CN107647826A - A kind of method of sweeping robot and sweeping robot detecting obstacles thing - Google Patents
A kind of method of sweeping robot and sweeping robot detecting obstacles thing Download PDFInfo
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- CN107647826A CN107647826A CN201710804869.5A CN201710804869A CN107647826A CN 107647826 A CN107647826 A CN 107647826A CN 201710804869 A CN201710804869 A CN 201710804869A CN 107647826 A CN107647826 A CN 107647826A
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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
- A47L11/24—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
- A47L11/40—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
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
-
- 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
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention provides a kind of method of sweeping robot and sweeping robot detecting obstacles thing, and for solving to utilize optical sensor, microwave sensor sensing barrier shortcoming in the prior art, this method includes step：S1：The first stress size and its duration when colliding are received by the force snesor being arranged on sweeping robot；S2：Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches the first preset time value, if the first stress size received reaches the first default force value and its duration reaches the first preset time value, it is determined that is collided with irremovable collision object；S3：According to collision status when colliding, it is determined that cleaning direction.The burden of robot is not only reduced using the present invention, also improves the efficiency swept.And vision system need not be carried, not only reduces the weight that cost also reduces robot body, market efficiency is also improved and cleans quality.
Description
Technical field
The present invention relates to Intelligent robot for sweeping floor field, more particularly to a kind of sweeping robot and sweeping robot detection barrier
Hinder the method for thing.
Background technology
Sweeping robot in the market mainly by optical sensor and microwave remote sensor are installed judge front be
It is no to have barrier.Optical sensor and microwave remote sensor judge whether front has barrier by launching light wave and microwave.In addition,
When which kind of barrier robot judge front for, realized by carrying vision system at present.
Such as Publication No. CN103251359A Chinese patent, a kind of control method of sweeping robot is disclosed, is fitted
For the sweeping robot with omnidirectional type photodetector surely and a directive property photodetector.This method is included when the standard is complete
When detecting a light to formula photodetector, the quasi- omnidirectional type photodetector is rotated；When the quasi- omnidirectional type photodetector can't detect
During the light, stop operating the quasi- omnidirectional type photodetector and one anglec of rotation of estimation；One rotation is determined according to the anglec of rotation
Direction；The sweeping robot is rotated according to the direction of rotation；And when the directive property photodetector detects the light, control
The sweeping robot machine behavior, behavior include motor behavior, clean behavior, the mutual-action behavior between robot and interactive device
Deng.
Such as the A of Publication No. CN 103251360 Chinese patent, a kind of control method of sweeping robot is disclosed,
Suitable for a sweeping robot, including：The sweeping robot is moved with a first direction；When a light of the sweeping robot detects
When device detects a light, the sweeping robot maintains to continue to move to the first direction；When the photodetector can't detect the light
During line, the sweeping robot stops after moving a preset distance；And the sweeping robot is moved with a second direction.
The sweeping robot of above-mentioned prior art, using traditional optical sensor, microwave remote sensor, as long as running into barrier
Direction will be changed, which not only adds the burden of robot, also has a strong impact on the efficiency swept.In addition, judging direction
Change when, traditional sweeping robot need carry vision system, on the one hand not only increase cost and also add robot
The weight of body, influence market efficiency and clean quality.Therefore need to propose that one kind only meets condition with barrier
Collision when can just determine sweeping robot that whether direction changes.
The content of the invention
The purpose of the present invention is for defect present in prior art, there is provided a kind of sweeping robot and scanning machine
The method of people's detecting obstacles thing, judges the barrier in front using the force snesor that is arranged on sweeping robot, and according to touching
The change of the barrier travel direction hit, reduce the burden of robot and improve cleaning quality and sweeping efficiency.
In order to realize the above object the present invention uses following technical scheme：A kind of side of sweeping robot detecting obstacles thing
Method, including step：
S1：The first stress size when colliding is received by the force snesor being arranged on sweeping robot and its held
The continuous time；
S2：Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches
To the first preset time value, if the first stress size received reaches the first default force value and its duration reaches first and preset
Time value, it is determined that collided with irremovable collision object, if the first stress size received is not up to the first pre set force
Value or duration are not up to the first preset time value, it is determined that are collided with removable collision object
S3：According to collision status when colliding, it is determined that cleaning direction.
