CN108030447B - Sweeping robot, map building method and control method thereof - Google Patents
Sweeping robot, map building method and control method thereof Download PDFInfo
- Publication number
- CN108030447B CN108030447B CN201711499695.2A CN201711499695A CN108030447B CN 108030447 B CN108030447 B CN 108030447B CN 201711499695 A CN201711499695 A CN 201711499695A CN 108030447 B CN108030447 B CN 108030447B
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- shell
- bottom plate
- laser radar
- module
- sweeping robot
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- 238000010408 sweeping Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000000428 dust Substances 0.000 claims abstract description 24
- 230000003068 static effect Effects 0.000 claims abstract description 6
- 238000004140 cleaning Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims 2
- 238000010276 construction Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- A47L11/24—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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
-
- 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
- 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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- 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)
Abstract
The invention discloses a sweeping robot and a map building method and a control method thereof, wherein the sweeping robot comprises a shell, a control module, a mobile module and a dust removal module, wherein the mobile module and the dust removal module are connected with the control module, and the sweeping robot further comprises a map building module connected with the control module: the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part; the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part; the movable part is used for raising or lowering the height of the bottom plate relative to the shell; when the bottom plate is lifted to the highest position relative to the shell, the position of the laser radar is higher than the shell; the heights of the power assembly, the control module, the moving module and the dust removing module are not larger than the height of the shell. The technical scheme of the invention can solve the problem that the existing sweeping robot has higher overall height and cannot enter a lower space.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot, a map building method and a map control method thereof.
Background
At present, the floor sweeping robots are numerous in varieties, and in order to improve the intelligent degree of the floor sweeping robots, more and more floor sweeping robots are provided with a map building function, and the function is generally realized in the following two modes. One is to build a map based on the principle of lidar reflection; the other is to build a map based on a camera visual odometer; because the image construction based on the camera is often seriously influenced by illumination, the calculated amount is particularly large, the amount is relatively small at present, and the market is mainly based on the laser radar to build the map.
However, since the lidar needs to be fixed at a relatively high position, the overall height of the sweeping robot is high, so that the sweeping robot cannot enter a plurality of narrow spaces with relatively low heights, such as under a sofa, under a bed, and the like.
Disclosure of Invention
The invention mainly aims to provide a sweeping robot, which aims to solve the problem that the whole height of the existing sweeping robot is higher and cannot enter a lower space.
In order to achieve the above purpose, the invention provides a sweeping robot, which comprises a shell, a control module, a moving module and a dust removal module, wherein the moving module and the dust removal module are connected with the control module, and the sweeping robot further comprises a control module connected with the moving module:
the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part;
the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part;
wherein the movable part is used for raising or lowering the height of the bottom plate relative to the shell; and the bottom plate is higher than the shell when being lifted to the highest position relative to the shell; the heights of the power assembly, the control module, the moving module and the dust removing module are not larger than the height of the shell.
Preferably, the movable part is a vertically arranged rotating shaft, an external thread is arranged on the outer wall of the rotating shaft, a first through hole penetrating through the surface of the bottom plate is arranged on the bottom plate, the bottom plate is sleeved on the rotating shaft through the first through hole, and an internal thread matched with the external thread is arranged in the through hole.
Preferably, the laser radar is arranged in the rotating part; and the lower surface of the rotating part is provided with a second through hole corresponding to the rotating shaft, and when the bottom plate is lowest relative to the height of the shell, the top end of the rotating shaft is inserted into the second through hole.
Preferably, an opening is formed in the upper surface of the housing, and the laser radar assembly is accommodated in the housing through the opening.
Preferably, the laser radar is arranged in the rotating part, and when the rotating part enters the shell, the upper surface of the rotating part is flush with the upper surface of the shell.
Preferably, a protrusion is formed in one of the shell and the outer side wall of the bottom plate, and a groove which is in plug-in fit with the protrusion is formed in the other one; and the bulges or grooves in the shell are arranged in a strip shape.
Preferably, a protrusion protruding outwards from the bottom plate is formed on the outer side wall of the bottom plate, and a sliding groove in sliding fit with the protrusion is formed in the shell; and the wall of the chute is provided with a resistor arranged along the length direction of the chute, the cross sections of the resistors are the same, and the protrusions are electrically connected with the resistors.
