CN108634872B - Self-moving cleaning robot system - Google Patents
Self-moving cleaning robot system Download PDFInfo
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- CN108634872B CN108634872B CN201810290228.7A CN201810290228A CN108634872B CN 108634872 B CN108634872 B CN 108634872B CN 201810290228 A CN201810290228 A CN 201810290228A CN 108634872 B CN108634872 B CN 108634872B
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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
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4011—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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- 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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to a self-moving cleaning robot system, which comprises a cleaning robot and a portable base, wherein the cleaning robot comprises a light receiver and a control unit, the light receiver is used for receiving light signals in all directions of the travel of the cleaning robot, the portable base is provided with a first light emitter and a second light emitter, the first light emitter and the second light emitter are used for emitting directional first light beams and directional second light beams towards the outside, the first light emitter and the second light emitter are respectively provided with a first light signal area and a second light signal area which limit the coverage range of the first light beams and the second light signal area, a first gap area is arranged between the first light signal area and the second light signal area, and the maximum width of the first gap area is smaller than; a time threshold value is preset in the control unit, and once the optical signal received by the optical receiver is converted between the first tube signal and the second tube signal and the signal conversion time interval is smaller than or equal to the time threshold value, the control unit judges that the cleaning robot crosses the first gap area. The self-moving cleaning robot facilitates the management of the working range of the robot by a user.
Description
Technical Field
The invention relates to a self-moving cleaning robot system.
Background
Currently, self-moving cleaning robots are widely used, such as dust collection robots for dust collection, floor wiping robots, and the like, which are required to be limited within a limited range or to move within a range for a certain time to perform work while working. Such as a household cleaning robot, which moves to another room through a room door after cleaning of one room is completed, and if a user does not want the robot to enter another room after cleaning of the room is not completed, a common solution is to close the room door so that the cleaning robot is confined to work in the room. Closing the room door, however, can affect the user's access to the room and, sometimes, forgetting to close the door, can affect use.
Chinese patent publication No. CN1241080C discloses a method and system for positioning and restricting a robot, the system including: the portable obstacle signal transmitter transmits a signal mainly along one axis, and a movable robot which can avoid the obstacle signal once the obstacle signal is detected. In the positioning and restricting system, due to the adoption of the portable obstacle signal transmitter, a user can form an artificial 'obstacle' at the position of a room door, for example, and the robot can avoid the obstacle as long as the robot detects the obstacle, so that the robot is effectively prevented from moving to the outside through the room door. However, since the signal emitted from the portable obstacle signal transmitter has directivity, it is necessary for the user to place the portable obstacle signal transmitter close to the user's skin when placing the portable obstacle signal transmitter, and the portable obstacle signal transmitter is in a no-signal state on both the inner and outer sides of the emitted directional traveling light signal, and a robot used with the portable obstacle signal transmitter cannot know whether the robot moves from inside to outside or from outside to inside when passing through the light signal area, thereby influencing the user to add other functions to the robot by using the portable obstacle signal transmitter.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a self-moving cleaning robot system with a high degree of intelligence.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme: a self-moving cleaning robot system comprising:
a cleaning robot capable of autonomously traveling on a floor surface and performing a cleaning work during traveling, the cleaning robot including a robot main body, a light receiver for receiving a light signal in all directions of travel of the cleaning robot, a driving mechanism for driving the cleaning robot to travel, and a control unit, the light receiver and the driving mechanism being in signal connection with the control unit;
at least one portable base supportable on a surface, the portable base having a first phototransmitter for transmitting a directed first beam of light toward the base periphery and a second phototransmitter for transmitting a directed second beam of light toward the exterior of the base periphery, the first phototransmitter having a first optical signal area defining a first beam coverage area, the second phototransmitter having a second optical signal area defining a second beam coverage area, the first optical signal area including first and second side boundaries for defining a beam angle of the first beam of light, the second optical signal area including third and fourth side boundaries for defining a beam angle of the second beam of light, the first and third side boundaries being adjacent and having a first gap area therebetween, the maximum width of the first gap area is less than or equal to the outer diameter of the robot main body; when the cleaning robot travels into the first light signal area, the light receiver can receive the first light beam signal; when the cleaning robot travels into the second light signal area, the light receiver can receive the second light beam signal; when the cleaning robot travels into the first gap area, the light receiver does not receive the first and second light beam signals;
wherein, a time threshold is preset in the control unit, and once the optical receiver switches from receiving the first optical signal to receiving the second optical signal or from receiving the second optical signal to receiving the first optical signal and the signal switching time interval is less than or equal to the time threshold, the control unit judges that the cleaning robot crosses the first gap area.
In the above aspect, preferably, the first side boundary and the third side boundary are substantially parallel, and the first gap region has a narrow strip shape.
In the above technical solution, preferably, the second side boundary and the fourth side boundary are adjacent to each other and a second gap region is formed therebetween.
In the above-described aspect, preferably, the second side boundary and the fourth side boundary are substantially parallel, and the second gap region has a narrow strip shape.
In the above technical solution, preferably, the control unit is configured to control the cleaning robot to change a traveling direction if it is determined that the cleaning robot crosses the first gap area.
In the above technical solution, preferably, the beam angle of the first light beam is greater than or equal to 90 ° and smaller than 180 °.
In the above technical solution, preferably, the beam angle of the second light beam is greater than or equal to 90 ° and smaller than 180 °.
In the foregoing technical solution, preferably, the first light emitter and the second light emitter are both mounted on a side wall surface of the base.
In the above technical solution, preferably, a third optical transmitter for transmitting a 360 ° omnidirectional third optical signal to the periphery of the base is disposed on the portable base, the third optical transmitter has a third optical signal area defining a coverage of the third optical signal, a radius of the third optical signal area is smaller than radii of the first optical signal area and the second optical signal area, and when the cleaning robot travels into the third optical signal area, the optical receiver can receive the third optical signal; and the control unit is used for controlling the cleaning robot to change the traveling direction if the light receiver receives the third light signal.
Compared with the prior art, the invention has the following beneficial effects: when the self-moving cleaning robot system works, the cleaning robot cannot enter a forbidden zone randomly under the assistance of the portable base, so that a user can manage the working range of the robot conveniently.
Drawings
Fig. 1 is a schematic diagram of a self-moving cleaning robot system according to an embodiment of the present invention;
fig. 2 is a schematic configuration diagram of a cleaning robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a portable base according to an embodiment of the present invention;
fig. 4 is a schematic diagram of optical signal coverage of a portable base according to an embodiment of the present invention;
FIG. 5 is a perspective view of a portable base according to another embodiment of the present invention;
FIG. 6 is a schematic view of an optical signal overlay for a portable base according to another embodiment of the present invention;
fig. 7 is a schematic diagram illustrating the operation of a self-moving cleaning robot system according to another embodiment of the present invention.
Detailed Description
For the purpose of illustrating the technical content, the constructional features, the achieved objects and the effects of the invention in detail, reference will be made to the following detailed description of the embodiments in conjunction with the accompanying drawings.
Reference is first made to fig. 1, which schematically illustrates an exemplary layout of a self-moving cleaning robot system in which embodiments of the present disclosure may be implemented. In this example, the self-moving cleaning robot system may include a cleaning robot 100 and a pair of portable bases 200. The cleaning robot 100 can autonomously travel on the ground and perform cleaning work during the travel. The portable base 200 can be supported on any plane, has functions of "indicator" and "virtual wall", can separate a cleaning area from the cleaning robot 100, and can indicate that the cleaning robot 100 does not enter a certain "forbidden zone" for operation, i.e., the portable base 200 can guide the cleaning mobile person 100 to perform cleaning work in a specified area or move to a specified area.
As shown in fig. 2, the cleaning robot 100 includes a robot main body 101, a light receiver 102 for receiving light signals in all directions (i.e., 360 ° directions) in which the cleaning robot travels, a driving mechanism 103 for driving the robot main body to move, and a control unit 104, the light receiver 102 being in signal connection with the control unit 104. The optical receiver 102 obtains optical signal information from the outside and feeds back the information to the control unit 104 for processing. The driving mechanism 103 is in signal connection with the control unit 104, and the driving mechanism 103 is controlled by the control unit 104 to work.
