CN108628319A - A kind of sweeping robot intelligent barrier avoiding system - Google Patents
A kind of sweeping robot intelligent barrier avoiding system Download PDFInfo
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- CN108628319A CN108628319A CN201810721243.2A CN201810721243A CN108628319A CN 108628319 A CN108628319 A CN 108628319A CN 201810721243 A CN201810721243 A CN 201810721243A CN 108628319 A CN108628319 A CN 108628319A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 87
- 230000004888 barrier function Effects 0.000 title claims abstract description 82
- 238000004140 cleaning Methods 0.000 claims abstract description 86
- 238000010926 purge Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 claims description 17
- 230000005236 sound signal Effects 0.000 claims description 14
- 230000005855 radiation Effects 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 6
- 241001417527 Pempheridae Species 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 241001465754 Metazoa Species 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 239000012491 analyte Substances 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000001343 mnemonic effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of sweeping robot intelligent barrier avoiding system, the type of loose impediment is judged, and corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accuracy of obstacle recognition, and then improve the efficiency of cleaning.
Description
Technical field
This application involves technical field of robot control more particularly to a kind of sweeping robot intelligent barrier avoiding systems.
Background technology
With the development of the progress and computer technology of science and technology, sweeping robot will gradually come into huge numbers of families, and become people
The competent assistant of class.The sweeping robot for having various manufacturers on the market can be roughly divided into two classes according to the pathfinding mode of robot：
Random collision formula and path planning formula.The two respectively has advantage and disadvantage, and random collision formula is low to environmental requirement, functional reliability is high, but
Sweeping efficiency is low, time-consuming, it is more random to clean coverage rate；Path planning formula entirety sweeping efficiency is high, it is short to take, and to clear
Clean area map is unintelligible, but higher to environmental requirement and easy cleaning is not clean.However, either which kind of pathfinding mode,
It is not appropriate to the processing of barrier, and fixed obstacle cannot be distinguished and loose impediment, sweeping efficiency are extremely low.It is existing
Manufacturer has ignored a problem, would generally be fixed in an environment when being exactly sweeping robot work, therefore, to working environment
Grope clear, distinguishes the problem of fixed obstacle and loose impediment are also sweeping robot field urgent need to resolve.
With cloud computing, the development of big data, cloud storage is got a lot of applications in artificial intelligence field, document
CN107643755A in view of the above-mentioned problems, propose a kind of efficient control method of sweeping robot, in sweeping robot plus
Enter edge infrared radiation detection apparatus detection edge, along edge pathfinding, determines entirely by the layout map in cleaning region, while passing through barrier
Analyte detection instrument is hindered to detect barrier, and the identification device that breaks the barriers obtains the image of barrier and position, disturbance in judgement object are
Fixed obstacle or loose impediment, and the type of barrier is marked on map, when executing cleaning task, along layout
Map frame is cleaned, and the fixed obstacle and loose impediment in the mnemonic storage environment of big data high in the clouds are passed through
Mark point, so that intelligently avoiding obstacles, improve the working efficiency of sweeping robot.
However, the above method there is also many defects, although the above method realizes fixed obstacle and on-fixed obstacle
The classification and Detection of object, but be only exploratory cleaning for loose impediment position, and it is small for naughty doggie
The animals such as cat, mobile obstruction sweeping robot advance, and then interfere and clean, and thus can seriously affect sweeping robot pair
Therefore the judgement of loose impediment needs to be proposed a kind of sweeping robot carrying out loose impediment classification and Detection, carry
Height cleans speed and efficiency.