The invention also provides a map building method of the sweeping robot, wherein the sweeping robot comprises a shell, a control module, a mobile module and a dust removal module, wherein the mobile module and the dust removal module are connected with the control module, and the sweeping robot further comprises a control module connected with the mobile module: the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part; the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part; wherein the movable part is used for raising or lowering the height of the bottom plate relative to the shell; and the bottom plate is higher than the shell when being lifted to the highest position relative to the shell; the heights of the power component, the control module, the moving module and the dust removing module are not larger than the height of the shell; the laser radar has a lowest exceeding position and a highest exceeding position higher than the shell, and the method for establishing the map of the sweeping robot comprises the following steps:
dividing the height between the lowest exceeding position and the highest exceeding position into N positions in the vertical direction;
after the laser radar is controlled to move to each of the N positions, the rotating part is controlled to drive the laser radar to rotate at least one circle relative to the bottom plate, so that N plane maps corresponding to the N positions are established.
The invention also provides a control method of the sweeping robot, the sweeping robot comprises a shell, a control module, a moving module and a dust removal module, wherein the moving module and the dust removal module are connected with the control module, and the sweeping robot further comprises a control module connected with the control module: the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part; the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part; wherein the movable part is used for raising or lowering the height of the bottom plate relative to the shell; and the bottom plate is higher than the shell when being lifted to the highest position relative to the shell; the heights of the power component, the control module, the moving module and the dust removing module are not larger than the height of the shell; the laser radar has a lowest exceeding position and a highest exceeding position higher than the shell, and the method for establishing the map of the sweeping robot comprises the following steps: dividing the height between the lowest exceeding position and the highest exceeding position into N positions in the vertical direction; after controlling the laser radar to move to each of the N positions, controlling the rotating part to drive the laser radar to rotate at least one circle relative to the bottom plate so as to establish N plane maps corresponding to the N positions, wherein the control method of the sweeping robot further comprises the following steps: and when the laser radar is positioned at one position in the N positions, controlling the moving module to move according to the plane map corresponding to the position in the N plane maps.
Preferably, the sweeping robot further includes at least one sensor stationary with respect to the housing, and when the height of the lidar is equal to or less than the height of the housing, the control method of the sweeping robot further includes:
controlling the movement module to move, and establishing a sensor map through the sensor;
and controlling the mobile module to move according to the sensor map.
According to the technical scheme, the movable part is used for lifting or lowering the height of the bottom plate relative to the shell, and the rotating part in the laser radar assembly is arranged on the bottom plate, so that the lifting and lowering of the rotating part relative to the shell are realized through the movable part, and the lifting and lowering of the laser radar relative to the shell are driven. By realizing the lifting and lowering of the laser radar, on one hand, a map with a certain height range can be established, so that a more comprehensive cleaning map is obtained, which positions can be accessed by the sweeping robot and which positions can not be accessed by the sweeping robot can be determined; on the other hand, since the position of the laser radar can be higher than the shell and the position of the laser radar can be lifted, the highest height of the sweeping robot can be determined by the position of the laser radar by default, and the highest height of the sweeping robot can be lowered by lowering the position of the laser radar, so that when some lower space is met, the sweeping robot can enter the lower space by lowering the position of the laser radar to clean.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a sweeping robot according to the present invention;
FIG. 2 is a split view of a part of the construction of the sweeping robot shown in FIG. 1;
FIG. 3 is a circuit diagram of a robot for sweeping floor according to the present invention, in which the height of a relevant part is measured by providing a slide rheostat;
fig. 4 is a flowchart of a method of creating a map of the sweeping robot of the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. That is, it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present invention.
The invention provides a sweeping robot.
As shown in fig. 1 and 2, the sweeping robot of the present invention includes a housing 10, a control module, and a moving module and a dust removing module connected to the control module, and further includes a dust removing module connected to the control module:
a power assembly including a fixed portion relatively stationary with respect to the housing 10 and a movable portion 21 movable with respect to the fixed portion;
the laser radar assembly comprises a bottom plate 31 connected with the movable part 21, a rotating part 32 arranged on the bottom plate 31 and rotating around an axis in the vertical direction relative to the bottom plate 31, and a laser radar connected with the rotating part 32;
wherein the movable part 21 is used for raising or lowering the height of the bottom plate 31 relative to the housing 10; and the floor 31 is elevated to the highest position relative to the housing 10, the lidar is positioned higher than the housing 10; the heights of the power assembly, the control module, the moving module and the dust removal module are not greater than the height of the housing 10.