Further, step S3 includes：
S31：The collision status for determining to collide according to the point of stress；
S32：If the point of stress is single-point when colliding, it is determined that the collision status to collide collide for single-point, if
The point of stress is 2 points when colliding, it is determined that the collision status to collide are two constraints；
S33：According to the collision status, it is determined that cleaning direction.
Further, it is described to be collided according to single-point, it is determined that cleaning direction includes step：
Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches
First preset time value；
If the first stress size reaches the first default force value and its duration reaches the first preset time value, it is determined that hair
The collision object of raw collision is irremovable collision object；
Keep the first stress size and direction constant, record the coordinate of position of collision first, and apply direction with first by
The first vertical default tractive force of force direction；
Judge in the second preset time, whether position coordinates is first coordinate；
If in the second preset time, position coordinates is first coordinate, then discharges the first stress, presets and lead along first
Gravity direction is cleaned.
Further, it is described according to two constraints, it is determined that cleaning direction includes step：
Calculate size and its duration with joint efforts of two component when colliding；
Judge the size made a concerted effort whether reach the second default force value and its duration whether reach second it is default when
Between be worth；
If the size of making a concerted effort reaches the second default force value and its duration reaches the second preset time value, it is determined that hair
The collision object of raw collision is irremovable collision object；
Apply direction and the second default tractive force that any component direction is vertical in described two component, it is default along second
Traction force direction is cleaned.
A kind of sweeping robot, including：
Force snesor, for receiving stress size and stress time when cleaning process collides；
Collision object module is determined, for reaching the first default force value and its duration when the first stress size received
Reach the first preset time value, it is determined that being collided with irremovable collision object, when the first stress size of reception is not up to
First default force value or duration are not up to the first preset time value, it is determined that being collided with removable collision object；
Movement locus module is determined, the collision status to be collided for basis, it is determined that cleaning direction.
Further, including：
Collision status module is determined, for determining the collision status occurred according to the point of stress when colliding.
Further, including：
Single-point crash analysis module, cleaning movement locus when stress point is single when being collided for analyzing；
Two constraints analysis module, cleaning movement locus when stress point is two when being collided for analyzing.
Also include：
Power plant module, the default tractive force for changing and cleaning the direction of motion is discharged and applied during for colliding.
Further, the single-point crash analysis module includes：
Record position unit, for recording the first position of collision when colliding；
Judge position units, whether returned in the first preset time for judging to collide after change cleans the direction of motion
First position of collision；
First determines direction of motion unit, for when returning to the first position of collision in the first preset time, according to first
Predetermined movement direction is cleaned, when being not returned to the first position of collision in the first preset time, according to the first Impact direction
Vertical direction is cleaned.
Further, the two constraints analysis module includes：
Computing module, size and its duration with joint efforts of two component when being collided for calculating；
Second determines direction of motion module, for according to the vertical direction in any component direction in described two component, really
The fixed direction for cleaning motion.
The beneficial effects of the invention are as follows：Using force snesor come the presence of detecting obstacles thing, only in robot with obstacle
Thing meets just to determine whether direction changes during the collision of condition.The burden of robot is not only reduced, also improves and beats
The efficiency swept.In addition, when judging the change in direction, it is not necessary to carry vision system, on the one hand not only reduce cost and also subtract
The light weight of robot body, improves market efficiency and cleans quality.
Brief description of the drawings
Fig. 1 is the method flow diagram for the sweeping robot detecting obstacles thing that the embodiment of the present invention one provides；
Fig. 2 is that the sweeping robot single-point collision that the embodiment of the present invention two provides changes the method flow diagram for cleaning direction；
Fig. 3 is that the sweeping robot two constraints that the embodiment of the present invention two provides change the method flow diagram for cleaning direction；
Fig. 4 is the structure principle chart one for the sweeping robot that the embodiment of the present invention three provides；
Fig. 5 is the structure principle chart one for the sweeping robot that the embodiment of the present invention four provides；
Fig. 6 is the structure principle chart two for the sweeping robot that the embodiment of the present invention four provides；
Fig. 7 is the structure principle chart three for the sweeping robot that the embodiment of the present invention four provides.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment one
A kind of method of sweeping robot detecting obstacles thing is present embodiments provided, as shown in figure 1, it includes step：
S1：The first stress size when colliding is received by the force snesor being arranged on sweeping robot and its held
The continuous time；
S2：Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches
To the first preset time value, if the first stress size received reaches the first default force value and its duration reaches first and preset
Time value, it is determined that collided with irremovable collision object, if the first stress size received is not up to the first pre set force
Value or duration are not up to the first preset time value, it is determined that are collided with removable collision object
S3：According to collision status when colliding, it is determined that cleaning direction.