As shown in fig. 3 and 4, the base 200 is provided with a first light emitter 202 for emitting a first directional light beam toward the periphery of the base, a second light emitter 203 for emitting a second directional light beam toward the periphery of the base, and a third light emitter 204 for emitting a 360 ° omnidirectional third light signal toward the periphery of the base, wherein the first light emitter 202 and the second light emitter 203 are both mounted on a side wall surface 201 of the base 200, and the third light emitter 203 is mounted on the top of the base 200. In this example, the beam angles of the first and second beams are both 120 °. The first phototransmitter 202 has a first optical signal region R1 that defines a first beam range, the first optical signal region R1 including a first side boundary L1 and a second side boundary L2 that define a beam angle of the first beam. The second light emitter 203 has a second light signal region R2 that defines a second light beam range. The second light signal region R2 includes a third side boundary L3 and a fourth side boundary L3 for defining a beam angle of the second light beam. The first side boundary L1 and the third side boundary L3 are adjacent to each other and substantially parallel to each other, a narrow gap region G1 is provided between the first side boundary L1 and the third side boundary L3, and the maximum width of the gap region G1 is smaller than the outer diameter of the robot main body 101. The third optical transmitter 203 has a third optical signal region R3 that defines a third optical signal coverage area. When the cleaning robot 100 travels into the first light signal region R1, the light receiver 102 on the robot main body 101 can receive only the first light beam signal; when the cleaning robot 100 travels into the second light signal region R2, the light receiver 102 on the robot main body 101 can receive only the second light beam signal; when the cleaning robot 100 travels into the gap region G1, the first and second optical signals are not received by the optical receiver 102 on the robot main body 101; when the cleaning robot 100 travels into the third optical signal region R3, the optical receiver 102 can receive the third optical signal
A time threshold T is preset in the control unit 1040Once the optical receiver 102 transitions from being able to detect the first optical signal (i.e., the robot is within the first optical signal region R1) to being able to detect the second optical signal (i.e., the robot is within the second optical signal region R2) and the time interval T of the signal transition is less than or equal to the time threshold T0At this time, the control unit 104 determines that the robot main body 101 has passed through the gap region G1.
When the robot body 101 passes through the gap area G1, if the function setting of the portable base 200 is "virtual wall" at this time, the control unit 104 on the cleaning robot 100 will immediately control the cleaning robot 100 to turn around when it is judged that the robot body 101 passes through the gap area G1.
In this example, when the robot body 101 moves into the third optical signal area R3, the control unit 104 on the cleaning robot 100 determines that the robot body 101 is about to collide with the base 200, and the control unit 104 will control the cleaning robot 100 to change the traveling direction and move away from the base 200. The third light emitter 204 can form an "electronic fence" around the base 200, thereby preventing the cleaning robot 100 from colliding with the base 200 during movement.
Continuing with fig. 1, this is to place a pair of bases 200 and 2000 at the entrance between the room 300 and the room 400 and between the room 300 and the room 500, respectively, when the cleaning robot 100 is allowed to travel only within the room 300. In this embodiment, the first light emitter of the base 200 placed at the entrance between the room 300 and the room 400 emits the first light beam toward the inside of the room 300 to form the first light signal region R1, the second light emitter 202 emits the second light beam toward the inside of the room 400 to form the second light signal region R2, and the gap region G1 between the first light signal region R1 and the second light signal region R2 is to be aligned with the entrance between the room 300 and the room 400; another first light emitter of the base 2000 placed at the entrance between the room 300 and the room 500 emits a first light beam toward the inside of the room 500 to form a first light signal region R1 ', and a second light emitter emits a second light beam toward the inside of the room 300 to form a second light signal region R2 ', and a gap region G1 ' between the first light signal region R1 ' and the second light signal region R2 ' will be aligned with another entrance between the room 300 and the room 500. When the cleaning robot 100 moves in the room and reaches the first light signal region R1, the light receiver 102 can receive the first light signal, and when the light receiver 102 of the robot 100 changes to be able to receive the second light signal along with the movement of the robot, it indicates that the robot 100 has moved to the second light signal region R2, the light signal received by the light receiver 102 changes between the first and second light signals, the control unit 104 of the robot counts the time interval of the signal change, and if the time interval of the signal change is less than or equal to the time threshold T0If the robot 100 has passed through the gap region G1 or G1', the control unit in the robot is set to not allow the robot to pass through the door and move outside the room, and the robot will change the traveling direction to avoid entering the "forbidden zone" 400 or 500. In this example, the optical signal received by the optical receiver on the robot is the first and second lightThe signals are converted, and the time interval of the signal conversion is far more than the time threshold T0If the cleaning robot moves from near one base to near another base, the information can help the control unit to know the moving path of the cleaning robot in the current cleaning area, so that the control unit can conveniently plan the subsequent movement.
As shown in fig. 5, this is another embodiment of the portable base, in this example, the base 200 "is provided with a first light emitter 202 for emitting a first directed light beam towards the base periphery, a second light emitter 203" for emitting a second directed light beam towards the base periphery, and a third light emitter 204 "for emitting a 360 ° omnidirectional third light signal towards the base periphery, and the first light emitter 202" and the second light emitter 203 "are both mounted on a side wall surface 201" of the base 200 "and are arranged away from each other. As shown in fig. 6, the beam angles of the first and second light beams are substantially 180 °, the first phototransmitter 202 "has a first optical signal area R1" defining a first beam range, the first optical signal area R1 "includes a first side boundary L1" and a second side boundary L2 "for defining the beam angle of the first light beam, the second phototransmitter 203" has a second optical signal area R2 "defining a second beam range, and the second optical signal area R2' includes a third side boundary L3" and a fourth side boundary L4 "for defining the beam angle of the second light beam. The first side boundary L1 ″ and the third side boundary L3 ″ are adjacent to each other and substantially parallel to each other, a first gap region G1 in the form of a narrow strip is provided between the first side boundary L1 ″ and the third side boundary L3 ″, and the maximum width of the first gap region G1 ″ is equal to or less than the outer diameter of the robot main body 201 ″. The second side boundary L2 "and the fourth side boundary L4" are adjacent and substantially parallel to each other, a second gap region G2 "in a narrow strip shape is provided between the second side boundary L2" and the fourth side boundary L4 ", and the maximum width of the second gap region G2" is also smaller than or equal to the outer diameter of the robot main body 201 ". In this example, the first gap region G1 "and the second gap region G2" are symmetrically disposed. When the cleaning robot travels into the first light signal region R1 ", the light receiver on the robot body will be able to receive the first light beam signal; when the cleaning robot travels into the second light signal region R2 ″, the light receiver on the robot main body can receive the second light beam signal; when the cleaning robot travels into the first gap region G1 "or the second gap region G2", the first and second optical signals are not received by the optical receiver on the robot main body; when the cleaning robot travels into the third light signal region R3 ″, the light receiver can receive the third light signal.
As shown in fig. 7, this is to place the base 200 "at the intersection of the area 300" to be cleaned and the area 400 "to be cleaned, and the cleaning robot 100" is not allowed to enter the area 400 "to be cleaned beyond the intersection, i.e. the robot 100" can only travel within the area 300 ". Placing the base 200 ' at a middle position of the boundary, extending a first gap region G1 ' and a second gap region G2 ' formed after the base 200 ' is opened along the boundary so as to form an identification region between the region 400 ' and the region 500 ', converting the detected optical signal from the first optical signal to the second optical signal by an optical receiver on the robot 100 ' once the first gap region G1 ' or the second gap region G2 ' is crossed during the moving process of the robot 100 ', timing the time interval of signal conversion by a control unit on the robot, and once the conversion time interval T ' is less than or equal to a time threshold T0At this time, the control unit determines that the robot passes through the first gap region G1 ″ or the second gap region G2 ″ and the robot 100 ″ changes the traveling direction to leave the to-be-prohibited region. Of course, if the optical receiver of the robot enters the third optical signal region R3 ″, the robot will also perform the turn step.
Of course, the base 200 "may also be used as a boundary" restriction ", and as in the example shown in fig. 7, assuming that the area 400" is not a prohibited area but an area to be cleaned, the portable base 200 "is provided to be able to divide a" large area cleaning area "into a plurality of" small areas "for respective cleaning, and the portable base 200" is able to limit the cleaning robot 100 in the area 300 "for a period of time and then to enter the area 400", which will enable the area 300 "to be sufficiently cleaned by the cleaning robot.
Therefore, the base 200 of the present invention can be used as a demarcation for dividing a large area into a plurality of cells, besides being used as a "door guard", and can help the robot to improve the ground coverage when being used as a demarcation.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. A self-moving cleaning robot system, characterized in that: the method comprises the following steps:
a cleaning robot capable of autonomously traveling on a floor surface and performing a cleaning work during traveling, the cleaning robot including a robot main body, a light receiver for receiving a light signal in all directions of travel of the cleaning robot, a driving mechanism for driving the cleaning robot to travel, and a control unit, the light receiver and the driving mechanism being in signal connection with the control unit;
at least one portable base supportable on a surface, said portable base having a first phototransmitter for transmitting a directed first beam of light toward said base periphery and a second phototransmitter for transmitting a directed second beam of light toward said base periphery, said first phototransmitter having a first optical signal area defining said first beam of light coverage and said second phototransmitter having a second optical signal area defining said second beam of light coverage, said first optical signal area including first and second side boundaries for defining a beam angle of said first beam of light and said second optical signal area including third and fourth side boundaries for defining a beam angle of said second beam of light, said first and third side boundaries being adjacent and having a first gap area therebetween, the maximum width of the first gap area is less than or equal to the outer diameter of the robot main body; when the cleaning robot travels into the first light signal area, the light receiver can receive a first light beam signal; when the cleaning robot travels into the second light signal area, the light receiver can receive a second light beam signal; when the cleaning robot travels into the first gap area, the light receiver does not receive the first and second light beam signals;
wherein, a time threshold is preset in the control unit, and once the optical receiver switches from receiving the first optical signal to receiving the second optical signal or from receiving the second optical signal to receiving the first optical signal and the signal switching time interval is less than or equal to the time threshold, the control unit judges that the cleaning robot crosses the first gap area.
2. The self-moving cleaning robot system according to claim 1, characterized in that: the first side boundary and the third side boundary are approximately parallel, and the first gap area is in a narrow strip shape.
3. The self-moving cleaning robot system according to claim 1, characterized in that: the second side boundary and the fourth side boundary are adjacent and form a second gap area between the second side boundary and the fourth side boundary.
4. The self-moving cleaning robot system according to claim 3, characterized in that: the second side boundary and the fourth side boundary are approximately parallel, and the second gap area is in a narrow strip shape.
5. The self-moving cleaning robot system according to claim 1, characterized in that: the control unit is used for controlling the cleaning robot to change the advancing direction if the cleaning robot is judged to cross the first gap area.
6. The self-moving cleaning robot system according to claim 1, characterized in that: the beam angle of the first light beam is greater than or equal to 90 degrees and smaller than 180 degrees.
7. The self-moving cleaning robot system according to claim 1, characterized in that: the beam angle of the second light beam is greater than or equal to 90 degrees and smaller than 180 degrees.
8. The self-moving cleaning robot system according to claim 1, characterized in that: the first light emitter and the second light emitter are both arranged on the side wall surface of the base.
9. The self-moving cleaning robot system according to claim 1, characterized in that: a third optical transmitter for transmitting a 360-degree omnidirectional third optical signal to the periphery of the base is arranged on the portable base, the third optical transmitter is provided with a third optical signal area for limiting the coverage range of the third optical signal, the radius of the third optical signal area is smaller than the radius of the first optical signal area and the radius of the second optical signal area, and when the cleaning robot travels into the third optical signal area, the optical receiver can receive the third optical signal; and the control unit is used for controlling the cleaning robot to change the traveling direction if the light receiver receives the third light signal.
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| CN110893085B (en) * | 2018-09-11 | 2021-12-31 | 原相科技股份有限公司 | Cleaning robot and charging path determining method thereof |
| CN111568307B (en) * | 2019-02-19 | 2023-02-17 | 北京奇虎科技有限公司 | Robot cleaning work execution method, device and computer readable storage medium |
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| JP6636289B2 (en) * | 2015-09-29 | 2020-01-29 | 東芝ライフスタイル株式会社 | Traveling device |
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