The invention adopts the movable part 21 for raising or lowering the height of the bottom plate 31 relative to the shell 10, and the rotating part 32 in the laser radar component is arranged on the bottom plate 31, so that the raising and lowering of the rotating part 32 relative to the shell 10 are realized through the movable part 21, and the raising and lowering of the laser radar relative to the shell 10 are driven. By realizing the lifting and lowering of the laser radar, on one hand, a map with a certain height range (the range between the lowest position and the highest position of the laser radar) can be established, so that a more comprehensive cleaning map is obtained, which positions can be accessed by the sweeping robot and which positions can not be accessed by the sweeping robot can be determined; on the other hand, since the position of the lidar is higher than the housing 10 and the position of the lidar is liftable, the highest height of the sweeping robot in the present invention may be determined by the position of the lidar by default (the height of the rotating part 32 is ignored for convenience of understanding), and the highest height of the sweeping robot may be lowered by lowering the position of the lidar, so that when some lower space is encountered, the sweeping robot enters the lower space by lowering the position of the lidar to perform sweeping.
Specifically, when the height of the lower space is 7cm, the lowest height of the housing 10 of the sweeping robot is less than 7cm, and the laser radar component can be accommodated in the housing 10, so that the sweeping robot can enter the lower space when the height of the laser radar component is reduced; when the laser radar is lifted, a more comprehensive cleaning map can be established, for example, the laser radar can be lifted to a height of 9cm from the ground, and then the space in the height range of 7-9cm can be scanned by the laser radar.
It should be noted that the control module mentioned in the present invention may be disposed in the housing 10, the moving module and the dust removing module are partially disposed in the housing 10, after all, the moving module and the dust removing module need to be in contact with the ground, but the housing 10 cannot be in contact with the ground, and the heights of the control module, the moving module and the dust removing module are not greater than the height of the housing 10; the fixing part in the power assembly can be directly connected with the inside of the shell 10 or indirectly connected through other connecting pieces; the rotating portion 32 and the base plate 31 may together form a brushless motor, and the rotating portion 32 corresponds to a rotor of the brushless motor, so as to rotate the rotating portion 32 relative to the base plate 31, although other types of motors are also possible.
The movable portion 21 may be a retractable rod that moves up and down, such as a moving rod in a cylinder structure, and the bottom plate 31 in the laser radar assembly may be directly connected to the moving rod.
As shown in fig. 1 and 2, the movable portion 21 is provided as a vertically disposed rotating shaft, an external thread 211 is provided on an outer wall of the rotating shaft, a first through hole 312 penetrating through a plate surface of the bottom plate 31 is provided on the bottom plate 31, the rotating shaft is sleeved with the bottom plate 31 through the first through hole 312, and an internal thread 313 matched with the external thread 211 is provided in the through hole. The rotating shaft may be a rotating shaft of a motor, at this time, the fixed portion corresponds to a stator of the motor, and the stator may be directly or indirectly fixedly connected with the housing 10, so as to achieve the purpose that the fixed portion is stationary relative to the housing 10, and the movable portion 21 can move relative to the fixed portion. At this time, the external thread 211 on the outer wall of the rotating shaft is matched with the internal thread 313 in the first through hole 312 on the bottom plate 31, so that the bottom plate 31 can be lifted or lowered relative to the housing 10 in the forward and backward rotation process of the rotating shaft, and the laser radar is finally driven to be lifted or lowered. It is easy to think that the rotating shaft can also be a rotating rod driven by a cylinder or a motor connecting with a gear and/or a belt and other driving parts, as long as the rotating rod can meet the rotating requirement.
