1 is judged to enter a dark environment after turning, and the intelligent sweeping robot continues to move forward and sweeps the dark position;
s27) the control unit 11 controls the intelligent floor sweeping robot to start the carpet sweeping mode.
The criterion for the brightness and darkness of the front light sensor 4 and the top light sensor 5 in the second embodiment of the present invention is the same as the criterion in the first embodiment.
Referring to fig. 3 and 7, a control method of the intelligent sweeping robot in the second embodiment includes:
when the robot body 1 is walking, firstly, the control part 11 judges whether an obstacle exists in front according to a detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor, when the control part 11 detects the obstacle according to the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor, the obstacle is a large obstacle such as a wall, a wardrobe, a sofa and the like, but not a low obstacle or a carpet, and then the control part 11 can shield the detection of the speed sensor 3, the front end light sensor 4 and the top end light sensor 5; when the control unit 11 does not detect an obstacle based on the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6, and the collision sensor, indicating that there is no obstacle in front or a short obstacle or a carpet exists, the control unit 11 turns on the speed sensor 3, the front end light sensor 4, and the front end light sensor 5 to perform further detection.
Subsequently, the control part 11 detects the obstacle according to the detection signal of the speed sensor 3 and the sensing signal of the optical sensor, the sensing signal of the optical sensor refers to the sensing signal of the front end optical sensor 4 and the sensing signal of the top end optical sensor 5, the control method of the intelligent floor sweeping robot can not only effectively detect the short obstacle and the carpet encountered by the robot body 1, but also enable the intelligent floor sweeping robot to sweep the dark position, and can effectively detect and judge the short obstacle and the carpet when sweeping the dark position. In bright environment, the detection method of the embodiment for the short obstacles and the carpet is similar to the first embodiment, and is easily understood by those skilled in the art according to the first embodiment, so that the detailed description is not repeated; a method for detecting short obstacles and carpets when an intelligent sweeping robot sweeps dark positions is specifically as follows, when the control section 11 performs obstacle detection based on the sensing signal of the front end light sensor 4 and the sensing signal of the front end light sensor 5, according to the step S22) or the step S26), the robot body 1 is judged to be capable of cleaning the dark position, if there is a short obstacle or a carpet in the dark position, and the light sensor fails to work in the dark environment, and cannot detect whether there is a short obstacle or a carpet in front of the robot body 1, the control unit 11 will perform obstacle detection according to the detection signal of the speed sensor 3, as shown in detail in steps S02) to S05) of the present invention, so reduced the barrier and swept the harm that the robot caused to intelligence, also can avoid causing the harm to the carpet simultaneously.
In summary, the detection signal of the speed sensor 3 and the sensing signal of the light sensor are independent and do not interfere with each other, and when the control part 11 independently detects the detection signal of the speed sensor 3, missing detection occurs; when the control unit 11 detects the sensing signal of the light sensor alone, especially in a dark environment, a collision with an obstacle may occur, so the control unit 11 of the present invention combines the sensing signal of the speed sensor 3 and the sensing signal of the light sensor to compensate for the respective detection defects, and the combination belongs to physical combination, and there is no mutual combination in the control flow.
Compared with the first embodiment, the intelligent floor sweeping robot control method in the second embodiment can achieve the effect of the first embodiment, enables the intelligent floor sweeping robot to enter a dark position for sweeping, can effectively detect obstacles and carpets in the dark position, and is wide in application environment range and high in detection precision. When the intelligent sweeping robot is used, a user can correspondingly select the environment to be swept according to the intelligent sweeping robot.