Invention content
The present invention provides a kind of sweeping robot intelligent barrier avoiding system, the sweeping robot include infrared radiation detection apparatus and
Supersonic reflectoscope, the infrared radiation detection apparatus and the supersonic reflectoscope are mounted on the direction of travel of the sweeping robot
Front, the system comprises following modules：
Instruction execution module is cleaned, is obtained for the sweeping robot and cleans instruction, instructs planning to clean according to the cleaning
Path executes cleaning task according to the cleaning path；
First obstacle recognition module opens the supersonic reflectoscope to detect the cleaning road for the sweeping robot
Barrier on diameter, if detecting barrier, whether the position for continuing to detect the barrier changes, if it is, will
The obstacle tag is loose impediment, and executes the second obstacle recognition module；If it is not, then by the barrier mark
It is denoted as fixed obstacle, cleaning operation is carried out to bypass the barrier；
Second obstacle recognition module opens the infrared radiation detection apparatus to detect the barrier for the sweeping robot
The obstacle tag is indicative loose impediment, such as if the heat reaches preset heat threshold by heat
Heat described in fruit is not up to preset heat threshold, then is non-indicative loose impediment by the obstacle tag；
Reminding module sends out standby signal for the sweeping robot when close to the indicative loose impediment；
Continue to clean after waiting for the barrier to leave when close to the non-indicative loose impediment, or bypasses the barrier
Carry out cleaning operation.
As a preferred embodiment, described instruct planning to clean path according to the cleaning, specifically include：
Identify the type for cleaning instruction, if cleaning instruction carries purging zone information, the machine of sweeping the floor
People calculates the sweep-out pattern of each purging zone, sweeps the floor according to described in the purging zone and sweep-out pattern planning
The cleaning path of robot；If the cleaning instruction does not carry purging zone information, the sweeping robot is according to
It cleans instruction startup photographic device and makes an inspection tour each purging zone automatically.
As a preferred embodiment, the first obstacle recognition module further includes：
The supersonic reflectoscope of the sweeping robot detects the barrier in direction of travel pre-determined distance on the cleaning path
Hinder object；If detecting barrier, continue to detect whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.
As a preferred embodiment, the sweeping robot is sent out when close to the indicative loose impediment
Go out standby signal, specifically includes：
The sweeping robot sends out alarm sound signal when close to the indicative loose impediment, and continues to detect institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stop advancing, and the sound type for changing the alarm sound signal continues to send out alarm.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
The whether increased outlier threshold of cleaning power of the cleaning brush of device people is adjusted if it is, stopping the cleaning operation of the cleaning brush
The position of the whole sweeping robot is to avoid the indicative loose impediment.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to send out alarm；
If the indicative loose impediment does not leave yet after reaching the scheduled stand-by period, the alarm sound is closed
Signal continues cleaning operation around the indicative loose impediment.
As a preferred embodiment, further including：
The sweeping robot detects the height of the indicative loose impediment by the supersonic reflectoscope, if institute
The height for stating indicative loose impediment is not more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is sent out when barrier；If the height of the indicative loose impediment is more than preset obstacle height
Threshold value then sends out the second standby signal when close to the indicative loose impediment.
As a preferred embodiment, further including：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first carries
Show that signal and second standby signal are different signal types.
The present invention provides a kind of sweeping robot intelligent barrier avoiding system, is judged the type of loose impediment,
And corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accurate of obstacle recognition
Property, and then improve the efficiency of cleaning.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to institute in embodiment and description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of schematic diagram of sweeping robot intelligent barrier avoiding exemplary system of the present invention.
Specific implementation mode
The embodiment further illustrated the present invention below in conjunction with attached drawing.
Embodiment one：
As shown in Figure 1, the present invention provides a kind of sweeping robot intelligent barrier avoiding system, the sweeping robot includes infrared inspection
Instrument and supersonic reflectoscope are surveyed, the infrared radiation detection apparatus and the supersonic reflectoscope are mounted on the traveling of the sweeping robot
The front in direction, the system comprises following modules：
Instruction execution module is cleaned, is obtained for the sweeping robot and cleans instruction, instructs planning to clean according to the cleaning
Path executes cleaning task according to the cleaning path；It should be noted that the cleaning instruction can be different type, example
Such as, it is that part cleans instruction or all cleans instruction；The sweeping robot, which obtains, cleans instruction, is instructed according to the cleaning
The sweep-out pattern for identifying all purging zones and each purging zone, according to the purging zone and the sweep-out pattern
Distribute cleaning task；Purging zone of the present invention is relatively independent, for example, each room in home scenarios；It is described
Sweep-out pattern be cleanable area area, and then the sweeping robot can sweep-out pattern calculate, be converted into each cleaning
The cleaning path in region；And then cleaning task is executed according to the cleaning path.