In order to further simplify the structure of the sweeping robot, the laser radar is arranged in the rotating part 32, and at this time, a 'perspective structure' for the light of the laser radar to enter and exit, such as glass, can be arranged on the outer wall of the rotating part 32; meanwhile, in order to lower the lowest height of the whole sweeping robot, a second through hole 321 is provided on the lower surface of the rotating part 32 corresponding to the rotating shaft, and when the height of the bottom plate 31 relative to the housing 10 is lowest, the top end of the rotating shaft is inserted into the second through hole 321, preferably, as shown in fig. 1, a second through hole 321 is provided to penetrate the rotating part 32; thus, when the bottom plate 31 is lowered to the lowest position, the top end of the rotating shaft is inserted into the second through hole 321, and at this time, the space occupied by the structure of inserting the rotating shaft into the second through hole 321 can be saved, and the rotating portion 32 can be lowered as much as possible, so as to lower the lowest height of the whole sweeping robot.
In the present invention, an opening (not identified) is provided on the upper surface of the housing 10, the lidar component is accommodated in the housing 10 through the opening, so that the lidar can enter and exit the housing 10 through the opening, and when the lidar component is accommodated in the housing 10, the lowest height of the sweeping robot is the highest height of the housing 10; meanwhile, the laser radar is positioned in the shell 10, so that external dust can be prevented from shielding the transmitting and receiving ports of the laser radar.
In order to maximize the utilization space, the lidar is disposed in the rotating portion 32, and when the rotating portion 32 enters the housing 10, the upper surface of the rotating portion 32 is flush with the upper surface of the housing 10, so that dust is prevented from falling into the housing 10 through the opening. The upper surface of the housing 10 may be planar or curved, and the upper surface of the rotating portion 32 may be matched with the upper surface.
As shown in fig. 1 and 2, when the lidar component can be accommodated in the housing 10 through the opening, in order to enhance the stability of the movement of the bottom plate 31 when the height of the bottom plate 31 relative to the housing 10 is raised or lowered, a protrusion 311 is formed on one of the housing 10 and the outer side wall of the bottom plate 31, and a groove for mating with the protrusion 311 is formed on the other; the protrusion 311 or the groove in the housing 10 is arranged in a strip shape, so that the structure forming the protrusion 311 or the groove in the housing 10 forms a guide rail 11, and the corresponding groove or protrusion 311 in the outer side wall of the bottom plate 31 can move along the guide rail 11, thereby achieving the purpose of limiting the movement of the bottom plate 31 and ensuring the stability of the movement. Preferably, as shown in fig. 1 and 2, the structures of the protrusion 311 and the recess may be arranged in two groups, and the two groups of structures may be arranged oppositely, so as to further enhance the stability of the movement of the bottom plate 31.
As shown in fig. 2, a protrusion 311 protruding outwards from the bottom plate 31 is formed on the outer side wall of the bottom plate 31, and a sliding groove 111 slidably fitted with the protrusion 311 is formed in the housing 10; and a resistor is formed on the wall of the chute 111 along the length direction of the chute 111, the cross-sectional areas of the resistors are the same, and the protrusion 311 is electrically connected with the resistor. At this time, when the bottom plate 31 moves up and down relative to the housing 10, the protrusion 311 on the outer side wall of the bottom plate 31 is electrically connected to the position of the resistor with different resistance along the length direction of the resistor, which is obvious, the protrusion 311 and the resistor form a sliding rheostat, when the sliding rheostat is connected to a circuit, the resistance of the sliding rheostat can be calculated by detecting voltage and/or current, then L can be obtained according to the resistance, the formula r=ρl/S of the law of resistance and the formula i=u/R of the law of ohm, i.e. the distance from the point of the resistor connected to the circuit to the connection point of the protrusion 311 and the resistor, and then the height of the laser radar can be easily calculated according to the L and the heights of the components in the sweeping robot.
Specifically, as shown in fig. 3, a simple circuit is provided for measuring L, the sliding rheostat R1 is connected in series with a resistor R2, and voltage V2 is measured by sampling voltage between R1 and R2, where V1/(r1+r2) =v2/R2 can be obtained according to ohm' S law, r1= (V1-V2) R2/V2 can be calculated, and l=s (V1-V2) R2/ρv2 can be calculated according to the resistance law formula r=ρl/S. It is easily conceivable that it can also be measured by other circuits, as well as by detecting the current; since the control chip generally has a function of sampling a voltage, a circuit for detecting a voltage is preferable.
