CN107456173A - Barrier crossing method and device - Google Patents
Barrier crossing method and device Download PDFInfo
- Publication number
- CN107456173A CN107456173A CN201610394236.7A CN201610394236A CN107456173A CN 107456173 A CN107456173 A CN 107456173A CN 201610394236 A CN201610394236 A CN 201610394236A CN 107456173 A CN107456173 A CN 107456173A
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- Prior art keywords
- clean robot
- barrier
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- axis
- driving wheel
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a kind of barrier crossing method and device, belong to automated cleaning technical field.Applied in the clean robot for including two driving wheels arranged side by side, this method includes this method：When clean robot is advanced, whether detection clean robot is in barrier obstruction state；If clean robot, which is in barrier, hinders state, the angle of inclination of clean robot is obtained；If angle of inclination is less than predetermined angular, control clean robot is crossed over to barrier；Solves clean robot in the process of running because the obstruction of barrier can not continue clean up task, the problem of needing the help in the external world to continue clean up task, reach and make clean robot to be independently completed the leap to barrier, improve the effect of the work accommodation ability of clean robot.
Description
Technical field
This disclosure relates to automated cleaning technical field, more particularly to a kind of barrier crossing method and device.
Background technology
With the clean robot of economic and science and technology development, such as sweeping robot, floor-mopping robot etc, increasingly
It is widely used in daily life, the life to people brings many facilities.
However, various disorders thing is might have in the working environment of clean robot, such as the mistake between adjacent room
Electric wire and stool on Men Shi, ground, clean robot are easily hindered by these barriers in the course of the work, work as cleaner
After device people is stuck, distress signal can be issued the user with to allow user intervention, made troubles to user.Such as：User is in the morning
Start clean robot before outgoing to clean house, after user goes out a period of time, clean robot is by ground
Electric wire block and can not complete clean up task, after user returns at night, it is found that house is still the state not cleaned, it is necessary to weight
Newly cleaned, consume user's extra time.
The content of the invention
In order to solve clean robot in the process of running because the obstruction of barrier can not continue clean up task, it is necessary to outer
The help on boundary could continue the problem of clean up task, and the embodiments of the invention provide a kind of clean robot and barrier leap side
Method.The technical scheme is as follows：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of clean robot, the clean robot include：Cleaning is single
Member, driver element, detection unit, computing unit and control unit,
When driver element driving clean robot is advanced, detect whether clean robot is in obstacle by detection unit
Thing hinders state；
If detection unit detects that clean robot is in barrier and hinders state, cleaner is obtained by computing unit
The angle of inclination of device people；
If angle of inclination is less than predetermined angular, control unit control clean robot is crossed over to barrier.
Optionally, driver element includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit, including：
Detect whether driving wheel is in slipping state by detection unit；Slipping state is that driving wheel is connecing in sliding manner
The state rotated in contacting surface；
If driving wheel is in slipping state, it is determined that clean robot is in barrier and hinders state.
Optionally, driver element includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit, including：
Detect whether driving wheel is in stuck state by detection unit；Stuck state is driving wheel quilt in rotation process
The state that external force stops operating；
If driving wheel is in stuck state, it is determined that clean robot is in barrier and hinders state.
Optionally, driver element includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit, including：
Detection unit obtains the distance travelled of driving wheel and the position of clean robot；
If the changing value of distance travelled exceedes preset range, and position is not changed, it is determined that clean robot is in
Barrier hinders state.
Optionally, driver element includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit, including：
Whether the driving current of detection unit detection driver element is more than predetermined current value；
If driving current is more than predetermined current value, it is determined that clean robot is in barrier and hinders state.
Optionally, whether clean robot is detected in barrier obstruction state by detection unit, including：
Detection unit detection clean robot whether run-off the straight；
If clean robot run-off the straight, it is determined that clean robot is in barrier and hinders state.
Optionally, detection unit detection clean robot whether run-off the straight, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detect average acceleration
Whether component is more than the first predetermined threshold；If average acceleration component is more than the first predetermined threshold, it is determined that cleaning machine human hair
It is raw to tilt；
Or,
Instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detecting instantaneous angular velocity component is
It is no to be more than Second Threshold；If instantaneous angular velocity component is more than Second Threshold, it is determined that clean robot run-off the straight；
Wherein, if the origin of coordinate system is the central point of clean robot, the X-axis of coordinate system is parallel to clean robot
The antero posterior axis of body, the Y-axis of coordinate system is parallel to the lateral shaft of the body of clean robot, and the Z axis of coordinate system is parallel to cleaning
Any two in the vertical axes of the body of robot, X-axis and Y-axis and Z axis three is orthogonal.
Optionally, the angle of inclination of clean robot is obtained by computing unit, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；
By the average acceleration component and the corresponding relation at angle of inclination prestored, angle of inclination is determined.
Optionally, the angle of inclination of clean robot is determined by computing unit, including：
The angle of inclination of clean robot is obtained by six axle gyroscopes；Six axle gyroscopes have three axis accelerometer simultaneously
Function and three-axis gyroscope function.
Optionally, driver element includes two driving wheels arranged side by side；
Control unit control clean robot is crossed over to barrier, including：
Control unit first controls a driving wheel to cross over barrier, then controls another driving wheel to enter barrier
Row is crossed over.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of barrier crossing method, this method are applied to include
In the clean robot of driving wheel, method includes：
When clean robot is advanced, whether detection clean robot is in barrier obstruction state；
If clean robot, which is in barrier, hinders state, the angle of inclination of clean robot is obtained；
If angle of inclination is less than predetermined angular, control clean robot is crossed over to barrier.
Optionally, whether clean robot is detected in barrier obstruction state, including：
Whether detection driving wheel is in slipping state；Slipping state is that driving wheel rotates on the contact surface in sliding manner
State；
If driving wheel is in slipping state, it is determined that clean robot is in barrier and hinders state.