First obstacle recognition module, it is described clear to detect to open the supersonic reflectoscope for the sweeping robot
The barrier on path is swept, if detecting barrier, whether the position for continuing to detect the barrier changes, if so,
It is then loose impediment by the obstacle tag, and executes the second obstacle recognition module；If it is not, then by the obstacle
Substance markers are fixed obstacle, and cleaning operation is carried out to bypass the barrier；It should be noted that the supersonic reflectoscope
Effect be to judge whether the object is obstacle by the specific range of detection object and the sweeping robot direction of travel
Object, for example, i.e. current clean detects the presence of barrier on path in front 20cm distances on the sweeping robot direction of travel
Hinder object, is then judged as barrier；Further, judge whether the position of the barrier changes, position herein can be with
For the relative position relative to the sweeping robot, or the absolute position of barrier is not limited herein.It is preferred that
, it is the absolute position of barrier.As it can be seen that the present invention has effectively distinguished the type of barrier, to improve barrier judgment
Accuracy.
Second obstacle recognition module opens the infrared radiation detection apparatus to detect the obstacle for the sweeping robot
The obstacle tag is indicative on-fixed obstacle if the heat reaches preset heat threshold by the heat of object
The obstacle tag is non-indicative loose impediment if the heat is not up to preset heat threshold by object；
It should be noted that illustrative, the infrared radiation detection apparatus is infrared thermography, to detect the energy that barrier itself stores
Amount, and then judge whether it is the life entities such as human body or animal.When encountering the barrier of life entity type, needs to send out and carry
Show information, in order to avoid the life entity is injured, at this point, being referred to as indicative loose impediment；When encountering non-life body barrier
When, then prompt message need not be sent out, at this point, being referred to as non-indicative loose impediment.As it can be seen that the present invention effectively distinguishes
The type of loose impediment, to improving the accuracy of barrier judgment.
Reminding module sends out prompt letter for the sweeping robot when close to the indicative loose impediment
Number；Continue to clean after waiting for the barrier to leave when close to the non-indicative loose impediment, or around described
Barrier carries out cleaning operation.It should be noted that the standby signal can be sound class or light class, do not limit herein
System, since life entity often has feedback capability to light or sound, traditionally receiving standby signal can then leave, into without shadow
The sweeping robot is rung completely to clean ground.And if it is the barrier without life entity, then prompt message
Without effect, therefore, the present invention is using passive mode, such as waits for or detour.As it can be seen that the present invention effectively distinguishes
The type of loose impediment, to improving the accuracy of barrier judgment.
As a preferred embodiment, described instruct planning to clean path according to the cleaning, specifically include：
Identify the type for cleaning instruction, if cleaning instruction carries purging zone information, the machine of sweeping the floor
People calculates the sweep-out pattern of each purging zone, sweeps the floor according to described in the purging zone and sweep-out pattern planning
The cleaning path of robot；If the cleaning instruction does not carry purging zone information, the sweeping robot is according to
It cleans instruction startup photographic device and makes an inspection tour each purging zone automatically.It should be noted that the purging zone information can be with
The purging zone delimited temporarily for user, or user is preset corresponding with specific cleaning instruction specific clear
Region is swept, is not limited herein.The tour can realize during first clean, and will make an inspection tour cleaning of obtaining
Region is preserved, to be directly invoked when cleaning for second without making an inspection tour again；In addition, can in follow-up cleaning process
It is optimized with the region to the tour, to improve the accuracy of identification；The place purging zone is the region that can be swept,
The region that i.e. sweeping robot can arrive safe and sound, including the region such as carpet that can cross over.