In the first and second embodiments of the present invention, the control unit 11 determines the change of the light and shade in front of the robot body 1 according to the sensing signal of the front light sensor 4, which is determined according to the sensing signal of one or more front light sensors 4, and in the second embodiment, the control unit 11 determines the change of the light and shade above the robot body 1 according to the sensing signal of the top light sensor 5, which is determined according to the sensing signal of one or more top light sensors 5.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (5)
1. An intelligent sweeping robot control method is characterized in that the step that the control part detects obstacles according to detection signals of the speed sensor and sensing signals of the light sensor comprises the steps that,
s01) the intelligent sweeping robot starts sweeping;
s02) the speed sensor detects the walking speed of the robot body in real time, the control part judges whether the walking speed of the robot body is slowed or not according to the detection signal of the speed sensor, if the walking speed of the robot body is slowed, the step S03) is carried out, and if the walking speed of the robot body is not changed, the detection is finished;
s03) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S04);
s04), the control part judges whether the walking speed of the robot body is faster according to the detection signal of the speed sensor, if the walking speed of the robot body is faster, the obstacle is judged to be a short obstacle, and then the detection is finished; if the walking speed of the robot body is not changed, judging that the obstacle is a carpet, and entering the step S05;
s05) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
2. The intelligent sweeping robot control method according to claim 1, wherein the sensing device further comprises at least one of an infrared sensor, an ultrasonic sensor and a collision sensor, and the control part shields the detection of the speed sensor when the control part detects an obstacle according to a detection signal of any one of the infrared sensor, the ultrasonic sensor and the collision sensor.
3. The intelligent floor sweeping robot control method according to claim 1, wherein the light sensors comprise front end light sensors, the front end light sensors are arranged at positions close to the bottom of the front side surface of the robot body in the traveling direction, the front end light sensors are used for sensing light intensity in front of the robot body, the step of detecting obstacles by the control part according to sensing signals of the front end light sensors comprises the steps of,
s11) the intelligent sweeping robot starts sweeping;
s12) the front light sensor senses the light intensity in front of the robot body in real time, the control part judges whether the light in front of the robot body is changed from bright light to dark according to the sensing signal of the front light sensor, if the light in front of the robot body is changed from bright light to dark, the step S13) is carried out, and if the light in front of the robot body is unchanged, the detection is finished;
s13) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S14);
s14), the control part judges whether the light in front of the robot body changes from dark to light according to the sensing signal of the front end light sensor, if the light in front of the robot body changes from dark to light, the obstacle is judged to be a short obstacle, and then the detection is finished; if the light in front of the robot body is unchanged, judging that the obstacle is a carpet, and entering the step S15;
s15) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
4. The intelligent sweeping robot control method according to claim 3, wherein the sensing device further comprises at least one of an infrared sensor, an ultrasonic sensor and a collision sensor, and when the control part detects an obstacle according to a detection signal of any one of the infrared sensor, the ultrasonic sensor and the collision sensor, the control part shields the detection of the front end light sensor.
5. The intelligent floor sweeping robot control method according to claim 3, wherein the light sensor further comprises a top light sensor disposed on the top surface of the robot body and facing upward, the top light sensor is used for sensing light intensity above the robot body, the step of the control part detecting obstacles according to sensing signals of the front light sensor and the top light sensor comprises,
s21) the intelligent sweeping robot starts sweeping;
s22) the front light sensor senses the light intensity in front of the robot body in real time, the control part judges whether the light in front of the robot body is changed from bright light to dark according to the sensing signal of the front light sensor, if the light in front of the robot body is changed from bright light to dark, the step S23) is carried out, and if the light in front of the robot body is not changed, the detection is finished;
s23) the top light sensor detects the light intensity above the robot body in real time, the control part judges whether the light above the robot body is changed from bright to dark or not according to the sensing signal of the top light sensor, if the light above the robot body is changed from bright to dark, the detection is finished, and if the light above the robot body is not changed, the step S24) is carried out;
s24) the control unit controls the robot body to perform the avoidance operation, and the process proceeds to S25);
s25), the control part judges whether the light in front of the robot body changes from dark to light according to the sensing signal of the front end light sensor, if the light in front of the robot body changes from dark to light, the obstacle is judged to be a short obstacle, and if the light in front of the robot body does not change, the step S26 is carried out;
s26) the top light sensor detects the light intensity above the robot body, the control part judges whether the light above the robot body is changed from bright to dark according to the sensing signal of the top light sensor, if the light above the robot body is not changed, the obstacle is judged to be a carpet, and S27) the step is carried out, and if the light above the robot body is changed from bright to dark, the detection is finished;
s27) the control part controls the intelligent floor sweeping robot to start a carpet sweeping mode.
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| CN107775640A (en) * | 2017-12-05 | 2018-03-09 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN108634874A (en) * | 2018-05-11 | 2018-10-12 | 南京华捷艾米软件科技有限公司 | Sweeping robot and its cleaning method |
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