The present invention also proposes a method for creating a map of a robot for sweeping floor, wherein the specific structure of the robot for sweeping floor refers to the robot for sweeping floor in the above embodiment, the laser radar has a lowest exceeding position and a highest exceeding position higher than the housing 10, as shown in fig. 4, the method for creating a map of the robot for sweeping floor includes:
s10: dividing the height between the lowest exceeding position and the highest exceeding position into N positions in the vertical direction;
s20: after controlling the lidar to move to each of the N positions, controlling the rotating portion 32 to drive the lidar to rotate at least one circle relative to the bottom plate 31, so as to establish N planar maps corresponding to the N positions.
In order to enhance the accuracy of the map, the larger the value of N is, the better; preferably, the N positions may include a lowest excess position and a highest excess position.
It is worth mentioning that the measuring method of the movement of the lidar to each of the N positions can be implemented by forming a sliding rheostat as mentioned in the above embodiments.
The invention also provides a control method of the sweeping robot, which comprises the method for establishing the three-dimensional map of the sweeping robot, and the control method of the sweeping robot further comprises the following steps:
and when the laser radar is positioned at one position in the N positions, controlling the moving module to move according to the plane map corresponding to the position in the N plane maps. The control method is a control method when the lidar is higher than the housing 10.
It is worth mentioning that the N positions are preferably equally allocated; when the position moved by the laser radar does not belong to any position of the N positions, judging which position of the N positions the position moved by the laser radar belongs to according to a nearby principle, specifically, when the position moved by the laser radar is between an A position and a B position, the A position and the B position are close to the position moved by the laser radar, namely the position moved by the laser radar is defaulted; if the distance between the position a and the position B and the position to which the laser radar moves is the same, the position a and the position B may be a position near the upper side or a position below the upper side.
When the height of the lidar is smaller than or equal to the height of the housing 10, the lidar may be already accommodated in the housing 10, and the scanning effect of the lidar is poor, and the sweeping robot may further include at least one sensor stationary relative to the housing 10, and the control method of the sweeping robot further includes: controlling the movement module to move, and establishing a sensor map through the sensor; and controlling the mobile module to move according to the sensor map. The control method is a control method when the height of the laser radar is equal to or less than the housing 10.
Preferably, the sensor includes at least one of a collision sensor, an infrared sensor, an ultrasonic sensor, and an acceleration sensor.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).
Claims (6)
1. The utility model provides a robot sweeps floor, includes casing, control module and with the removal module and the dust removal module that control module is connected, its characterized in that, the robot sweeps floor still include with control module connects:
the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part;
the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part;
wherein the movable part is used for raising or lowering the height of the bottom plate relative to the shell; and the bottom plate is higher than the shell when being lifted to the highest position relative to the shell; the heights of the power component, the control module, the moving module and the dust removing module are not larger than the height of the shell;
an opening is formed in the upper surface of the shell, the laser radar component is accommodated in the shell through the opening, a protrusion is formed on one of the shell and the outer side wall of the bottom plate, and a groove which is in plug-in fit with the protrusion is formed on the other one of the shell and the outer side wall of the bottom plate; the bulges or grooves in the shell are arranged in a strip shape;
the laser radar is arranged in the rotating part, and when the rotating part enters the shell, the upper surface of the rotating part is flush with the upper surface of the shell;
the movable part is a vertically arranged rotating shaft, external threads on the outer wall of the rotating shaft are matched with internal threads in the first through hole on the bottom plate, a second through hole is formed in the lower surface of the rotating part corresponding to the rotating shaft, when the bottom plate is lowest relative to the shell, the top end of the rotating shaft is inserted into the second through hole, and the bottom plate can be lifted or lowered relative to the shell in the forward and backward rotation process of the rotating shaft, so that the lifting or lowering of the laser radar is finally driven; and establishing a map of the range between the lowest position and the highest position of the laser radar through the rising and the falling of the laser radar to obtain a comprehensive cleaning map, wherein the cleaning map is used for determining the feasible position of the sweeping robot.
2. The robot cleaner of claim 1, wherein the bottom plate has a first through hole penetrating through the plate surface thereof, and the bottom plate is sleeved on the rotating shaft through the first through hole.
3. The robot cleaner of claim 1, wherein the outer sidewall of the base plate has a protrusion protruding outward of the base plate, and the housing has a groove formed therein in sliding fit with the protrusion; and the wall of the groove is provided with a resistor arranged along the length direction of the groove, and the bulge is electrically connected with the resistor.