Optionally, whether clean robot is detected in barrier obstruction state, including：
Whether detection driving wheel is in stuck state；Stuck state is that driving wheel is stopped operating in rotation process by external force
State；
If driving wheel is in stuck state, it is determined that clean robot is in barrier and hinders state.
Optionally, whether clean robot is detected in barrier obstruction state, including：
Obtain the distance travelled of driving wheel and the position of clean robot；
If the changing value of distance travelled exceedes preset range, and position is not changed, it is determined that clean robot is in
Barrier hinders state.
Optionally, whether clean robot is detected in barrier obstruction state, including：
Whether detection driving current is more than predetermined current value；
If driving current is more than predetermined current value, it is determined that clean robot is in barrier and hinders state.
Optionally, whether clean robot is detected in barrier obstruction state, including：
Detect clean robot whether run-off the straight；
If clean robot run-off the straight, it is determined that clean robot is in barrier and hinders state.
Optionally, detect clean robot whether run-off the straight, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detect average acceleration
Whether component is more than the first predetermined threshold；If average acceleration component is more than the first predetermined threshold, it is determined that cleaning machine human hair
It is raw to tilt；
Or,
Instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detecting instantaneous angular velocity component is
It is no to be more than Second Threshold；If instantaneous angular velocity component is more than Second Threshold, it is determined that clean robot run-off the straight；
Wherein, if the origin of coordinate system is the central point of clean robot, the X-axis of coordinate system is parallel to clean robot
The antero posterior axis of body, the Y-axis of coordinate system is parallel to the lateral shaft of the body of clean robot, and the Z axis of coordinate system is parallel to cleaning
Any two in the vertical axes of the body of robot, X-axis and Y-axis and Z axis three is orthogonal.
Optionally, the angle of inclination of clean robot is obtained, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；
By the average acceleration component and the corresponding relation at angle of inclination prestored, angle of inclination is determined.
Optionally, the angle of inclination of clean robot is obtained, including：
The angle of inclination of clean robot is obtained by six axle gyroscopes；Six axle gyroscopes have three axis accelerometer simultaneously
Function and three-axis gyroscope function.
Optionally, clean robot includes two driving wheels arranged side by side；
Control clean robot is crossed over to barrier, including：
First control a driving wheel to cross over barrier, then control another driving wheel to cross over barrier.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
By the way that when clean robot is advanced along direction of advance, whether detection clean robot is in barrier obstruction shape
State, when clean robot is in barrier and hinders state, clean robot run-off the straight, obtain the inclination angle of clean robot
Degree, when angle of inclination is less than predetermined angular, control clean robot is crossed over to barrier, is solved clean robot and is existed
Because the obstruction of barrier can not continue clean up task, it is necessary to which extraneous help could continue asking for clean up task in running
Topic so that clean robot can be independently completed the leap got rid of poverty and to barrier, and the work for improving clean robot is fitted
Should be able to power.The clean robot of the present invention can perceive to oneself state, and according to the state voluntarily judge be obstacle detouring after
It is continuous to advance or return so that clean robot can automatically continue with work in various complex environments, without asking
Manual intervention, it greatly strengthen the full-automation of clean robot.
It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited
It is open.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation for clean robot that each embodiment of the disclosure is related to；
Fig. 2 is a kind of structural representation for clean robot that each embodiment of the disclosure is related to；
Fig. 3 is a kind of block diagram for clean robot that each embodiment of the disclosure is related to；
Fig. 4 is a kind of coordinate system that the embodiment of the present disclosure provides；
Fig. 5 A are a kind of flow charts of barrier crossing method according to an exemplary embodiment；
Fig. 5 B are a kind of schematic diagrames of barrier obstruction state according to an exemplary embodiment；
Fig. 6 is a kind of flow chart of barrier crossing method according to another exemplary embodiment；
Fig. 7 A are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 7 B are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 7 C are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 7 D are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 7 E are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 7 F are a kind of implementation schematic diagrames of barrier crossing method according to an exemplary embodiment；
Fig. 8 A are a kind of implementation schematic diagrames at acquisition angle of inclination according to another exemplary embodiment；
Fig. 8 B are a kind of implementation schematic diagrames at acquisition angle of inclination according to another exemplary embodiment；
Fig. 8 C are a kind of implementation schematic diagrames at acquisition angle of inclination according to another exemplary embodiment.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the disclosure.
Fig. 1 and Fig. 2 is a kind of schematic diagram for clean robot that each embodiment of the disclosure is related to, and Fig. 1 is exemplary to be shown
The schematic top plan view of clean robot 10, the elevational schematic view for showing the clean robot 10 exemplary Fig. 2 are gone out.Such as figure
Shown in 1 and Fig. 2, the clean robot 10 includes：Body 110, detection components 120, revolver 131, the motor being connected with revolver 131
(not shown), right wheel 132, the motor (not shown) being connected with right wheel 132 and main brush 140.
Body 110 forms the shell of clean robot, and accommodates other parts.
Optionally, body 110 is in flat cylinder.
The week survey environment that detection components 120 are used for clean robot measures, so as to find barrier, metope, platform
The environmental objects such as rank；Detection components 120 can be also judged the motion state of clean robot itself.Detection components 120 can
Including odometer, LDS (Laser Distance Sensor, laser range sensor), steep cliff sensor, three axis accelerometer,
Gyroscope, crash sensor.Optionally, detection components 120 may also include infrared sensor, ultrasonic sensor, camera, suddenly
Your sensor etc..
The present embodiment is not construed as limiting to the number of detection components 120 and position.
Revolver 131 is installed in the left side of cleaning machine human organism 110, installed on the right side of cleaning machine human organism 110
There is right wheel 132, revolver 131 and right wheel 132 are arranged on the left and right sides of cleaning machine human organism 110 side by side.Revolver 131 and right wheel
132 are controlled by the motor with being each connected respectively.
In the motor that the left side of cleaning machine human organism 110 is also equipped with being connected with revolver 131, it is connected with revolver 131
The drive circuit of motor is connected with the control unit of clean robot, and control unit is sent to the drive circuit of motor to be corresponded to not
With the first control signal of dutycycle, the drive circuit of motor produces corresponding driving current according to the first control signal makes motor
Rotate, so as to control the driving direction of revolver 131 and velocity of rotation；Wherein, dutycycle refer to conduction time of pulse signal with
The ratio of power cycles, dutycycle is bigger, and the velocity of rotation of revolver 131 is bigger, and dutycycle is smaller, the velocity of rotation of revolver 132
It is smaller.Such as：The dutycycle that corresponds to that the drive circuit for the motor being connected with revolver 131 receives control unit transmission is 1/2
The first control signal, corresponding driving current is produced according to the first control signal, in the presence of driving current, with revolver
The driving direction of the motor control revolver 131 of 131 connections is direction of advance, and velocity of rotation is 50 revs/min.
In the motor that the right side of cleaning machine human organism 110 is also equipped with being connected with right wheel 132, it is connected with right wheel 132
The drive circuit of motor is connected with the control unit of clean robot, and control unit is sent to the drive circuit of motor to be corresponded to not
With the second control signal of dutycycle, the drive circuit of motor produces corresponding driving current according to the second control signal makes motor
Rotate, so as to control the driving direction of right wheel 132 and velocity of rotation.Such as：The drive circuit for the motor being connected with right wheel 132 connects
The second control signal for corresponding to dutycycle and being 1/2 of control unit transmission is received, is produced according to the second control signal corresponding
Driving current, in the presence of driving current, the driving direction for the motor control right wheel 132 being connected with right wheel 132 is advance side
To velocity of rotation is 50 revs/min.
The revolver 131 of clean robot 10, the motor being connected with revolver 131, right wheel 132 and the electricity being connected with right wheel 132
Machine constitutes the driver element of clean robot 10.
Alternatively, the clean robot 10 also includes being arranged on the anterior directive wheel 133 of body 110, and directive wheel 133 is used for
Change travel direction of the clean robot during traveling.
Main brush 140 is arranged on the bottom of body 110.Alternatively, main brush 140 is the drum rotated with roller type relative to contact surface
Shape turns brush.
It should be noted that clean robot can also include other module or components, or, only including above-mentioned part mould
Block or component, the present embodiment are not construed as limiting to this, are only illustrated by taking above-mentioned clean robot as an example.
Fig. 3 is the block diagram of the clean robot provided according to an exemplary embodiment.Clean robot includes control
Unit 310, memory cell 320, detection unit 330, computing unit 340, driver element 350 and cleaning unit 360 processed.
Control unit 310 is used for the overall operation for controlling clean robot.When receiving cleaning order, control unit
310 can control clean robot to be advanced and during traveling according to logic of propositions along direction of advance or along direction of retreat
Cleaned.Receive advance order when, control unit 310 controls clean robot to be expert at route with predetermined traveling mode
Advance in footpath.Other instructions that the present embodiment receives user to control unit 310 repeat no more.
Memory cell 320 be used for store at least one instruction, these instruction include be used for perform predetermined traveling mode and
The instruction of travel path, by cleaned instruction, for detecting whether in barrier hinder state instruction, based on
Calculate the instruction at angle of inclination, for detecting whether angle of inclination is more than predetermined angular instruction etc..Memory cell 320 is additionally operable to deposit
Clean robot is stored up in the self-position data during traveling, the travel speed during traveling, distance travelled and obstacle
Relevant data of thing etc..
Detection unit 330 is used for the traveling shape for detecting barrier and clean robot of the clean robot in travel zone
State, barrier can be furniture, household electrical appliances, office equipment, brick wall wall, plank wall, the electric wire on ground, the mistake between room
Door stone etc..
Computing unit 340 is used for the inclination angle that calculating clean robot when barrier hinders state is in clean robot
Degree, and clean robot is with a distance from travel zone middle-range is from barrier.For example computing unit 340 passes through three axis accelerometer
The angle of inclination of clean robot is calculated, or, computing unit 340 calculates the angle of inclination of clean robot by gyroscope,
Or computing unit 340 obtains the angle of inclination of clean robot by six axle gyroscopes, or, computing unit 340 is by clear
Clean robot calculates the angle of inclination of clean robot apart from the distance of barrier or the travel distance of clean robot.
Driver element 350 is used for the driving direction that the first driving wheel is controlled according to the first control signal of control unit 310
And velocity of rotation, or the driving direction of the second driving wheel is controlled according to the second control signal of control unit 310 and rotates speed
Degree.
Cleaning unit 360 is used to receive cleaning order, and control unit 310 controls clean robot according to logic of propositions
Along direction of advance or along direction of retreat advance when, control the main brush of clean robot bottom in a rolling manner during traveling
Clean and brush the contact surface contacted with main.
In the exemplary embodiment, control unit 310 can be by one or more application specific integrated circuits (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, clear in the embodiment of the present disclosure for performing
Clean robot control method.
Optionally, control unit 310 is additionally configured to：
When driver element 350 drives clean robot to advance, detect whether clean robot is located by detection unit 330
State is hindered in barrier；
If detection unit 330 detects that clean robot is in barrier and hinders state, acquisition passes through computing unit 340
Obtain the angle of inclination of clean robot；
If angle of inclination is less than predetermined angular, control unit 310 controls clean robot to cross over barrier.
Optionally, driver element 350 includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit 330, including：
Detect whether driving wheel is in slipping state by detection unit 330；Slipping state be driving wheel in sliding manner
The state rotated on the contact surface；
If driving wheel is in slipping state, it is determined that clean robot is in barrier and hinders state.
Optionally, driver element 350 includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit 330, including：
Detect whether driving wheel is in stuck state by detection unit 330；Stuck state is driving wheel in rotation process
The middle state to be stopped operating by external force；
If driving wheel is in stuck state, it is determined that clean robot is in barrier and hinders state.
Optionally, driver element 350 includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit 330, including：
Detection unit 330 obtains the distance travelled of driving wheel and the position of clean robot；
If the changing value of distance travelled exceedes preset range, and position is not changed, it is determined that clean robot is in
Barrier hinders state.Optionally, driver element includes driving wheel；
Whether clean robot is detected in barrier obstruction state by detection unit 330, including：
Whether the driving current that detection unit 330 detects driver element 350 is more than predetermined current value；
If driving current is more than predetermined current value, it is determined that clean robot is in barrier and hinders state.
Optionally, whether clean robot is detected in barrier obstruction state by detection unit 330, including：
Detection unit 330 detect clean robot whether run-off the straight；
If clean robot run-off the straight, it is determined that clean robot is in barrier and hinders state.
Optionally, detection unit 330 detect clean robot whether run-off the straight, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detect average acceleration
Whether component is more than the first predetermined threshold；If average acceleration component is more than the first predetermined threshold, it is determined that cleaning machine human hair
It is raw to tilt；
Or,
Instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detecting instantaneous angular velocity component is
It is no to be more than Second Threshold；If instantaneous angular velocity component is more than Second Threshold, it is determined that clean robot run-off the straight；
Wherein, if the origin of coordinate system is the central point of clean robot, the X-axis of coordinate system is parallel to clean robot
The antero posterior axis of body, the Y-axis of coordinate system is parallel to the lateral shaft of the body of clean robot, and the Z axis of coordinate system is parallel to cleaning
Any two in the vertical axes of the body of robot, X-axis and Y-axis and Z axis three is orthogonal.
Optionally, the angle of inclination of clean robot is obtained by computing unit 340, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；
The average acceleration component and the corresponding relation at angle of inclination prestored in, determines angle of inclination.
Optionally, the angle of inclination of clean robot is determined by computing unit 340, including：
The angle of inclination of clean robot is obtained by six axle gyroscopes；Six axle gyroscopes have three axis accelerometer simultaneously
Function and three-axis gyroscope function.
Optionally, clean robot includes two driving wheels arranged side by side；Control unit 310 controls clean robot to obstacle
Thing is crossed over, including：
Control unit 310 first controls a driving wheel to cross over barrier, then controls another driving wheel to obstacle
Thing is crossed over.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instructing, example are additionally provided
Such as include the memory cell 320 of instruction, above-mentioned instruction can be performed by control unit 310 to complete in the above-mentioned embodiment of the present disclosure
Clean robot control method.For example, non-transitorycomputer readable storage medium can be ROM, random access memory
(RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
In the following embodiments, the revolver of clean robot is defined as the first driving wheel, by the right wheel of clean robot
It is defined as the second driving wheel.In other possible embodiments, the right wheel of clean robot can also be defined as the first driving
Wheel, is defined as the second driving wheel, the embodiment of the present disclosure is not limited this by the revolver of clean robot.
For convenience of the behavior of description clean robot, as shown in figure 4, a coordinate system based on clean robot is established,
The coordinate system includes X-axis, Y-axis and Z axis, and the origin of coordinate system is the central point of clean robot, in X-axis and Y-axis and Z axis three
Any two it is orthogonal；X-axis and Y-axis are sat in approximately the same plane, X-axis parallel to the antero posterior axis of the body of clean robot
Mark lateral shaft of the Y-axis parallel to the body of clean robot of system；The plane that Z axis determines perpendicular to X-axis and Y-axis, the Z of coordinate system
Vertical axes of the axle parallel to the body of clean robot.Wherein, it is direction of advance along the driving direction before X axis, along after X axis
Driving direction be direction of retreat.
The embodiment of the present disclosure will illustrate its barrier crossing method, but the embodiment of the present disclosure based on above-mentioned clean robot
The type of clean robot is not limited.
Fig. 5 A are refer to, it illustrates the flow chart of the barrier crossing method shown in an exemplary embodiment.The obstacle
Thing crossing method comprises the following steps：
In step 501, when clean robot is advanced, whether detection clean robot is in barrier obstruction state.
Optionally, clean robot is advanced, and can be clean robot advance along direction of advance or cleaning machine
People advances along direction of retreat.
Optionally, barrier is that have certain degree of hardness and highly less bar, such as the stone of moving into one's husband's household upon marriage between adjacent room,
Or barrier is the thread of soft easily deformation, such as electric wire.
Optionally, clean robot includes two driving wheels arranged side by side.
Clean robot is in barrier and hinders state to refer to the non-across obstacle of the driving wheel of clean robot, cleaner
The fuselage of device people is in inclined state.As shown in Figure 5 B, it illustrates clean robot 51 when by two rooms, by mistake
Door stone 52 hinders, and revolver and right wheel are not in heeling condition across stone 52 of moving into one's husband's household upon marriage, the fuselage of clean robot 51.
In step 502, if clean robot is in barrier and hinders state, the inclination angle of clean robot is obtained
Degree.
In step 503, if angle of inclination is less than predetermined angular, control clean robot is crossed over to barrier.
Optionally, when angle of inclination is more than predetermined angular, control clean robot in barrier along with hindering state
Advance in the opposite direction of direct of travel before.
Optionally, predetermined angular is that in general, clean robot is in barrier and hinders state and the barrier
When can be spanned, the inclined angle of fuselage of clean robot.Optionally, predetermined angular is that clean robot is in barrier
Obstruction state and when the barrier can be spanned, the inclined maximum angle of fuselage of clean robot, such as：Clean robot
Maximum can spanning height be two centimetres of barrier, the fuselage when clean robot is hindered by height for two centimetres of barrier
Run-off the straight, angle of inclination are 5 degree, namely predetermined angular is 5 degree.
In summary, the barrier crossing method that the embodiment of the present disclosure provides, by when clean robot is advanced, detecting
Whether clean robot is in barrier obstruction state, when clean robot is in barrier obstruction state, clean robot
Run-off the straight, the angle of inclination of clean robot is obtained, when angle of inclination is less than predetermined angular, control clean robot is to barrier
Hinder thing to be crossed over, solve clean robot in the process of running because the obstruction of barrier can not continue clean up task, need
Will extraneous help the problem of could continuing clean up task so that clean robot can be independently completed to barrier across
More, the work accommodation ability of clean robot is improved.
Fig. 6 is refer to, it illustrates the flow chart of the barrier crossing method shown in another exemplary embodiment.The obstacle
Thing crossing method comprises the following steps：
In step 601, when clean robot is advanced, whether detection clean robot is in barrier obstruction state.
Clean robot is detected whether in barrier obstruction state, there is following several method：
First, state is hindered according to whether the condition adjudgement clean robot of the driving wheel of clean robot is in barrier,
As shown in Figure 7 A：
In step 701a, whether detection driving wheel is in slipping state.
Slipping state is the state that driving wheel rotates on the contact surface in sliding manner；Wherein, contact surface is that robot enters
The plane of row clean up task, such as ground or desktop.
In step 702a, if driving wheel is in slipping state, it is determined that clean robot is in barrier and hinders state.
2nd, state is hindered according to whether the condition adjudgement clean robot of the driving wheel of clean robot is in barrier,
As shown in Figure 7 B：
In step 701b, whether detection driving wheel is in stuck state.
Stuck state is the state that driving wheel is stopped operating in rotation process by external force.
In step 702b, if driving wheel is in stuck state, it is determined that clean robot is in barrier and hinders state.
3rd, according to the state of the driving wheel of clean robot and the change in location of clean robot, clean robot is judged
Whether for barrier hinder state, as seen in figure 7 c：
In step 701c, the distance travelled of driving wheel and the position of clean robot are obtained.
Optionally, the distance travelled of driving wheel is obtained by the odometer in clean robot fuselage.
Optionally, the position of clean robot is determined by the alignment system in clean robot, or passes through LDS
The positional information of (Laser Distance Sensor, laser range sensor) measurement distance front obstacle determines to clean
The position of robot.
In step 702c, if the changing value of distance travelled exceedes preset range, and position does not change, it is determined that clear
Clean robot is in barrier and hinders state.
This method is a kind of implementation method for the slipping state for detecting driving wheel, can also be according to the fortune of wheel slip behavior
Dynamic feature, electrology characteristic design other implementation methods.
Optionally, preset range is that clean robot is set when dispatching from the factory by generating producer.The change model of distance travelled
Enclose to illustrate that the position of clean robot does not change within preset range.
When clean robot is in slipping state, driving wheel rotates, and the distance travelled of driving wheel changes, and works as driving
When the distance travelled of wheel exceedes preset range, the position of clean robot should change, and actually clean robot
Position does not change, it is possible thereby to determine that clean robot is in barrier and hinders state.
As illustrated in fig. 7d, the driving wheel 71 of clean robot is rotating, but in front of the LDS72 measurement distances of clean robot
The distance L of barrier 73 does not change, and the changing value of the distance travelled of driving wheel 71 exceedes preset range, but distance L is not sent out
Changing, it is determined that clean robot is in barrier and hinders state.
4th, judge that clean robot whether for barrier obstruction state, is such as schemed according to the driving current of clean robot
Shown in 7E：
In step 701e, whether detection driving current is more than predetermined current value.
The driving current for the motor being connected with driving wheel is obtained, whether detection driving current is more than predetermined current value.
This method is a kind of implementation method for the stuck state for detecting driving wheel, can also be according to the fortune of the stuck behavior of wheel
Dynamic feature, electrology characteristic design other implementation methods.
Optionally, predetermined current value is the threshold value that clean robot is set when skidding, and optionally, predetermined current value is big
In the value of maximum current value of the clean robot in normal traveling process.
Optionally, predetermined current value is the threshold value of electric current when driving wheel is stopped operating in rotation process by external force, optional
, predetermined current value is minimum current value when driving wheel is stopped operating in rotation process by external force.
In step 702e, if driving current is more than predetermined current value, it is determined that clean robot is in barrier obstruction
State.
5th, such as schemed whether for barrier obstruction state according to the fuselage condition adjudgement clean robot of clean robot
Shown in 7F：
In step 701f, detection clean robot whether run-off the straight.
Detecting clean robot, whether run-off the straight has following two methods：
(1) average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detection is average to be added
Whether velocity component is more than the first predetermined threshold；If average acceleration component is more than the first predetermined threshold, it is determined that cleaning machine
People's run-off the straight.
When the non-run-off the straight of clean robot, the average acceleration component in X-axis is zero.Optionally, first is predetermined
Threshold value is zero.
(2) instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detect instantaneous angular velocity point
Whether amount is more than Second Threshold；If instantaneous angular velocity component is more than Second Threshold, it is determined that clean robot run-off the straight.
When the non-run-off the straight of clean robot, the instantaneous angular velocity component in Y-axis is zero.Optionally, second is predetermined
Threshold value is zero.
In step 702f, if clean robot run-off the straight, it is determined that clean robot is in barrier and hinders state.
It should be noted that the ordinal number such as " one " that is referred in the embodiment of the present disclosure, " two ", " three ", above and below not according to
The suitable meaning of its certain expression of text, it should be understood that only play differentiation and be used.
In step 602, if clean robot is in barrier and hinders state, the inclination angle of clean robot is obtained
Degree.
There is following several method at the angle of inclination for obtaining clean robot：
First, average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Again by depositing in advance
The average acceleration component of storage and the corresponding relation at angle of inclination, determine angle of inclination.
The average acceleration component and the one-to-one corresponding at angle of inclination being stored with the memory cell of clean robot in X-axis
Relation, after the computing unit of clean robot gets the average acceleration component in X-axis, determine corresponding inclination angle
Degree.
2nd, the angle of inclination of clean robot is obtained by six axle gyroscopes.
Six axle gyroscopes are the equipment with three axis accelerometer function and three-axis gyroscope function, clean robot
Computing unit the Eulerian angles of clean robot are obtained by six axle gyroscopes, namely obtain the angle of inclination of clean robot.
3rd, the component of acceleration obtained by three axis accelerometer calculates angle of inclination：
(1) first component of acceleration and clean robot of the clean robot in X-axis are obtained by three axis accelerometer
The second component of acceleration on Z axis.
(2) inclination angle is calculated using the trigonometric function relation between the first component of acceleration and the second component of acceleration
Degree.
As shown in Figure 8 A, the first component of acceleration of clean robot in the X-axis direction is obtained by three axis accelerometer
Rx, the second component of acceleration R in the Z-axis directionz。
Using formula one, the tilt angle theta of inclination robot is obtained；
θ=arctan (Rx/Rz) (formula one).
4th, instantaneous angular velocity is obtained by gyroscope, carrying out integrating meter to instantaneous angular velocity calculates angle of inclination：
(1) by gyroscope obtain clean robot from first time point to the period at the second time point in, according to pre-
The instantaneous angular velocity for interval acquiring of fixing time.
Wherein, the time point that first time point is clean robot when hindering state in barrier, the second time point
It is clean robot at the nearest time point before barrier failure condition.
Optionally, predetermined time interval is sampling time interval.
In from first time point to the period at the second time point, according to predetermined time interval, Each point in time is obtained
Instantaneous angular velocity.
(2) instantaneous angular velocity and period are integrated, calculates angle of inclination.
Using formula two, the instantaneous angular velocity and period got is integrated, angle of inclination is calculated and calculates and incline
Rake angle θ；
Wherein, wnFor instantaneous angular velocity, T be from normal operation when to a period of time that state is hindered in barrier.
5th, angle of inclination is gone out using three axis accelerometer and gyroscope combined calculation：
(1) by gyroscope obtain clean robot from first time point to the period at the second time point in, according to pre-
The instantaneous angular velocity for interval acquiring of fixing time.
Wherein, the time point that first time point is clean robot when hindering state in barrier, the second time point
It is clean robot at the nearest time point before barrier failure condition.
The step has elaborated in method four, repeats no more here.
(2) instantaneous angular velocity and time end are integrated, calculates the first angle of inclination.
The step has elaborated in method four, repeats no more here.
(3) deviant of gyroscope is calculated by accelerometer.
Optionally, the deviant of gyroscope is calculated according to specific blending algorithm.
(4) the first angle of inclination is calibrated using deviant, obtains the second angle of inclination.
Optionally, the first angle of inclination is calibrated using deviant according to specific blending algorithm, obtains second and incline
Rake angle.
6th, angle of inclination is calculated to the changing rule of the distance measure of front obstacle by LDS：
(1) first distance value of the clean robot in first time point apart from front obstacle is obtained by LDS, obtained clear
Second distance value of the clean robot at the second time point apart from front obstacle.
Wherein, the time point that first time point is clean robot when hindering state in barrier, the second time point
It is clean robot at the nearest time point before barrier failure condition.
Optionally, front obstacle is not to make clean robot be in the barrier that barrier hinders state.Such as：Order is clear
It is electric wire that clean robot, which is in barrier to hinder the barrier of state, and front obstacle is the wall in front of electric wire.
Optionally, when calculating angle of inclination, the front obstacle as object of reference is same barrier.
(2) angle of inclination is calculated using three function shape relations between the first distance value and second distance value.
Using second distance value, the time difference before the second time point and first time point, and clean robot exist
Speed during normal traveling, calculates theoretical distance value of the clean robot in first time point apart from front obstacle.
For example as shown in Figure 8 B, the first distance value L1=15 apart from front obstacle is measured in first time point T1,
Second time point T2 measures the second distance value L2=10 apart from front obstacle；Recycle first time point T1 and the second time
The time interval differed between point T2, speed of the clean robot in normal advance, is calculated in the second time point T2 distance
The theoretical distance value of front obstacle is L3=4；Angle of inclination is calculated according to formula three：
θ=arccos (L3/L2) formula three
7th, clean robot is obtained by steep cliff sensor and calculates inclination angle apart from the distance on ground in different time points
Degree：
(1) threeth distance value of the clean robot in first time point apart from contact surface is obtained by steep cliff sensor, clearly
Fourth distance value of the clean robot at the second time point apart from contact surface, obtain clean robot in the position of first time point and
Air line distance between the position at the second time point.
Wherein, contact surface be robot carry out clean up task plane, typically ground, or desktop.First time point is
At time point of the clean robot when hindering state in barrier, the second time point was that clean robot hinders in barrier
Hinder the nearest time point before state.
(2) angle of inclination is calculated according to the triangular relationship between the 3rd distance value, the 4th distance value and air line distance.
For example as shown in Figure 8 C, top half shows the distance L4 measured in time point T3 in figure, surveyed in time point T4
Distance L5, and air line distance L6 of the clean robot at time point T3 and T4 apart, the latter half is shown in figure
Triangle relation between L4, L5, L6, tilt angle theta is obtained according to formula four：
θ=arctan (L6/(L5-L4)) formula four
It should be noted that the ordinal number such as " one " that is referred in the embodiment of the present disclosure, " two ", " three ", above and below not according to
The suitable meaning of its certain expression of text, it should be understood that only play differentiation and be used.
In step 603, if angle of inclination is less than predetermined angular, first control a driving wheel to barrier carry out across
More, then another driving wheel is controlled to cross over barrier.
Optionally, when angle of inclination is more than predetermined angular, control clean robot is advanced in the first direction, first direction
With second direction on the contrary, second direction is the direct of travel that clean robot is in before barrier obstruction state.
Optionally, predetermined angular is that in general, clean robot is in barrier and hinders state and the barrier
When can be spanned, the inclined angle of fuselage of clean robot.
Optionally, when predetermined angular is that clean robot is in barrier and hinders state and the barrier can be spanned,
The inclined maximum angle of fuselage of clean robot, such as：Clean robot maximum can spanning height be two centimetres of obstacle
Thing, the fuselage run-off the straight when clean robot is hindered by height for two centimetres of barrier, angle of inclination is 5 degree, namely in advance
Angle is determined for 5 degree.
Optionally, when clean robot be in barrier hinder state, and angle of inclination level off to zero when, clean robot
May be hindered by the gradual barrier of the in the vertical direction in course, now, control clean robot with
The direct of travel opposite with the direct of travel before barrier obstruction state is advanced.Such as：Clean robot is by front
The obstruction of wall, then clean robot is controlled to be advanced along direction of retreat.
Optionally, clean robot includes two driving wheels arranged side by side, controls one of driving wheel to carry out barrier
The implementation of leap can have following several：
First, control a driving wheel to advance in the first direction, control another driving wheel to advance in a second direction, wherein,
First direction is opposite with second direction.
Wherein, first direction is the direct of travel that clean robot is in before barrier obstruction state.
2nd, being advanced in the first direction with First Speed for driving wheel is controlled, controls another driving wheel with the second speed
Degree is advanced in the first direction, and First Speed is more than second speed.
3rd, control a driving wheel to advance in the first direction, control another driving wheel remains stationary.
It should be noted that the ordinal number such as " one " that is referred in the embodiment of the present disclosure, " two ", " three ", above and below not according to
The suitable meaning of its certain expression of text, it should be understood that only play differentiation and be used.
In summary, the barrier crossing method that the embodiment of the present disclosure provides, by clean robot along direction of advance
During traveling, whether detection clean robot, which is in barrier, is hindered state, when clean robot is in barrier obstruction state,
Clean robot run-off the straight, the angle of inclination of clean robot is obtained, when angle of inclination is less than predetermined angular, control cleaning
Robot is crossed over to barrier, solves clean robot in the process of running because the obstruction of barrier can not continue clearly
Clean task is, it is necessary to the problem of extraneous help could continue clean up task so that clean robot can be independently completed and get rid of poverty
With the leap to barrier, the work accommodation ability of clean robot is improved.The clean robot of the present invention can be to itself
State is perceived, and voluntarily judges that obstacle detouring is moved on or returned according to the state so that clean robot is various
Work can be automatically continued with complex environment, without asking manual intervention, greatly strengthen clean robot it is complete from
Dynamicization.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or
Person's adaptations follow the general principle of the disclosure and including the undocumented common knowledges in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the precision architecture that the disclosure is not limited to be described above and is shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (20)
1. a kind of clean robot, it is characterised in that the clean robot includes：Cleaning unit, driver element, detection are single
Member, computing unit and control unit；
When the driver element drives the clean robot to advance, the clean robot is detected by the detection unit
Whether in barrier obstruction state；
If the detection unit detects that the clean robot is in the barrier and hinders state, list is calculated by described
Member obtains the angle of inclination of the clean robot；
If the angle of inclination is less than predetermined angular, described control unit controls the clean robot to enter the barrier
Row is crossed over.
2. clean robot according to claim 1, it is characterised in that the driver element includes driving wheel；
It is described that whether the clean robot is detected in barrier obstruction state by the detection unit, including：
Detect whether the driving wheel is in slipping state by the detection unit；The slipping state be the driving wheel with
The state that sliding type rotates on the contact surface；
If the driving wheel is in the slipping state, it is determined that the clean robot is in the barrier and hinders state.
3. clean robot according to claim 1, it is characterised in that the driver element includes driving wheel；
It is described that whether the clean robot is detected in barrier obstruction state by the detection unit, including：
Detect whether the driving wheel is in stuck state by the detection unit；The stuck state is that the driving wheel exists
The state to be stopped operating in rotation process by external force；
If the driving wheel is in the stuck state, it is determined that the clean robot is in the barrier and hinders state.
4. clean robot according to claim 1, it is characterised in that the driver element includes driving wheel；
It is described that whether the clean robot is detected in barrier obstruction state by the detection unit, including：
The detection unit obtains the distance travelled of the driving wheel and the position of the clean robot；
If the changing value of the distance travelled exceedes preset range, and the position does not change, it is determined that the cleaner
Device people is in barrier and hinders state.
5. clean robot according to claim 1, it is characterised in that described described clear by detection unit detection
Whether clean robot, which is in barrier, is hindered state, including：
Whether the driving current that the detection unit detects the driver element is more than predetermined current value；
If the driving current is more than the predetermined current value, it is determined that the clean robot is in the barrier and hinders shape
State.
6. clean robot according to claim 1, it is characterised in that described described clear by detection unit detection
Whether clean robot, which is in barrier, is hindered state, including：
The detection unit detect the clean robot whether run-off the straight；
If the clean robot run-off the straight, it is determined that the clean robot is in the barrier and hinders state.
7. clean robot according to claim 6, it is characterised in that the detection unit detects the clean robot
Whether run-off the straight, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detect the average acceleration
Whether component is more than the first predetermined threshold；If the average acceleration component is more than first predetermined threshold, it is determined that described
Clean robot run-off the straight；
Or,
Instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detect the instantaneous angular velocity point
Whether amount is more than Second Threshold；If the instantaneous angular velocity component is more than Second Threshold, it is determined that the clean robot occurs
Tilt；
Wherein, if the origin of coordinate system is the central point of the clean robot, the X-axis of the coordinate system is parallel to described
The antero posterior axis of the body of clean robot, the transverse direction of the Y-axis of the coordinate system parallel to the body of the clean robot
Axle, the Z axis of the coordinate system is parallel to the vertical axes of the body of the clean robot, the X-axis and the Y-axis and institute
Any two stated in Z axis three is orthogonal.
8. clean robot according to claim 1, it is characterised in that the cleaner is obtained by the computing unit
The angle of inclination of device people, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；
By the average acceleration component and the corresponding relation at the angle of inclination prestored, the inclination angle is determined
Degree.
9. clean robot according to claim 1, it is characterised in that the cleaner is determined by the computing unit
The angle of inclination of device people, including：
The angle of inclination of the clean robot is obtained by six axle gyroscopes；The six axles gyroscope has the acceleration of three axles simultaneously
Spend the function of meter and the function of three-axis gyroscope.
10. clean robot according to claim 1, it is characterised in that the driver element includes two drives arranged side by side
Driving wheel；
Described control unit controls the clean robot to cross over the barrier, including：
Described control unit first controls a driving wheel to cross over the barrier, then controls another driving wheel to described
Barrier is crossed over.
11. a kind of barrier crossing method, it is characterised in that methods described is applied to the clean robot for including driving wheel
In, methods described includes：
When the clean robot is advanced, whether the clean robot is detected in barrier obstruction state；
If the clean robot, which is in the barrier, hinders state, the angle of inclination of the clean robot is obtained；
If the angle of inclination is less than predetermined angular, the clean robot is controlled to cross over the barrier.
12. according to the method for claim 11, it is characterised in that whether the detection clean robot is in obstacle
Thing hinders state, including：
Detect whether the driving wheel is in slipping state；The slipping state is the driving wheel in sliding manner in contact surface
The state of upper rotation；
If the driving wheel is in the slipping state, it is determined that the clean robot is in the barrier and hinders state.
13. according to the method for claim 11, it is characterised in that whether the detection clean robot is in obstacle
Thing hinders state, including：
Detect whether the driving wheel is in stuck state；The stuck state be the driving wheel in rotation process by external force
The state to stop operating；
If the driving wheel is in the stuck state, it is determined that the clean robot is in the barrier and hinders state.
14. according to the method for claim 11, it is characterised in that whether the detection clean robot is in obstacle
Thing hinders state, including：
Obtain the distance travelled of the driving wheel and the position of the clean robot；
If the changing value of the distance travelled exceedes preset range, and the position does not change, it is determined that the cleaner
Device people is in barrier and hinders state.
15. according to the method for claim 11, it is characterised in that whether the detection clean robot is in obstacle
Thing hinders state, including：
Whether detection driving current is more than predetermined current value；
If the driving current is more than the predetermined current value, it is determined that the clean robot is in the barrier and hinders shape
State.
16. according to the method for claim 11, it is characterised in that whether the detection clean robot is in obstacle
Thing hinders state, including：
Detect the clean robot whether run-off the straight；
If the clean robot run-off the straight, it is determined that the clean robot is in the barrier and hinders state.
17. according to the method for claim 16, it is characterised in that whether the detection clean robot inclines
Tiltedly, including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；Detect the average acceleration
Whether component is more than the first predetermined threshold；If the average acceleration component is more than first predetermined threshold, it is determined that described
Clean robot run-off the straight；
Or,
Instantaneous angular velocity component of the clean robot in Y-axis is obtained by gyroscope；Detect the instantaneous angular velocity point
Whether amount is more than Second Threshold；If the instantaneous angular velocity component is more than Second Threshold, it is determined that the clean robot occurs
Tilt；
Wherein, if the origin of coordinate system is the central point of the clean robot, the X-axis of the coordinate system is parallel to described
The antero posterior axis of the body of clean robot, the transverse direction of the Y-axis of the coordinate system parallel to the body of the clean robot
Axle, the Z axis of the coordinate system is parallel to the vertical axes of the body of the clean robot, the X-axis and the Y-axis and institute
Any two stated in Z axis three is orthogonal.
18. according to the method for claim 11, it is characterised in that the angle of inclination for obtaining the clean robot,
Including：
Average acceleration component of the clean robot in X-axis is obtained by three axis accelerometer；
By the average acceleration component and the corresponding relation at the angle of inclination prestored, the inclination angle is determined
Degree.
19. according to the method for claim 11, it is characterised in that the angle of inclination for obtaining the clean robot,
Including：
The angle of inclination of the clean robot is obtained by six axle gyroscopes；The six axles gyroscope has the acceleration of three axles simultaneously
Spend the function of meter and the function of three-axis gyroscope.
20. according to the method for claim 11, it is characterised in that the clean robot includes two drivings arranged side by side
Wheel；
The control clean robot is crossed over to the barrier, including：
First control a driving wheel barrier is crossed over, then control another driving wheel to the barrier carry out across
More.
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| CN112617698A (en) | 2021-04-09 |
| CN107456173B (en) | 2020-12-04 |
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