As a preferred embodiment, the first obstacle recognition module further includes：
The supersonic reflectoscope of the sweeping robot detects the barrier in direction of travel pre-determined distance on the cleaning path
Hinder object；If detecting barrier, continue to detect whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.It should be noted that judging whether the position of the barrier moves here uses displacement distance determining method, i.e.,
Whether movement speed reaches preset threshold speed.
As a preferred embodiment, the sweeping robot is sent out when close to the indicative loose impediment
Go out standby signal, specifically includes：
The sweeping robot sends out alarm sound signal when close to the indicative loose impediment, and continues to detect institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stop advancing, and the sound type for changing the alarm sound signal continues to send out alarm.
It should be noted that indicative the loose impediment such as people or most animals, are getting the alarm sound
It, all can be far from the sweeping robot, at this point, the sweeping robot can then continue to execute cleaning task after signal；And it is right
In Some Animals, due to more naughty or just resting on the ground, will not be actively teaches away from, at this point, changing the alarm sound
The sound type of signal continues to send out alarm, and then alerts the barrier again, is made it away from driving.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
The whether increased outlier threshold of cleaning power of the cleaning brush of device people is adjusted if it is, stopping the cleaning operation of the cleaning brush
The position of the whole sweeping robot is to avoid the indicative loose impediment.It should be noted that at this point, mainly for
Naughty animal, can often touch the moving components such as cleaning brush, detect the clear of the sweeping robot here out of curiosity
Whether the cleaning power of brush increases to outlier threshold, i.e. whether the movement of cleaning brush, which receives larger external drag, is for example grabbed
It firmly or bites, at this point, in order to avoid cleaning brush is destroyed, needs the cleaning operation for stopping the cleaning brush；Further, it adjusts
The position of the whole sweeping robot to avoid the indicative loose impediment, to protect the sweeping robot not by
It destroys.
As a preferred embodiment, further including：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to send out alarm；Indicative the loose impediment such as people or most animals, are obtaining
It, all can be far from the sweeping robot, at this point, the sweeping robot can then continue to hold to after the alarm sound signal
Row cleaning task；And for Some Animals, due to more naughty or just resting on the ground, will not be actively teaches away from, at this point, changing
The sound type for becoming the alarm sound signal continues to send out alarm, and then alerts the barrier again, is made it away from driving.
If the indicative loose impediment does not leave yet after reaching the scheduled stand-by period, the alarm is closed
Voice signal continues cleaning operation around the indicative loose impediment.It should be noted that at this point, in order to keep away
Exempt from cleaning brush to be destroyed, needs the cleaning operation for stopping the cleaning brush；Further, the position of the sweeping robot is adjusted
To avoid the indicative loose impediment, to protect the sweeping robot not to be destroyed.
As a preferred embodiment, further including：
The sweeping robot detects the height of the indicative loose impediment by the supersonic reflectoscope, if institute
The height for stating indicative loose impediment is not more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is sent out when barrier；If the height of the indicative loose impediment is more than preset obstacle height
Threshold value then sends out the second standby signal when close to the indicative loose impediment.It should be noted that it is illustrative,
The infrared radiation detection apparatus is infrared thermography, is not only used to the energy that detection barrier itself stores, and can be according to barrier
Hinder the image of object to analyze the height of the barrier, is people or animal to distinguish to which the life entity be identified；Example
Such as, the preset obstacle height threshold value is 0.8m, at this point, the life entity by height less than 0.8m is identified as animal, it will be high
Life entity identification of the degree more than 0.8m is people；And then different types of standby signal is sent out according to people or animal, to improve
The efficiency of information alert.
As a preferred embodiment, further including：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first carries
Show that signal and second standby signal are different signal types.It should be noted that the standby signal of people in the present invention
It is softer, it is unlikely to scaring and arrives people；And bigger is then wanted a little for the standby signal of animal, to expel animal in time, from
Cleaning work without influencing sweeping robot.For example, first standby signal is music, second standby signal is report
Alert sound；Alternatively, first standby signal is sound, second standby signal is that the shape of sweeping robot becomes larger,
This is not limited.
The present invention provides a kind of sweeping robot intelligent barrier avoiding system, is judged the type of loose impediment,
And corresponding cleaning strategy is executed respectively for different types of loose impediment, to improve the accurate of obstacle recognition
Property, and then improve the efficiency of cleaning.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/or
The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.It can be by this
A little computer program instructions are supplied to the processor of all-purpose computer, special purpose computer or other programmable data processing methods
Machine is generated, is used for be performed instruction by the processor of computer or other programmable data processing methods and create
Realize the method specified in the frame or multiple frames of structure chart and/or block diagram and/or flow graph.
Those skilled in the art of the present technique are appreciated that in the various operations crossed by discussion in the present invention, method, flow
Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention
Other steps, measures, and schemes in kind operation, method, flow may also be alternated, changed, rearranged, decomposed, combined or deleted.
Further, in the prior art to have and step, measure, the scheme in various operations, method, flow disclosed in the present invention
It may also be alternated, changed, rearranged, decomposed, combined or deleted.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (8)
1. a kind of sweeping robot intelligent barrier avoiding system, which is characterized in that the sweeping robot include infrared radiation detection apparatus and
Supersonic reflectoscope, the infrared radiation detection apparatus and the supersonic reflectoscope are mounted on the direction of travel of the sweeping robot
Front, the system comprises following modules：
Instruction execution module is cleaned, is obtained for the sweeping robot and cleans instruction, instructs planning to clean according to the cleaning
Path executes cleaning task according to the cleaning path；
First obstacle recognition module opens the supersonic reflectoscope to detect the cleaning road for the sweeping robot
Barrier on diameter, if detecting barrier, whether the position for continuing to detect the barrier changes, if it is, will
The obstacle tag is loose impediment, and executes the second obstacle recognition module；If it is not, then by the barrier mark
It is denoted as fixed obstacle, cleaning operation is carried out to bypass the barrier；
Second obstacle recognition module opens the infrared radiation detection apparatus to detect the barrier for the sweeping robot
The obstacle tag is indicative loose impediment, such as if the heat reaches preset heat threshold by heat
Heat described in fruit is not up to preset heat threshold, then is non-indicative loose impediment by the obstacle tag；
Reminding module sends out standby signal for the sweeping robot when close to the indicative loose impediment；
Continue to clean after waiting for the barrier to leave when close to the non-indicative loose impediment, or bypasses the barrier
Carry out cleaning operation.
2. sweeping robot intelligent barrier avoiding system according to claim 1, which is characterized in that described to be referred to according to the cleaning
It enables planning clean path, specifically includes：
Identify the type for cleaning instruction, if cleaning instruction carries purging zone information, the machine of sweeping the floor
People calculates the sweep-out pattern of each purging zone, sweeps the floor according to described in the purging zone and sweep-out pattern planning
The cleaning path of robot；If the cleaning instruction does not carry purging zone information, the sweeping robot is according to
It cleans instruction startup photographic device and makes an inspection tour each purging zone automatically.
3. sweeping robot intelligent barrier avoiding system according to claim 1, which is characterized in that first obstacle recognition
Module further includes：
The supersonic reflectoscope of the sweeping robot detects the barrier in direction of travel pre-determined distance on the cleaning path
Hinder object；If detecting barrier, continue to detect whether the variation of the position of the barrier in the given time reaches pre-
If distance threshold, if it is, being judged as the change in location of the barrier；If it is not, then being judged as the position of the barrier
It sets and does not change.