4. A method of creating a map for a sweeping robot, characterized in that the sweeping robot is a sweeping robot according to any one of claims 1 to 3, the sweeping robot comprising a housing, a control module, and a movement module and a dust removal module connected to the control module, the sweeping robot further comprising a controller connected to the control module:
the power assembly comprises a fixed part which is relatively static with the shell and a movable part which can move relative to the fixed part;
the laser radar assembly comprises a bottom plate connected with the movable part, a rotating part arranged on the bottom plate and rotating around a vertical axis relative to the bottom plate, and a laser radar connected with the rotating part;
wherein the movable part is used for raising or lowering the height of the bottom plate relative to the shell; and the bottom plate is higher than the shell when being lifted to the highest position relative to the shell; the heights of the power component, the control module, the moving module and the dust removing module are not larger than the height of the shell;
an opening is formed in the upper surface of the shell, the laser radar component is accommodated in the shell through the opening, a protrusion is formed on one of the shell and the outer side wall of the bottom plate, and a groove which is in plug-in fit with the protrusion is formed on the other one of the shell and the outer side wall of the bottom plate; the bulges or grooves in the shell are arranged in a strip shape;
the laser radar is arranged in the rotating part, and when the rotating part enters the shell, the upper surface of the rotating part is flush with the upper surface of the shell;
the movable part is a vertically arranged rotating shaft, external threads on the outer wall of the rotating shaft are matched with internal threads in the first through hole on the bottom plate, and the bottom plate can be lifted or lowered relative to the shell in the forward and backward rotation process of the rotating shaft, so that the laser radar is finally driven to be lifted or lowered; establishing a map of a range between the lowest position and the highest position of the laser radar through the rising and the falling of the laser radar to obtain a comprehensive cleaning map, wherein the cleaning map is used for determining the feasible position of the sweeping robot;
the method for establishing the map of the sweeping robot comprises the following steps:
dividing the height between the lowest position and the highest position into N positions in the vertical direction;
after the laser radar is controlled to move to each of the N positions, the rotating part is controlled to drive the laser radar to rotate at least one circle relative to the bottom plate, so that N plane maps corresponding to the N positions are established.
5. A control method of a sweeping robot, characterized in that the control method of a sweeping robot includes the method of establishing a map of a sweeping robot according to claim 4, the control method of a sweeping robot further comprising:
when the laser radar is positioned at one position in the N positions, the moving module is controlled to move according to the plane map corresponding to the position in the N plane maps.
6. The method of claim 5, wherein the robot further comprises at least one sensor stationary with respect to the housing, and wherein when the laser radar height is equal to or less than the housing height, the method further comprises:
controlling the movement module to move, and establishing a sensor map through the sensor;
and controlling the mobile module to move according to the sensor map.
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| CN108030447B true CN108030447B (en) | 2023-10-31 |
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| CN109276193A (en) * | 2018-11-13 | 2019-01-29 | 苏州苏相机器人智能装备有限公司 | A kind of robot and barrier-avoiding method of adjustable height and position |
| CN109730593B (en) * | 2019-03-18 | 2021-03-09 | 广州工程技术职业学院 | Robot with prolonged service life |
| CN111239709A (en) * | 2020-03-06 | 2020-06-05 | 多伦科技股份有限公司 | Detection device for motorcycle test |
| CN111466835A (en) | 2020-03-31 | 2020-07-31 | 深圳市银星智能科技股份有限公司 | Cleaning robot |
| CN113729572B (en) * | 2020-05-29 | 2022-12-06 | 宝时得科技（中国）有限公司 | Cleaning robot and control method thereof |
| CN112107708A (en) * | 2020-08-14 | 2020-12-22 | 惠州市宇林源能源科技有限公司 | Disinfection robot |
| CN112882472A (en) * | 2021-01-25 | 2021-06-01 | 追创科技(苏州)有限公司 | Autonomous mobile device |
| CN112914433A (en) * | 2021-04-23 | 2021-06-08 | 常州纵慧芯光半导体科技有限公司 | Laser equipment and robot of sweeping floor |
| CN116661432A (en) * | 2022-02-21 | 2023-08-29 | 追觅创新科技(苏州)有限公司 | Self-mobile device, control method and device for self-mobile device, and storage medium |
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