Sweeping robot can collide with barrier unavoidably during cleaning works, at this moment need to judge this barrier
Fixation degree problem, if robot can move barrier in field of load, robot continues to move to.Otherwise can be with
Judge that front has immovable barrier in its limit of power.
In the present embodiment, first when the force snesor being provided on sweeping robot utilized collides to receive
Stress size and its duration.
, it is necessary to detect the first stress of impact force F1 size and the duration of power i.e. when robot collides
T1。
When the first stress F1 is more than the first default force value, and when T1 also reaches the first preset time value, then it is believed that
The sweeping robot and irremovable object there occurs collision (such as：Feet, wall, refrigerator etc.), now robot needs
Change the direction of motion to complete cleaning works.If the first stress is less than the first default force value or T1 is less than the first preset time
Value, then it is assumed that collision object for can move (such as：The object that toy for children, light carton etc. is scattered), now these objects
It can be rushed open by sweeping robot, thus sweeping robot can continue to clean according to original default direction.
For the sweeping robot when colliding different objects, the change in its direction is also different, at this moment just needs to judge
Collision for which kind of object, that is, the shape for the barrier encountered.For example, when robot collides feet；It is needed around table
Pin cleans, and needs when colliding wall to clean along wall；When robot collides moveable collision object, then rush open
Removable collision object, continues on predetermined paths and is cleaned, i.e., according to collision status when colliding, it is determined that cleaning side
To.
A kind of method of sweeping robot detecting obstacles thing is present embodiments provided, using force snesor cognitive disorders thing,
The size and the signal of power duration of the power received according to force snesor collision object, judge the object and collision shape of collision
State, according to collision status so that it is determined that the cleaning direction changed, it is not necessary to carry vision system, not only reduce cost and also mitigate
The weight of robot body, also improve market efficiency and clean quality.
Embodiment two
A kind of method of sweeping robot detecting obstacles thing is present embodiments provided, as shown in Figure 2 to Figure 3, compared to implementation
Example one：
S1：The first stress size when colliding is received by the force snesor being arranged on sweeping robot and its held
The continuous time；
S2：Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches
To the first preset time value, if the first stress size received reaches the first default force value and its duration reaches first and preset
Time value, it is determined that collided with irremovable collision object, if the first stress size received is not up to the first pre set force
Value or duration are not up to the first preset time value, it is determined that are collided with removable collision object
S3：According to collision status when colliding, it is determined that cleaning direction.
The present embodiment step S3 also includes：
S31：The collision status for determining to collide according to the point of stress；
S32：If the point of stress is single-point when colliding, it is determined that the collision status to collide collide for single-point, if
The point of stress is 2 points when colliding, it is determined that the collision status to collide are two constraints；
S33：According to the collision status, it is determined that cleaning direction.
Force snesor is arranged on sweeping robot, once being collided in cleaning process with barrier, inside is calculated
Method can judge the first stress size and its duration, the first stress size of reception reach the first default force value and its it is lasting when
Between reach the first preset time value, it is determined that collided with irremovable collision object, that is, the generation collided.
, can be with according to the difference of stress point in the present embodiment but the generation of collision also occurs different collision status
Collision is divided into single-point collision and two constraints.
The point of stress is single-point i.e. when colliding, it is determined that the collision status to collide collide for single-point, if hair
The point of stress is 2 points during raw collision, it is determined that the collision status to collide are two constraints.
It is described to be collided according to single-point, it is determined that direction is cleaned, as shown in Fig. 2 including step：
Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches
First preset time value；
If the first stress size reaches the first default force value and its duration reaches the first preset time value, it is determined that hair
The collision object of raw collision is irremovable collision object；
Keep the first stress size and direction constant, record the coordinate of position of collision first, and apply direction with first by
The first vertical default tractive force of force direction；
Judge in the second preset time, whether position coordinates is first coordinate；
If in the second preset time, position coordinates is first coordinate, then discharges the first stress, presets and lead along first
Gravity direction is cleaned.
I.e. after single-point collision occurs, the generation of collision is first determined whether, that is, the first stress size when colliding reaches first
Default force value and its duration reach the first preset time value.
It is determined that after collision occurs, sweeping robot remembers the position of collision, that is, records the coordinate of position of collision first, and protect
It is constant to hold the first stress size and the direction of collision course, and is applying a tractive force perpendicular to collision force direction, and continues the
Two preset time periods, if sweeping robot within less than the second preset time period T2 times if having returned to position of collision, release
Putting the power of collision course, (such case is due to that the sweeping robot object similar with feet is collided, and around feet
Move one week).
When sweeping robot is not returned to more than the second preset time period T2 time the position of collision, collision course is discharged
Power, then it is assumed that collided with wall, remain the traction force direction motion perpendicular to collision force direction, i.e. wall direction
Motion.
It is described according to two constraints, it is determined that cleaning direction includes step：
Calculate size and its duration with joint efforts of two component when colliding；
Judge the size made a concerted effort whether reach the second default force value and its duration whether reach second it is default when
Between be worth；
If the size of making a concerted effort reaches the second default force value and its duration reaches the second preset time value, it is determined that hair
The collision object of raw collision is irremovable collision object；
Apply direction and the second default tractive force that any component direction is vertical in described two component, it is default along second
Traction force direction is cleaned.
I.e. after two constraints occur, it is first determined the generation of collision, that is, calculate making a concerted effort for collision, i.e., size reaches with joint efforts
Second default force value and its duration reach the second preset time value；Secondly, change the direction of motion of sweeping robot, that is, exist
Apply the second default tractive force F2 in the vertical direction of any component so that sweeping robot is along the second default tractive force F2's
Move in direction.
Collision status when the present embodiment is collided by analyzing sweeping robot, individually divided according to collision status
Analyse its direction of motion, so that it is determined that sweeping robot cleaning quality and sweeping efficiency, and vision system need not be carried
System, it can just be identified according to algorithm and clean environment, not only reduced the weight that cost also reduces robot body, improve market
Benefit and cleaning quality.
Embodiment three
A kind of sweeping robot is present embodiments provided, as shown in figure 4, including：
Force snesor, for receiving stress size and stress time when cleaning process collides；
Collision object module is determined, for reaching the first default force value and its duration when the first stress size received
Reach the first preset time value, it is determined that being collided with irremovable collision object, when the first stress size of reception is not up to
First default force value or duration are not up to the first preset time value, it is determined that being collided with removable collision object；
Movement locus module is determined, the collision status to be collided for basis, it is determined that cleaning direction.
The present embodiment, during using colliding, the force sensing element of the force snesor being arranged on sweeping robot receives clear
Stress size and its stress time when inswept journey collides, and stress size when reception cleaning process is collided and
Its stress time signal is converted to electric signal and sent to determination collision object module.
Collision object module is determined, the first stress size and its telecommunications of stress time when being collided described in reception
Number, and by stress size during described collide compared with the first default force value, by during described collide by
The power time compared with the first preset time value, when the first stress size of reception reach the first default force value and its it is lasting when
Between reach the first preset time value, it is determined that being collided with irremovable collision object, when the first stress size of reception does not reach
The first preset time value is not up to the first default force value or duration, it is determined that being collided with removable collision object.
According to the collision status to be collided with object, it is determined that direction is cleaned, either camber line cleaning or straight along corner
Line cleans.
The sweeping robot provided in the present embodiment, using force snesor come the presence of detecting obstacles thing, only in machine
People meets just to determine whether direction changes during the collision of condition with barrier, it is not necessary to carries vision system, alleviates
The weight of sweeping robot body, reduces cost, improves cleaning quality.
Example IV
A kind of sweeping robot is present embodiments provided, as shown in Figures 5 to 7, is included compared to the present embodiment of embodiment three：
Collision status module is determined, for determining the collision status occurred according to the point of stress when colliding.
Sweeping robot can collide different collision objects, including wall side, feet etc., therefore root in cleaning process
According to the different objects of collision, the point of stress determines the collision status occurred when colliding, and the collision status touch including single-point
State and two constraints state are hit, the sweeping robot can carry out analysis according to different collision status and clean movement locus.
Wherein determine that collision status module also includes：Single-point crash analysis module, two constraints analysis module.
Single-point crash analysis module, cleaning movement locus when stress point is single when being collided for analyzing；
Two constraints analysis module, cleaning movement locus when stress point is two when being collided for analyzing.
Power plant module, the default tractive force for changing and cleaning the direction of motion is discharged and applied during for colliding.Passing through
Crash analysis, after determining movement locus, default tractive force is applied come the change of travel direction by power plant module.
Wherein single-point crash analysis module includes：
Record position unit, for recording the first position of collision when colliding；
Judge position units, whether returned in the first preset time for judging to collide after change cleans the direction of motion
First position of collision；
First determines direction of motion unit, for when returning to the first position of collision in the first preset time, according to first
Predetermined movement direction is cleaned, when being not returned to the first position of collision in the first preset time, according to the first Impact direction
Vertical direction is cleaned.
Two constraints analysis module includes：
Computing module, size and its duration with joint efforts of two component when being collided for calculating；
Second determines direction of motion module, for according to the vertical direction in any component direction in described two component, really
The fixed direction for cleaning motion.
The present embodiment, can be according to different clear by setting single-point crash analysis module and two constraints analysis module
Sweep environment and be determined the cleaning direction of motion, improve and clean quality and sweeping efficiency, improve Consumer's Experience.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
- A kind of 1. method of sweeping robot detecting obstacles thing, it is characterised in that including step：S1：By the force snesor that is arranged on sweeping robot receive the first stress size when colliding and its it is lasting when Between；S2：Judge whether the first stress size when colliding reaches the first default force value and its whether the duration reaches the One preset time value, if the first stress size received reaches the first default force value and its duration reaches the first preset time Value, it is determined that collided with irremovable collision object, if the first stress size received be not up to the first default force value or Person is not up to the first preset time value the duration, it is determined that is collided with removable collision object；S3：According to collision status when colliding, it is determined that cleaning direction.
- A kind of 2. method of sweeping robot detecting obstacles thing according to claim 1, it is characterised in that step S3 bags Include：S31：The collision status for determining to collide according to the point of stress；S32：If the point of stress is single-point when colliding, it is determined that the collision status to collide collide for single-point, if occurring The point of stress is 2 points during collision, it is determined that the collision status to collide are two constraints；S33：According to the collision status, it is determined that cleaning direction.
- 3. the method for a kind of sweeping robot detecting obstacles thing according to claim 2, it is characterised in that described according to list Point collision, it is determined that cleaning direction includes step：Whether the first stress size when judging to collide reaches the first default force value and its whether the duration reaches first Preset time value；If the first stress size reaches the first default force value and its duration reaches the first preset time value, it is determined that touches The collision object hit is irremovable collision object；Keep the first stress size and direction constant, record the coordinate of position of collision first, and apply direction and the first stress side To the vertical first default tractive force；Judge in the second preset time, whether position coordinates is first coordinate；If in the second preset time, position coordinates is first coordinate, then discharges the first stress, along the first default tractive force Direction is cleaned.
- 4. the method for a kind of sweeping robot detecting obstacles thing according to claim 2, it is characterised in that described according to two Point collision, it is determined that cleaning direction includes step：Calculate size and its duration with joint efforts of two component when colliding；Judge whether the size made a concerted effort reaches the second default force value and its whether the duration reaches the second preset time value；If the size of making a concerted effort reaches the second default force value and its duration reaches the second preset time value, it is determined that touches The collision object hit is irremovable collision object；Apply direction and the second default tractive force that any component direction is vertical in described two component, along the second default traction Force direction is cleaned.
- A kind of 5. sweeping robot, it is characterised in that including：Force snesor, for receiving stress size and stress time when cleaning process collides；Collision object module is determined, the first stress size received reaches the first default force value and its duration reaches for working as First preset time value, it is determined that being collided with irremovable collision object, when the first stress size of reception is not up to first Default force value or duration are not up to the first preset time value, it is determined that being collided with removable collision object；Movement locus module is determined, the collision status to be collided for basis, it is determined that cleaning direction.
- A kind of 6. sweeping robot according to claim 5, it is characterised in that including：Collision status module is determined, for determining the collision status occurred according to the point of stress when colliding.
- A kind of 7. sweeping robot according to claim 6, it is characterised in that including：Single-point crash analysis module, cleaning movement locus when stress point is single when being collided for analyzing；Two constraints analysis module, cleaning movement locus when stress point is two when being collided for analyzing.
- A kind of 8. sweeping robot according to claim 7, it is characterised in that including：Power plant module, the default tractive force for changing and cleaning the direction of motion is discharged and applied during for colliding.
- 9. a kind of sweeping robot according to claim 8, it is characterised in that the single-point crash analysis module includes：Record position unit, for recording the first position of collision when colliding；Position units are judged, for judging collide after change cleans the direction of motion whether return to first in the first preset time Position of collision；First determines direction of motion unit, for when returning to the first position of collision in the first preset time, being preset according to first The direction of motion is cleaned, when being not returned to the first position of collision in the first preset time, according to the vertical of the first Impact direction Direction is cleaned.
- 10. a kind of sweeping robot according to claim 8, it is characterised in that the two constraints analysis module includes：Computing module, size and its duration with joint efforts of two component when being collided for calculating；Second determines direction of motion module, for according to the vertical direction in any component direction in described two component, it is determined that clearly Sweep the direction of motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804869.5A CN107647826A (en) | 2017-09-08 | 2017-09-08 | A kind of method of sweeping robot and sweeping robot detecting obstacles thing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710804869.5A CN107647826A (en) | 2017-09-08 | 2017-09-08 | A kind of method of sweeping robot and sweeping robot detecting obstacles thing |
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| CN107647826A true CN107647826A (en) | 2018-02-02 |
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| CN201710804869.5A Pending CN107647826A (en) | 2017-09-08 | 2017-09-08 | A kind of method of sweeping robot and sweeping robot detecting obstacles thing |
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| CN108594806A (en) * | 2018-04-03 | 2018-09-28 | 深圳市沃特沃德股份有限公司 | Sweeper is got rid of poverty method and apparatus |
| CN109032148A (en) * | 2018-09-25 | 2018-12-18 | 广东宝乐机器人股份有限公司 | Wall corner identification method and device, terminal equipment and storage medium |
| CN109381125A (en) * | 2018-09-04 | 2019-02-26 | 广东美的厨房电器制造有限公司 | Sweeping robot and its control system and control method |
| CN111571641A (en) * | 2019-02-15 | 2020-08-25 | 速感科技（北京）有限公司 | Rocker-type collision sensing device and autonomous mobile equipment |
| CN111624989A (en) * | 2019-02-28 | 2020-09-04 | 科沃斯机器人股份有限公司 | Control method and self-moving equipment |
| CN112155486A (en) * | 2020-09-30 | 2021-01-01 | 王丽敏 | Control method and control device of sweeping robot |
| CN112684801A (en) * | 2020-12-25 | 2021-04-20 | 珠海格力电器股份有限公司 | Robot recharging control method and device, electrical equipment and storage medium |
| CN113448325A (en) * | 2020-03-24 | 2021-09-28 | 青岛塔波尔机器人技术股份有限公司 | Sweeping robot control method and sweeping robot |
| CN113961009A (en) * | 2021-10-26 | 2022-01-21 | 追觅创新科技(苏州)有限公司 | Obstacle avoidance method and device for sweeper, storage medium and electronic device |
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| CN108594806A (en) * | 2018-04-03 | 2018-09-28 | 深圳市沃特沃德股份有限公司 | Sweeper is got rid of poverty method and apparatus |
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| CN112155486A (en) * | 2020-09-30 | 2021-01-01 | 王丽敏 | Control method and control device of sweeping robot |
| CN112684801A (en) * | 2020-12-25 | 2021-04-20 | 珠海格力电器股份有限公司 | Robot recharging control method and device, electrical equipment and storage medium |
| CN113961009A (en) * | 2021-10-26 | 2022-01-21 | 追觅创新科技(苏州)有限公司 | Obstacle avoidance method and device for sweeper, storage medium and electronic device |
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Application publication date: 20180202 |