4. sweeping robot intelligent barrier avoiding system according to claim 1, which is characterized in that the sweeping robot by
Standby signal is sent out when the nearly indicative loose impediment, is specifically included：
The sweeping robot sends out alarm sound signal when close to the indicative loose impediment, and continues to detect institute
It states whether indicative loose impediment leaves current direction of travel, if it is, closing the alarm sound signal, and continues
Execute cleaning operation；If it is not, then stop advancing, and the sound type for changing the alarm sound signal continues to send out alarm.
5. sweeping robot intelligent barrier avoiding system according to claim 4, which is characterized in that further include：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and detects the sweeper
Whether the cleaning power of the cleaning brush of device people increases to outlier threshold, if it is, stopping the cleaning operation of the cleaning brush, adjusts
The position of the whole sweeping robot is to avoid the indicative loose impediment.
6. sweeping robot intelligent barrier avoiding system according to claim 4, which is characterized in that further include：
If the indicative loose impediment does not leave current direction of travel, stop advancing, and changes the alarm
The sound type of sound signal continues to send out alarm；
If the indicative loose impediment does not leave yet after reaching the scheduled stand-by period, the alarm sound is closed
Signal continues cleaning operation around the indicative loose impediment.
7. sweeping robot intelligent barrier avoiding system according to claim 4, which is characterized in that further include：
The sweeping robot detects the height of the indicative loose impediment by the supersonic reflectoscope, if institute
The height for stating indicative loose impediment is not more than preset obstacle height threshold value, then close to the indicative on-fixed
The first standby signal is sent out when barrier；If the height of the indicative loose impediment is more than preset obstacle height
Threshold value then sends out the second standby signal when close to the indicative loose impediment.
8. sweeping robot intelligent barrier avoiding system according to claim 7, which is characterized in that further include：
The signal strength of first standby signal is higher than the signal strength of second standby signal, alternatively, described first carries
Show that signal and second standby signal are different signal types.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810721243.2A CN108628319B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance system of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810721243.2A CN108628319B (en) | 2018-07-04 | 2018-07-04 | Intelligent obstacle avoidance system of sweeping robot |
Publications (2)
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| CN111481105A (en) * | 2020-04-20 | 2020-08-04 | 北京石头世纪科技股份有限公司 | Obstacle avoidance method and device for self-walking robot, robot and storage medium |
| CN111493744A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Remote control method and device for sweeping robot, electronic equipment and readable storage medium |
| CN111930127A (en) * | 2020-09-02 | 2020-11-13 | 广州赛特智能科技有限公司 | Robot obstacle identification and obstacle avoidance method |
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| CN112327854A (en) * | 2020-11-12 | 2021-02-05 | 炬星科技（深圳）有限公司 | Path blocking processing method and robot |
| CN112882459A (en) * | 2019-11-29 | 2021-06-01 | 惠州拓邦电气技术有限公司 | Cleaning path planning method, cleaning path planning device and cleaning robot |
| CN113017496A (en) * | 2021-03-12 | 2021-06-25 | 深圳市无限动力发展有限公司 | Sterilizing method and device based on sweeper and computer equipment |
| CN113219985A (en) * | 2021-05-27 | 2021-08-06 | 九天创新(广东)智能科技有限公司 | Road planning method and device for sweeper and sweeper |
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| CN111493744A (en) * | 2019-01-31 | 2020-08-07 | 北京奇虎科技有限公司 | Remote control method and device for sweeping robot, electronic equipment and readable storage medium |
| CN112155487A (en) * | 2019-08-21 | 2021-01-01 | 追创科技(苏州)有限公司 | Sweeping robot, control method of sweeping robot and storage medium |
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| CN111067439A (en) * | 2019-12-31 | 2020-04-28 | 深圳飞科机器人有限公司 | Obstacle processing method and cleaning robot |
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| CN114711693A (en) * | 2022-05-09 | 2022-07-08 | 珠海格力电器股份有限公司 | Path optimization method, nonvolatile storage medium, and cleaning system |
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