CN108958254A - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN108958254A CN108958254A CN201810809821.8A CN201810809821A CN108958254A CN 108958254 A CN108958254 A CN 108958254A CN 201810809821 A CN201810809821 A CN 201810809821A CN 108958254 A CN108958254 A CN 108958254A
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- self
- movement robot
- robot
- infrared
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of self-movement robot, the drive module that moves on face to be cleaned including robot body, the driving self-movement robot is configured as sensing the crash sensor of the self-movement robot and the collision information of barrier, can be generated for characterizing the infrared along wall sensor and controller of relationship at a distance between the self-movement robot and barrier.The controller according to it is described it is infrared along wall sensor, the detectable signal that generates is updated along side threshold value during the self-movement robot executes deliberate action, according to it is described it is infrared along wall sensor after the self-movement robot executes deliberate action along the detectable signal that is generated during edge mode and it is updated along side adjusting thresholds described in self-movement robot between barrier at a distance from relationship.Using the present invention, have the advantages that make in the complex environment of the larger color difference of the self-movement robot along side walking work.
Description
Technical field
The present invention relates to field in intelligent robotics more particularly to a kind of self-movement robots.
Background technique
Self-movement robot, it is a kind of work under complex environment, with self-organization, autonomous operation, contexture by self
Intelligent robot has merged computer technology, information technology, the communication technology, microelectric technique and robot technology etc., in work
It is widely used in the industries such as industry, agricultural, medical treatment, service.In recent years, with the emergence of service industry, service robot
It increasingly has been favored by people, service robot includes medical robot, security robot, guest-meeting robot, cleaning machine
People etc..
In the prior art, during the work time, medical robot or guest-meeting robot are needed along one self-movement robot
Fixed path walking, or it is set and is walked according to the edge of detection wall or other objects.Clean robot can be arranged its along
Wall edge or barrier edge clean, to improve coverage rate and cleaning effect.But in the prior art, detection is described from mobile
Robot is to preset a fixed threshold along side situation, and self-movement robot is examined according to wall and passed along the walking process of side
Sensor receives the power of signal compared with fixed threshold, is walked with adjusting the self-movement robot along side.This method due to
The color distinction of reflecting surface causes greatly reflected intensity of illumination inconsistent, can not be in the application in more complex environment.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of self-movement robot, the self-movement robot can
With there are walked in the complex environment of larger color difference along side.
In order to solve the above-mentioned technical problem, the embodiment of the present invention uses following technical scheme:
The present invention provides a kind of self-movement robot, comprising:
Robot body；
Drive module is connect with the robot body, is configured as driving the self-movement robot in face to be cleaned
Upper movement；
Crash sensor is installed on the robot body, and it is described from mobile that the crash sensor is configured as sensing
The collision information of robot and barrier；
It is infrared to be installed on the robot body along wall sensor, it is described infrared to be configured as along wall sensor towards institute
The periphery transmitting infrared light of robot body is stated, and the infrared light in response to reflecting via barrier generates detectable signal,
The detectable signal is for characterizing the distance between the self-movement robot and barrier relationship；And
Controller is installed on the robot body, and the controller is configured as:
The drive module is controlled in response to the collision information, it is default dynamic to drive the self-movement robot to execute
Make；
According to the infrared detection letter generated during the self-movement robot executes deliberate action along wall sensor
It number updates along side threshold value；
According to it is described it is infrared along wall sensor the self-movement robot execute deliberate action after along the edge mode phase
Between the detectable signal that generates and updated closed along the distance between self-movement robot and barrier described in the adjusting thresholds of side
System.
In one embodiment of the invention, described infrared to be held along wall sensor in the self-movement robot according to described
The detectable signal generated during row deliberate action is updated along side threshold value, comprising:
Control the self-movement robot rotation；
It is updated according to the infrared detectable signal generated during self-movement robot rotation along wall sensor
Along side threshold value.
In one embodiment of the invention, described infrared to be revolved along wall sensor in the self-movement robot according to described
The detectable signal generated between refunding includes: along side threshold value to update
According to the infrared multiple detectable signals generated during self-movement robot rotation along wall sensor, really
The maximum value of the fixed detectable signal；
Choose proportional numbers number；
It described infrared is generated the proportionality coefficient of selection and during self-movement robot rotation along wall sensor
The product of the maximum value of detectable signal be determined as the self-movement robot along side threshold value.
In one embodiment of the invention, the self-movement robot is additionally provided with several threshold ranges, the control
Device is according to the threshold where the infrared maximum value in the detectable signal during self-movement robot rotation along wall sensor
Value range chooses corresponding proportionality coefficient.
In one embodiment of the invention, it is described it is infrared along wall sensor the self-movement robot rotation during
The bigger threshold range of upper limit value where the maximum value of detectable signal, selected corresponding proportionality coefficient are smaller.
In one embodiment of the invention, the preset proportionality coefficient value is to be less than or equal to one greater than zero.
In one embodiment of the invention, if infrared execute along wall sensor in the self-movement robot is preset
Being greater than after movement along the detectable signal generated during edge mode is updated along side threshold value, then control is described from mobile machine
People deflects to far from the infrared side along wall sensor 60, to increase between the self-movement robot and barrier
Distance.
In one embodiment of the invention, if infrared execute along wall sensor in the self-movement robot is preset
Being less than after movement along the detectable signal generated during edge mode is described updated along side threshold value, then control is described from mobile
Robot is deflected to close to the infrared side along wall sensor 60, so as to reduce the self-movement robot and barrier it
Between distance.
In one embodiment of the invention, it is described it is infrared be at least one along wall sensor, be set to the robot
The left or right side of main body；
If the infrared left side that the robot body is arranged in along wall sensor, the crash sensor are triggered
When, the controller controls the self-movement robot and rotates to the right；
If the infrared right side that the robot body is arranged in along wall sensor, the crash sensor are triggered
When, the controller controls the self-movement robot and rotates to the left.
In one embodiment of the invention, the crash sensor is one of touch-switch or photoelectric sensor.
Compared with prior art, the technical solution of the embodiment of the present invention at least has the advantages that
In the embodiment of the present invention, the self-movement robot by setting crash sensor and infrared along wall sensor,
Execute deliberate action from mobile according to the control of the collision information of crash sensor is described, according to it is described it is infrared along wall sensor in institute
The detectable signal that generates is stated during self-movement robot executes deliberate action to update along side threshold value, infrared is passed along wall according to described
Sensor the self-movement robot execute deliberate action after after the detectable signal and update generated during edge mode
Along the distance between self-movement robot and barrier relationship described in the adjusting thresholds of side so that the self-movement robot can be with
It walks in there are the complex environment of larger color difference along side.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other variants are obtained according to these attached drawings.
Fig. 1 is the bottom view of self-movement robot in the embodiment of the present invention；
Fig. 2 be self-movement robot at a distance from barrier with the infrared signal relation figure along wall sensor；
Fig. 3 is the correspondence diagram of preset threshold range Yu preset ratio coefficient；
Fig. 4 is the control flow block diagram of self-movement robot in one embodiment of the invention；
Fig. 5 is the control flow block diagram that self-movement robot determines along side threshold value in one embodiment of the invention；
Fig. 6 is the control flow block diagram that self-movement robot executes after deliberate action in one embodiment of the invention；
Fig. 7 is the infrared schematic diagram for being installed on right side along wall sensor in one embodiment of the invention；
Fig. 8 is the infrared schematic diagram for being installed on left side along wall sensor in one embodiment of the invention；
Fig. 9 is the infrared schematic diagram for being installed on the left and right sides along wall sensor in one embodiment of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Noun of locality "front", "rear" described herein, "left", "right" are with self-movement robot direction of advance for reference side
To when "top" described herein, "bottom", "upper", "lower", " cross ", " perpendicular " are with self-movement robot normal work
State be reference.
The invention patent is illustrated by clean robot of self-movement robot, in other embodiments,
The self-movement robot can be security robot, medical robot, guest-meeting robot, window wiping robot or other intelligent machines
Device people etc..
Referring to Fig. 1, Fig. 1 is the bottom view of self-movement robot in the embodiment of the present invention.It is of the present invention to move certainly
Mobile robot includes robot body 10, the drive module for driving the self-movement robot to move on face to be cleaned
20, it is installed on robot body 10 and is configured as sensing the collision of the collision information of the self-movement robot and barrier
Sensor 70 is installed on robot body 10 and is configured as the detection generated according to the infrared light via barrier reflection
Signal come characterize the distance between the self-movement robot and barrier relationship along wall sensor 60, and be installed on machine
The controller 50 of human agent 10.
It is envisioned that, self-movement robot of the present invention is by taking clean robot as an example to all parts and function
It illustrates, the self-movement robot further includes the first cleaning assemblies 30 and second for cleaning face to be cleaned
Cleaning assemblies 40.
Drive module 20 is installed on robot body 10 towards the left and right sides in face to be cleaned, and drive module 20 is at least partly
Robot body 10 is stretched out, and under the extruding based on self-movement robot self gravity, partially retracted robot body 10.From shifting
Mobile robot further includes the omni-directional wheel 21 for being set to 10 front the latter rear portion of robot body, and omni-directional wheel 21 can make from moving machine
Device people steadily walks during the work time.When self-movement robot executes cleaning, self-movement robot and barrier occur
Collision, crash sensor 70 are triggered, the self-movement robot and obstacle that controller 50 is sensed in response to crash sensor 70
The collision information of object controls drive module 20, to drive self-movement robot to execute deliberate action.
First cleaning assemblies 30 be horizontally installed in robot body 10 towards face to be cleaned side intermediate position, from move
After mobile robot brings into operation, the first cleaning assemblies 30 starts turning work.First cleaning assemblies 30 is for cleaning from moving machine
The part face to be cleaned of device people covering.Second cleaning assemblies 40 be set to robot body 10 towards face to be cleaned side side
Edge position, the second cleaning assemblies 40 are at least arranged one, and the second cleaning assemblies 40 is set to together with infrared along wall sensor 6060
Side, so that self-movement robot enters after edge mode, the second cleaning assemblies 40 work, marginal position is effectively cleaned.
Second cleaning assemblies 40 is used to clean marginal position or the corner of self-movement robot walking.Self-movement robot enters along side mode
After formula, the first cleaning assemblies 30 and the second cleaning assemblies 40 can be worked at the same time, and be also possible to 40 work of only the second cleaning assemblies
Make.
Controller 50 is installed on robot body 10, controller 50 may include it is multiple control all parts respectively, can also
To be only arranged one, all components are controlled.Such as: controller 50 may include the master controller for being set to main body, sensing driving
The velocity information and control drive module 20 of module 20 are to adjust the drive module controller that self-movement robot is run, for controlling
Make the first cleaning assemblies 30 or the cleaning assemblies controller of the second cleaning assemblies 40 etc..The controller of all parts is by all parts
Information pass to master controller, master controller feeds back corresponding signal to all parts according to the information of all parts respectively.Respectively
It between a component centered on master controller, exchanges mutually, transmits signal.Controller 50 can for single-chip microcontroller, FPGA, ASI C,
The micro-control units such as DSP.
Crash sensor 70 be set to robot body 10 by front position, crash sensor 70 is at least arranged two groups, point
It is distributed in the two sides by front position of robot body 10.Crash sensor 70 is configured as sensing self-movement robot and barrier
Collision information, such as: when the front of self-movement robot, left or right side and barrier collide, trigger touching for corresponding position
Hit sensor 70.
It is infrared along wall sensor 60 be at least one, it is infrared along wall sensor 60 be installed on robot body 10 left side or
Right side or each one of left and right.The infrared periphery transmitting infrared light being configured as along wall sensor 60 towards robot body 10,
And the infrared light in response to reflecting via barrier generates detectable signal, detectable signal is for characterizing self-movement robot and barrier
Hinder the distance between object relationship.
Fig. 4, Fig. 7, Fig. 8 and Fig. 9 please be participate in, Fig. 4 is the control flow step of self-movement robot in one embodiment of the invention
Rapid figure, Fig. 7 are the infrared schematic diagrames for being installed on right side along wall sensor in one embodiment of the invention, and Fig. 8 is that the present invention one is real
The infrared schematic diagram for being installed on left side along wall sensor in example is applied, Fig. 9 is infrared along wall sensor in one embodiment of the invention
Be installed on the left and right sides schematic diagram.In the self-movement robot course of work, self-movement robot collides with barrier,
Self-movement robot executes step 100 crash sensor 70 and is triggered, and controller 50 is sensed in response to crash sensor 70
The collision information of self-movement robot and barrier controls drive module 20, default dynamic to drive self-movement robot to execute
Make.In other embodiments, the self-movement robot controls self-movement robot after receiving the signal executed along edge mode
Execute deliberate action.The received execution of self-movement robot can be sent to by user along the signal of edge mode and move machine certainly
People, such as: voice is sent or is sent using mobile terminal to self-movement robot.The received execution of self-movement robot is along side mode
The signal of formula can also be the control information being pre-set inside self-movement robot, such as: it presets from mobile machine
People runs the regular hour or crash sensor 70 is triggered after certain number or self-movement robot run a certain distance and held
Row is along edge mode.
Self-movement robot collides with barrier, and self-movement robot executes step 100 and determines crash sensor 70
It is triggered, and determines the position for the crash sensor 70 being triggered, further execute step 110 controller 50 and passed in response to collision
The collision information that sensor 70 is sensed controls drive module 20, to drive self-movement robot to execute deliberate action.From moving machine
Device people executes the collision information control self-movement robot rotation that deliberate action is sensed by controller 50 according to 70 device of collision sensing
Turn.Step 120, which is further executed, after self-movement robot execution step 110 is moving machine certainly along wall sensor 60 according to infrared
The detectable signal that generates is updated along side threshold value during people executes deliberate action, and self-movement robot update enters after the threshold value of side
Along edge mode, and further execute step 130 according to it is infrared along wall sensor 60 self-movement robot execute deliberate action it
Afterwards along the detectable signal that is generated during edge mode and it is updated along side adjusting thresholds self-movement robot and barrier it
Between distance relation.
In an of the invention exemplary embodiment, along 60 quantity of wall sensor it is one as shown in fig. 7, infrared, is installed on
The right side of robot body 10.Crash sensor 70 is at least two groups, is respectively arranged at robot body 10 leans on front position two
Side.The collision information of self-movement robot and barrier that crash sensor 70 is sensed is self-movement robot and barrier
Position of collision.Self-movement robot receives execution after edge mode information, the left side of self-movement robot and barrier or
Wall collides, and crash sensor 70 is triggered, and controller 50 controls self-movement robot and rotates to the left, and controller 50 is according to red
The detectable signal that generates during self-movement robot rotates of outer wall sensor 60 is updated along side threshold value, further control from
Mobile robot enters along edge mode.It is set to 10 right side of robot body along wall sensor 60 because infrared, to make from mobile
Robot shortens as far as possible into along the time of edge mode, as long as there is crash sensor 70 to be triggered, controller is just controlled from mobile
Robot just rotates to the left.
In another exemplary embodiment of the present invention, as shown in figure 8, it is infrared along 60 quantity of wall sensor be one, installation
In the left side of robot body 10.Crash sensor 70 is at least two groups, is respectively arranged at robot body 10 by front position
Two sides.The collision information of self-movement robot and barrier that crash sensor 70 is sensed is self-movement robot and obstacle
The position of collision of object.Self-movement robot receives execution after edge mode information, and self-movement robot and barrier or wall are sent out
Raw collision, crash sensor 70 are triggered, and controller 50 controls self-movement robot and rotates to the right, and controller 50 is according to infrared edge
The detectable signal that generates during self-movement robot rotates of wall sensor 60 is updated along side threshold value, and further control is from mobile
Robot enters along edge mode.It is set to 10 left side of robot body along wall sensor 60 because infrared, to make from mobile machine
People shortens as far as possible into along the time of edge mode, as long as there is crash sensor 70 to be triggered, controller 50 is just controlled from moving machine
Device people just rotates to the right.
In one embodiment of the invention, as shown in figure 9, it is infrared along 60 quantity of wall sensor be two, be installed on machine
The left and right sides of device human agent 10.Crash sensor 70 is at least two groups, is respectively arranged at robot body 10 by front position
Two sides.In the present embodiment, crash sensor 70 is set as three groups.The self-movement robot and obstacle that crash sensor 70 is sensed
The collision information of object is the position of collision of self-movement robot and barrier.Self-movement robot receives execution along edge mode
After information, self-movement robot collides with barrier or wall, triggers the crash sensor 70 of corresponding position.Controller 50
According to the position for the crash sensor 70 being triggered, controls self-movement robot and rotate to the left or to the right.Such as: if from mobile machine
Crash sensor 70 on the left of people is triggered, then controller 50 controls self-movement robot and rotates to the right；If self-movement robot
The crash sensor 70 on right side is triggered, then controller 50 controls self-movement robot and rotates to the left；If self-movement robot
The crash sensor 70 of front is triggered, then controller 50 controls self-movement robot and rotates to the left or to the right.
In the embodiment of the present invention, controller 50 is according to the trigger position of crash sensor 70 and infrared along wall sensor 60
Installation site come control self-movement robot rotation angle.Such as: if it is infrared along the setting of wall sensor 60 from moving machine
The left side of device people, then self-movement robot dextrorotary angle when the crash sensor 70 on the left of self-movement robot is triggered
Self-movement robot dextrorotary angle when being triggered less than the crash sensor 70 on the right side of self-movement robot；If infrared edge
The right side of self-movement robot is arranged in wall sensor 60, then when the crash sensor 70 on the left of self-movement robot is triggered certainly
From mobile machine when the crash sensor 70 that the angle that mobile robot rotates to the left is greater than on the right side of self-movement robot is triggered
The angle that people rotates to the left.
Fig. 1, Fig. 2, Fig. 3 and Fig. 5 are please referred to, Fig. 1 is the bottom view of self-movement robot in the embodiment of the present invention, Fig. 2
Be self-movement robot at a distance from barrier with the infrared signal relation figure along wall sensor 60, Fig. 3 is preset threshold range
With the correspondence diagram of preset ratio coefficient, Fig. 5 is that self-movement robot is determined along side threshold value in one embodiment of the invention
Control flow block diagram.Self-movement robot collides with barrier, and self-movement robot determines 70 quilt of crash sensor
Triggering, controller 50 control drive module 20 in response to the collision information that crash sensor 70 is sensed, to drive from moving machine
Device people executes deliberate action.Controller 50 executes the deliberate action phase in the self-movement robot along wall sensor 60 according to infrared
Between the detectable signal that generates update after the threshold value of side, self-movement robot executes step 121 according to infrared along wall sensor 60
The multiple detectable signals generated during self-movement robot rotation, determine the maximum value of detectable signal, execute step 122 and choose
Proportionality coefficient executes step 123 using the maximum value of detectable signal and the product of proportionality coefficient as along side threshold value, and proportionality coefficient is big
In zero be less than or equal to one, proportionality coefficient selection with it is infrared along wall sensor 60 self-movement robot rotation during generate it is more
Preset threshold range where the maximum value of a detectable signal is related, infrared to rotate the phase in self-movement robot along wall sensor 60
Between detectable signal maximum value where the bigger threshold range of upper limit value, selected corresponding proportionality coefficient is smaller.This
Embodiment carries out implementation explanation for wall cleaning by self-movement robot, and same method can be applied to clear along barrier
It is clean.In the working environment of self-movement robot, the color of metope is different, corresponding infrared received along 60 institute of wall sensor
It is different to reflect signal.
As shown in Fig. 2, the curve 1, curve 2 and curve 3 in Fig. 2 are according to self-movement robot in different colours reflecting surface
The curve that the multiple detectable signals generated during rotation are simulated.Curve 1, curve 2 and curve 3 respectively represent the face of reflecting surface
Color by bright to dark, such as: curve 1 indicates that reflecting surface is white, and curve 2 indicates that reflecting surface is grey, and curve 3 indicates that reflecting surface is
Black.Self-movement robot is red during self-movement robot increases at a distance from barrier after colliding with barrier
Wall sensor 60 received signal in outer first becomes larger to become smaller afterwards, and reflection signal can have a maximum value.The color of reflecting surface
Darker, then the maximum value for reflecting signal is smaller, and the reflection signal intensity near maximum value is more slow.D1 and D2 is indicated from mobile machine
People is entering after edge mode, and the minimum range of self-movement robot and barrier is D1, maximum distance D2.D1 minimum can be with
It is zero, i.e., self-movement robot againsts barrier cleaning, and D2 and the second cleaning assemblies 40 stretch out the length of 10 outer rim of robot body
Spend related, the length of maximum the second cleaning assemblies 40 for being no more than stretching 10 outer rim of robot body, so that self-movement robot
Into after edge mode, the available effective cleaning of the marginal position of the barrier.
As shown in figure 3, because the color of reflecting surface moves infrared preset along wall sensor 60 in self-movement robot execution
Variation tendency of the detectable signal generated during work at maximum value is different, to enter self-movement robot after edge mode
It can walk between D2 along side in barrier distance D1.Self-movement robot is additionally provided with several threshold ranges, control
Device 50 is according to the threshold value model where the infrared maximum value in the detectable signal during self-movement robot rotation along wall sensor 60
It encloses to select corresponding proportionality coefficient.In the present embodiment, self-movement robot is default there are three threshold range, is 0 respectively to A, A
To B and B to C, A, B and C respectively represent different threshold values, and wherein threshold value C is greater than threshold value B, and threshold value B is greater than threshold value A and is less than threshold value
C, threshold value A are greater than zero and are less than threshold value B.It is as follows:
| Preset threshold range | Upper limit value | Preset ratio coefficient |
| 0 to A | A | Y1 |
| A to B | B | Y2 |
| B to C | C | Y3 |
First threshold range 0 represents the lower limit value of the threshold range to A, 0, and A represents the upper limit value of the threshold range, threshold
Being worth preset ratio coefficient corresponding to range 0 to A is Y1；
Second threshold range A to B, A represent the lower limit value of the threshold range, and B represents the upper limit value of the threshold range, threshold
Being worth preset ratio coefficient corresponding to range A to B is Y2；
Third threshold range B to C, B represent the lower limit value of the threshold range, and C represents the upper limit value of the threshold range, threshold
Being worth preset ratio coefficient corresponding to range B to C is Y3.
Y3 is greater than zero and is less than Y2, and Y2 is greater than Y3 and is less than Y1, and Y1 is greater than Y2 less than 1.
In other embodiments, threshold range can be set multiple, so that the preset ratio coefficient determined is more accurate.
Self-movement robot with barrier after colliding, in the process that self-movement robot increases at a distance from barrier
In, infrared first become larger along 60 received signal of wall sensor becomes smaller afterwards, and reflection signal can have a maximum value.Reflecting surface
Color is darker, then the maximum value for reflecting signal is smaller, and the reflection signal intensity near maximum value is more slow.Curve 1 in the present embodiment
Indicate that reflecting surface is white, curve 2 indicates that reflecting surface is grey, and curve 3 indicates that reflecting surface is black, and self-movement robot is default
There are three threshold ranges, so the threshold value that the reflecting surface that curve 1, curve 2, curve 3 are characterized in the present embodiment updates is as follows:
Curve 3 characterize reflecting surface be black, it is infrared along wall sensor 60 self-movement robot execute deliberate action during
The detectable signal of generation changes gently at maximum value X3, and self-movement robot between D1 and D2, is visited at a distance from barrier
It surveys signal and is constantly in or levels off to maximum value X3.Maximum value X3 is in first threshold range 0 to A, so its is corresponding pre-
If proportionality coefficient is Y1, Y1 is equal to 1 at this time, and update is infrared to hold along wall sensor 60 in self-movement robot along side threshold value
The maximum value of the detectable signal generated during row deliberate action.
Curve 2 characterize reflecting surface be grey, it is infrared along wall sensor 60 self-movement robot execute deliberate action during
The detectable signal of generation changes more anxious at maximum value X2, and maximum value X2 is corresponding in second threshold range in A to B
Preset ratio coefficient be Y2, update along while threshold value be one along while threshold range, as Y2 times of X2 is between X2.
Curve 3 characterize reflecting surface be white, it is infrared along wall sensor 60 self-movement robot execute deliberate action during
The detectable signal of generation changes more anxious at maximum value X1, and maximum value X1 is corresponding in third threshold range in B to C
Preset ratio coefficient be Y3, update along while threshold value be one along while threshold range, as Y3 times of X1 is between X1.
It is reflected into white, grey and the curved shape of black described in the present embodiment and the preset ratio coefficient of selection is only made
The process along side threshold value is determined when reflecting face color difference for exemplary illustration self-movement robot, is not in practical application
The relationship of selected value.
Fig. 1, Fig. 2, Fig. 3 and Fig. 6 are please referred to, Fig. 1 is the bottom view of self-movement robot in the embodiment of the present invention, Fig. 2
Be self-movement robot at a distance from barrier with the infrared signal relation figure along wall sensor 60, Fig. 3 is preset threshold range
With the correspondence diagram of preset ratio coefficient, Fig. 6 is that self-movement robot executes deliberate action in one embodiment of the invention
Control flow block diagram afterwards.Self-movement robot enters after edge mode, to make self-movement robot along during edge mode
With at a distance from barrier in D1 between D2, self-movement robot is executed along wall sensor 60 in self-movement robot according to infrared
After deliberate action along the detectable signal that is generated during edge mode and updated along side adjusting thresholds self-movement robot
The distance between barrier relationship.Specific self-movement robot execute step 131 according to it is infrared along wall sensor 60 from
Mobile robot execute after deliberate action along the detectable signal that is generated during edge mode and the updated pass along side threshold value
System walks to adjust self-movement robot.
After if being greater than after self-movement robot execution deliberate action along the detectable signal generated during edge mode updates
Along side threshold value, i.e., controller 50 detects that self-movement robot is less than D1 at a distance from barrier, then the control of controller 50 from
Mobile robot is deflected to far from the infrared side along wall sensor 60, i.e. control self-movement robot far from barrier, so as to
Increase the distance between self-movement robot and barrier so that self-movement robot at a distance from barrier D1 and D2 it
Between.
After if being less than after self-movement robot execution deliberate action along the detectable signal generated during edge mode updates
Along side threshold value, i.e., controller 50 detects that self-movement robot is greater than D2 at a distance from barrier, then the control of controller 50 from
Mobile robot is deflected to by near-infrared along the side of wall sensor 60, i.e. control self-movement robot close to barrier, so as to
Reduce the distance between self-movement robot and barrier so that self-movement robot at a distance from barrier D1 and D2 it
Between.
Controller 50 controls self-movement robot and deflects to close to or far from the infrared side along wall sensor 60, is to pass through
Control drive module 20 speed so that self-movement robot deflect, such as: control self-movement robot to by near-infrared along wall
The side of sensor 60 deflects, then drive module 20 of the control by near-infrared along the side of wall sensor 60 reduces speed or increase
The characteristic that flexibly turns to of the speed of the drive module 20 of the other side, combining omnidirectional wheel 21 deflects self-movement robot.Accordingly
Control self-movement robot deflected to far from the infrared side along wall sensor 60, then control is by near-infrared along wall sensor 60
Side drive module 20 push the speed or reduce the other side drive module 20 speed, combining omnidirectional wheel 21 flexibly turn
To characteristic self-movement robot is deflected.
In the other embodiment of the present invention, self-movement robot can also include fan assembly and containing box, from moving machine
Device people enters after edge mode, can increase the power of the second cleaning assemblies 40 and increase fan assembly power, reduce driving mould
The speed of block 20, so that marginal position is effectively cleaned.Or self-movement robot and not set second cleaning assemblies 40,
Retractable sucker is arranged in self-movement robot marginal position, enters after edge mode in self-movement robot, and suction pipe stretches out absorption
Dust, clast of marginal position etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are different
Surely identical embodiment or example is referred to.Moreover, the particular features, structures, materials, or characteristics of description can be any one
It can be combined in any suitable manner in a or multiple embodiment or examples.
Above embodiment does not constitute the restriction to the technical solution protection scope.It is any in above embodiment
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should be included in the technical solution protection scope it
It is interior.
Claims (9)
1. a kind of self-movement robot characterized by comprising
Robot body；
Drive module is connect with the robot body, is configured as that the self-movement robot is driven to move up in face to be cleaned
It is dynamic；
Crash sensor is installed on the robot body, and it is described from mobile machine that the crash sensor is configured as sensing
The collision information of people and barrier；
It is infrared to be installed on the robot body along wall sensor, it is described infrared to be configured as along wall sensor towards the machine
The periphery transmitting infrared light of device human agent, and the infrared light in response to reflecting via barrier generates detectable signal, it is described
Detectable signal is for characterizing the distance between the self-movement robot and barrier relationship；And
Controller is installed on the robot body, and the controller is configured as:
The drive module is controlled in response to the collision information, to drive the self-movement robot to execute deliberate action；
According to it is described it is infrared along wall sensor during the self-movement robot executes deliberate action the detectable signal that generates come
It updates along side threshold value；
According to infrared being given birth to along during edge mode after the self-movement robot executes deliberate action along wall sensor
At detectable signal and updated along the distance between self-movement robot and barrier relationship described in the adjusting thresholds of side.
2. self-movement robot according to claim 1, which is characterized in that described infrared to be existed along wall sensor according to described
The self-movement robot executes the detectable signal that generates during deliberate action to update along side threshold value, comprising:
Control the self-movement robot rotation；
It is updated according to the infrared detectable signal generated during self-movement robot rotation along wall sensor along side
Threshold value.
3. self-movement robot according to claim 2, which is characterized in that described infrared to be existed along wall sensor according to described
The detectable signal generated during self-movement robot rotation includes: along side threshold value to update
According to the infrared multiple detectable signals generated during self-movement robot rotation along wall sensor, institute is determined
State the maximum value of detectable signal；
Choose proportional numbers number；
By the proportionality coefficient of selection and the infrared detection generated during self-movement robot rotation along wall sensor
The product of the maximum value of signal be determined as the self-movement robot along side threshold value.
4. self-movement robot according to claim 3, which is characterized in that the self-movement robot is additionally provided with several
Threshold range, the controller is according to the infrared detectable signal along wall sensor during the self-movement robot rotates
Maximum value where threshold range select corresponding proportionality coefficient.
5. self-movement robot according to claim 4, which is characterized in that it is described it is infrared along wall sensor it is described from move
Mobile robot rotate during detectable signal maximum value where the bigger threshold range of upper limit value, selected corresponding ratio
Example coefficient is smaller.
6. according to the described in any item self-movement robots of claim 3 to 5, which is characterized in that the preset proportionality coefficient
Value is to be less than or equal to one greater than zero.
7. self-movement robot according to claim 1, which is characterized in that if it is described it is infrared along wall sensor it is described from
Being greater than after mobile robot execution deliberate action along the detectable signal generated during edge mode is updated along side threshold value, then
The self-movement robot is controlled to deflect to far from the infrared side along wall sensor, it is described from mobile machine to increase
The distance between people and barrier.
8. self-movement robot according to claim 1, which is characterized in that if it is described it is infrared along wall sensor it is described from
Being less than after mobile robot execution deliberate action along the detectable signal generated during edge mode is described updated along side threshold
It is worth, then controls the self-movement robot and deflected to close to the infrared side along wall sensor, it is described from shifting to reduce
The distance between mobile robot and barrier.
9. self-movement robot according to claim 1, which is characterized in that described infrared to be at least one along wall sensor
It is a, it is set to the left or right side of the robot body；
If the infrared left side that the robot body is arranged in along wall sensor, when the crash sensor is triggered, institute
The controller control self-movement robot is stated to rotate to the right；
If the infrared right side that the robot body is arranged in along wall sensor, when the crash sensor is triggered, institute
The controller control self-movement robot is stated to rotate to the left.
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| CN109683622A (en) * | 2019-02-22 | 2019-04-26 | 深圳市杉川机器人有限公司 | Robot cleaning method, device, robot and computer readable storage medium |
| CN109895143A (en) * | 2019-02-28 | 2019-06-18 | 深圳市鑫益嘉科技股份有限公司 | