CN107544494A - Sweeping robot and its barrier-avoiding method - Google Patents
Sweeping robot and its barrier-avoiding method Download PDFInfo
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- CN107544494A CN107544494A CN201710708207.8A CN201710708207A CN107544494A CN 107544494 A CN107544494 A CN 107544494A CN 201710708207 A CN201710708207 A CN 201710708207A CN 107544494 A CN107544494 A CN 107544494A
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Abstract
The present invention relates to a kind of sweeping robot and its barrier-avoiding method, this method performs following steps including computer under configuration：During sweeping robot tends to barrier, the signal parameter value for characterizing sweeping robot and barrier distance between the two is obtained immediately；Judge whether the signal parameter value reaches maximum；When the signal parameter value reaches maximum, send avoidance instruction and make scene determination methods, during sweeping robot tends to barrier, spacing is gradually reduced as 0 between the two for sweeping robot and barrier, and signal parameter value changes with spacing, maximum is increased to by 0 value, and 0 value is reduced into from maximum, when signal parameter value reaches maximum, avoidance instruction is sent it is possible to prevente effectively from sweeping robot collides with barrier, simultaneously so that nearby work blind area is not present in barrier.
Description
Technical field
The present invention relates to robot, more particularly to sweeping robot and its barrier-avoiding method.
Background technology
In conventional art, sweeping robot mobile working in working region by the roller of itself setting.Sweep the floor machine
People is provided with sensor, to detect wall or other barriers.Sweeping robot detects wall or can be with during other barriers
Turn to avoid colliding.When sweeping robot turns to too early, easily the position of steering and wall or other barriers it
Between form work blind area.During the later steering of sweeping robot, sweeping robot and wall or other barrier collision rift resiliences.
During conventional art is realized, inventor has found following technical problem be present：
Sweeping robot can be with setting signal transmitter and signal receiver.The pulse signal that signal projector is sent runs into
Reflected when wall or other barriers.The pulse signal of reflection is received by signal receiver, and is converted to electric signal.Generally, may be used
The distance of wall or the relative sweeping robot of other barriers is characterized with the voltage by electric signal.However, wall or other
The surface of barrier typically exhibits different colors, such as white and grey.The reflectivity of white wall pulse signals is higher than
The reflectivity of grey wall pulse signals.Voltage threshold can be generally set, by controlling the magnitude of voltage of electric signal to be no more than
Voltage threshold controls the spacing between wall and sweeping robot.It is assumed that the voltage threshold set is closing with respect to white wall
The scope of reason.In face of grey wall, the voltage threshold is continuing with, the reflectivity of grey wall is less than white wall, works as telecommunications
Number magnitude of voltage when reaching voltage threshold, sweeping robot may collide with wall.
Accordingly, it is desirable to provide it is a kind of to obstacle distance judge technical scheme, so as to sweeping robot be neither easy with
Wall or other barriers collide, and are not easy work occur between sweeping robot and wall or other barriers again blind
Area.
The content of the invention
Based on this, it is necessary to control difficult technical problem for spacing between above-mentioned sweeping robot and barrier, there is provided
A kind of scheme.
A kind of barrier-avoiding method of sweeping robot, computer perform following steps under configuration：
During sweeping robot tends to barrier, obtain immediately and characterize sweeping robot and barrier between the two
The signal parameter value of distance；
Judge whether the signal parameter value reaches maximum；
When the signal parameter value reaches maximum, avoidance instruction is sent.
During sweeping robot tends to barrier, spacing is gradually reduced sweeping robot between the two with barrier
For 0, signal parameter value changes with spacing, and maximum is increased to by 0 value, and is reduced into 0 value from maximum, in signal parameter value
When reaching maximum, avoidance instruction is sent it is possible to prevente effectively from sweeping robot collides with barrier, simultaneously so that obstacle
Nearby work blind area is not present in thing.
In one of the embodiments, methods described is further comprising the steps of：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches
Maximum.
Preset signals parameter threshold, signal is just carried out when the signal parameter value exceedes the preset signals parameter threshold
Whether parameter value reaches the judgement of maximum, so as to improve the validity of judgement, reduces the energy consumption for performing and judging.
In one of the embodiments, the step of acquisition preset signals parameter threshold, is specifically included：
Receive the signal parameter threshold value of input.
User can be with the signal parameter threshold value of self-defined input, it is thus possible to so that signal parameter threshold value is reasonable, raising is sentenced
Disconnected validity, reduce the energy consumption for performing and judging.
In one of the embodiments, the signal parameter value is the magnitude of voltage of signal.
The judgement that signal parameter value reaches maximum is convenient for using the magnitude of voltage of signal, meanwhile, judgement can be improved
Accuracy.
In one of the embodiments, it is described to obtain the letter for characterizing sweeping robot and barrier distance between the two immediately
The step of number parameter value, specifically include：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
The spacing carried out using infrared light pulse signal between barrier and sweeping robot is judged, and is further utilized anti-
The strength change laws of signal are penetrated, when signal parameter value reaches maximum, avoidance instruction are sent, it is possible to prevente effectively from sweeper
Device people collides with barrier, simultaneously so that nearby work blind area is not present in barrier.
In one of the embodiments, a kind of sweeping robot, including：
Acquisition module, for sweeping robot tend to barrier during, immediately obtain characterize sweeping robot with
The signal parameter value of barrier distance between the two；
Judge module, for judging whether the signal parameter value reaches maximum；
Control module, for when the signal parameter value reaches maximum, sending avoidance instruction.
During sweeping robot tends to barrier, spacing is gradually reduced sweeping robot between the two with barrier
For 0, signal parameter value changes with spacing, and maximum is increased to by 0 value, and is reduced into 0 value from maximum, in signal parameter value
When reaching maximum, avoidance instruction is sent it is possible to prevente effectively from sweeping robot collides with barrier, simultaneously so that obstacle
Nearby work blind area is not present in thing.
In one of the embodiments, the judge module is specifically used for：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches
Maximum.
Preset signals parameter threshold, signal is just carried out when the signal parameter value exceedes the preset signals parameter threshold
Whether parameter value reaches the judgement of maximum, so as to improve the validity of judgement, reduces the energy consumption for performing and judging.
In one of the embodiments, the judge module is specifically used for：
Receive the signal parameter threshold value of input.
User can be with the signal parameter threshold value of self-defined input, it is thus possible to so that signal parameter threshold value is reasonable, raising is sentenced
Disconnected validity, reduce the energy consumption for performing and judging.
In one of the embodiments, the signal parameter value is the magnitude of voltage of signal.
The judgement that signal parameter value reaches maximum is convenient for using the magnitude of voltage of signal, meanwhile, judgement can be improved
Accuracy.
In one of the embodiments, the acquisition module is specifically used for：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
The spacing carried out using infrared light pulse signal between barrier and sweeping robot is judged, and is further utilized anti-
The strength change laws of signal are penetrated, when signal parameter value reaches maximum, avoidance instruction are sent, it is possible to prevente effectively from sweeper
Device people collides with barrier, simultaneously so that nearby work blind area is not present in barrier.
Brief description of the drawings
Fig. 1 is the flow chart of the boundary work method for the sweeping robot that the embodiment of the present application provides.
Signal parameter value is with both distances during Fig. 2 tends to barrier for the sweeping robot that the embodiment of the present application provides
The curve map of change.
Fig. 3 is the structural representation for the sweeping robot that the embodiment of the present application provides.
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the application one
Section Example, rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of the application protection.
Fig. 1 is the flow chart of the barrier-avoiding method for the sweeping robot that the embodiment of the present application provides, and specifically includes following steps：
S100：During sweeping robot tends to barrier, obtain immediately and characterize sweeping robot and barrier two
The signal parameter value of distance between person.
Sweeping robot can position by the reflection of the optical signal and optical signal sent in the environment.For example, sweep
Floor-washing robot can set optical signal transmitter and optical signal receiver.The light letter that the optical signal transmitter of sweeping robot is sent
Number, when the wall or other barriers in environment are run into propagation, reflect.Sweeping robot receives the reflected light of optical signal
Signal.Sweeping robot determines the distance of sweeping robot and wall or other barriers according to the intensity of reflected light signal.Instead
The intensity for penetrating optical signal is corresponding with the distance of sweeping robot opposing sides or other barriers.Intensity of reflected light threshold can be set
Value, pre-determined distance is in characterize sweeping robot opposing sides or other barriers.The intensity of reflected light signal and its strong
Degree threshold value can be embodied by electric signal, such as the magnitude of voltage of electric signal.
Further, in the another embodiment that the application provides, the signal parameter value is the magnitude of voltage of signal.
When signal parameter value uses the magnitude of voltage of signal, can be improved by way of the amplification of signal recognizable
Property, the relative current value using signal can improve the accuracy of judgement.
S200：Judge whether the signal parameter value reaches maximum.
Fig. 2 is refer to, is the signal parameter value that obtains immediately during sweeping robot tends to barrier, with sweeping
The change curve of floor-washing robot and obstacle barrier distance between the two.Can be by calculating each point in change curve
Slope, search change curve in maximum flex point.Specifically, the second order that can calculate signal parameter value relative time is led
Number, it is 0 situation second dervative occur, then shows that signal parameter value reaches maximum.
S300：When the signal parameter value reaches maximum, avoidance instruction is sent.
When signal parameter value reaches maximum, the processor of sweeping robot sends avoidance instruction, is swept the floor to control
The movement of robot.Specifically, the avoidance instruction of steering is for example sent, to control sweeping robot to turn to.
During sweeping robot tends to barrier, spacing is gradually reduced sweeping robot between the two with barrier
For 0, signal parameter value changes with spacing, and maximum is increased to by 0 value, and is reduced into 0 value from maximum, in signal parameter value
When reaching maximum, avoidance instruction is sent it is possible to prevente effectively from sweeping robot collides with barrier, simultaneously so that obstacle
Nearby work blind area is not present in thing.
Further, in the another embodiment that the application provides, methods described is further comprising the steps of：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches
Maximum.
Further, in the another embodiment that the application provides, described the step of obtaining preset signals parameter threshold, tool
Body includes：
Receive the signal parameter threshold value of input.
Preset signals parameter threshold, signal parameter is just carried out when signal parameter value exceedes the preset signals parameter threshold
Whether value reaches the judgement of maximum, so as to improve the validity of judgement, reduces the energy consumption for performing and judging.Letter can be set
Number parameter threshold, a kind of mode are that signal parameter threshold value is implanted directly into control program.For example, for example can be by signal parameter threshold
Value is stored in memory, is directly invoked in configuration processor.Another way is the outside signal parameter directly inputted of reception
Threshold value, and be further stored in memory.During sweeping robot tends to barrier, the sign got immediately is swept
The signal parameter value of floor-washing robot and barrier distance between the two gradually increased before this, when signal parameter value reaches signal parameter
During threshold value, the judgement whether signal parameter value reaches maximum is proceeded by.Specifically, signal parameter value can be done with the time
Second dervative.When signal parameter value is 0 with the second dervative of time, illustrate that signal parameter value reaches maximum.Signal parameter
Value does not do second dervative of the signal parameter value with the time then before 0 value arriving signal parameter threshold, so as to be done with respect to whole process
Signal parameter value can reduce energy consumption with the computing of the second dervative of time.
Further, in the another embodiment that the application provides, methods described also includes：
It is described obtain immediately characterize sweeping robot and barrier between the two the signal parameter value of distance the step of, specifically
Including：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
The spacing carried out using infrared light pulse signal between barrier and sweeping robot is judged, and is further utilized anti-
The strength change laws of signal are penetrated, when signal parameter value reaches maximum, avoidance instruction are sent, it is possible to prevente effectively from sweeper
Device people collides with barrier, simultaneously so that nearby work blind area is not present in barrier.
Above is the method that the embodiment of the present application provides, based on same thinking, refer to Fig. 3, is the embodiment of the present application
The sweeping robot of offer.
The application also provides a kind of sweeping robot, including：
Acquisition module 11, during tending to barrier in sweeping robot, obtain immediately and characterize sweeping robot
With the signal parameter value of barrier distance between the two；
Judge module 12, for judging whether the signal parameter value reaches maximum；
Control module 13, for when the signal parameter value reaches maximum, sending avoidance instruction.
During sweeping robot tends to barrier, spacing is gradually reduced sweeping robot between the two with barrier
For 0, signal parameter value changes with spacing, and maximum is increased to by 0 value, and is reduced into 0 value from maximum, in signal parameter value
When reaching maximum, avoidance instruction is sent it is possible to prevente effectively from sweeping robot collides with barrier, simultaneously so that obstacle
Nearby work blind area is not present in thing.
Further, in the another embodiment that the application provides, the judge module 12 is specifically used for：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches
Maximum.
Preset signals parameter threshold, signal is just carried out when the signal parameter value exceedes the preset signals parameter threshold
Whether parameter value reaches the judgement of maximum, so as to improve the validity of judgement, reduces the energy consumption for performing and judging.
Further, in the another embodiment that the application provides, the judge module 12 is specifically used for：
Receive the signal parameter threshold value of input.
User can be with the signal parameter threshold value of self-defined input, it is thus possible to so that signal parameter threshold value is reasonable, raising is sentenced
Disconnected validity, reduce the energy consumption for performing and judging.
Further, in the another embodiment that the application provides, the signal parameter value is the magnitude of voltage of signal.
The judgement that signal parameter value reaches maximum is convenient for using the magnitude of voltage of signal, meanwhile, judgement can be improved
Accuracy.
Further, in the another embodiment that the application provides, the acquisition module 11 is specifically used for：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
The spacing carried out using infrared light pulse signal between barrier and sweeping robot is judged, and is further utilized anti-
The strength change laws of signal are penetrated, when signal parameter value reaches maximum, avoidance instruction are sent, it is possible to prevente effectively from sweeper
Device people collides with barrier, simultaneously so that nearby work blind area is not present in barrier.
The concrete application scene of the application implementation is described below：
The optical signal transmitter that sweeping robot is set launches infrared light pulse signal to environment, what sweeping robot was set
Optical signal receiver receives reflected signal of the environment to infrared light pulse signal.Tend to the process of barrier in sweeping robot
In, the signal parameter value for characterizing sweeping robot and barrier distance between the two is obtained immediately, from the gradually increase of 0 value.Sweep the floor
Preset signals parameter threshold can be implanted into the control program of robot.Can also be by User Defined preset signals parameter threshold
Value, and input the memory of sweeping robot.When the signal parameter value obtained immediately equals or exceeds preset signals parameter threshold
When, the processor of sweeping robot starts to calculate second dervative of the signal parameter value with the time.Here signal parameter value is at any time
Between second dervative, specially the magnitude of voltage of signal with the time second dervative.When signal parameter value is with the second dervative of time
For 0 when, illustrate that signal parameter value reaches maximum, the processor of sweeping robot sends avoidance instruction, and further according to keeping away
Barrier instruction control sweeping robot movement.For example, control sweeping robot is instructed to turn to according to avoidance.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of barrier-avoiding method of sweeping robot, it is characterised in that computer performs following steps under configuration：
During sweeping robot tends to barrier, obtain immediately and characterize sweeping robot and barrier distance between the two
Signal parameter value；
Judge whether the signal parameter value reaches maximum；
When the signal parameter value reaches maximum, avoidance instruction is sent.
2. according to the method for claim 1, it is characterised in that methods described is further comprising the steps of：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches very big
Value.
3. according to the method for claim 2, it is characterised in that described the step of obtaining preset signals parameter threshold, specifically
Including：
Receive the signal parameter threshold value of input.
4. according to the method for claim 1, it is characterised in that the signal parameter value is the magnitude of voltage of signal.
5. according to the method for claim 1, it is characterised in that described obtain immediately characterizes sweeping robot and barrier two
Between person the step of the signal parameter value of distance, specifically include：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
A kind of 6. sweeping robot, it is characterised in that including：
Acquisition module, during tending to barrier in sweeping robot, obtain and characterize sweeping robot and barrier two
The signal parameter value of distance between person；
Judge module, for judging whether the signal parameter value reaches maximum；
Control module, for when the signal parameter value reaches maximum, sending avoidance instruction.
7. sweeping robot according to claim 6, it is characterised in that the judge module is specifically used for：
Obtain preset signals parameter threshold；
When the signal parameter value exceedes the preset signals parameter threshold, judge whether the signal parameter value reaches very big
Value.
8. sweeping robot according to claim 7, it is characterised in that the judge module is specifically used for：
Receive the signal parameter threshold value of input.
9. sweeping robot according to claim 6, it is characterised in that the signal parameter value is the magnitude of voltage of signal.
10. sweeping robot according to claim 6, it is characterised in that the acquisition module is specifically used for：
Infrared light pulse signal is sent to environment；
Receive reflected signal of the environment to infrared light pulse signal；
Reflected signal is converted into signal parameter value.
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| CN108802740A (en) * | 2018-06-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of method, apparatus, equipment and the storage medium of ultrasound examination barrier |
| CN109077674A (en) * | 2018-06-28 | 2018-12-25 | 芜湖泰领信息科技有限公司 | The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper |
| CN109965786A (en) * | 2019-03-30 | 2019-07-05 | 深圳市银星智能科技股份有限公司 | A kind of clean robot and its barrier-avoiding method |
| CN110315537A (en) * | 2019-06-27 | 2019-10-11 | 深圳乐动机器人有限公司 | A kind of method, apparatus and robot controlling robot motion |
| CN112835347A (en) * | 2019-11-04 | 2021-05-25 | 美智纵横科技有限责任公司 | Method and device for avoiding obstacles and sweeping robot |
| CN113552589A (en) * | 2020-04-01 | 2021-10-26 | 杭州萤石软件有限公司 | Obstacle detection method, robot, and storage medium |
| CN113589264A (en) * | 2021-09-30 | 2021-11-02 | 莱克电气绿能科技(苏州)有限公司 | Intelligent calibration device and method for intelligent sweeping robot |
| CN114190821A (en) * | 2020-09-16 | 2022-03-18 | 尚科宁家(中国)科技有限公司 | Cleaning robot capable of walking smoothly |
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| CN113589264A (en) * | 2021-09-30 | 2021-11-02 | 莱克电气绿能科技(苏州)有限公司 | Intelligent calibration device and method for intelligent sweeping robot |
| CN113589264B (en) * | 2021-09-30 | 2021-12-28 | 莱克电气绿能科技(苏州)有限公司 | Intelligent calibration device and method for intelligent sweeping robot |
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Effective date of registration: 20180614 Address after: 226244 Tianfen electric tools industrial park, Qidong, Nantong, Jiangsu Applicant after: Jiangsu Dong Cheng electromechanical tool Co., Ltd Address before: 201800 J1202 room 4, zone B, 925 Yecheng Road, Jiading District industrial area, Shanghai. Applicant before: Shanghai Mei Yi Technology Co., Ltd. |
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Application publication date: 20180105 |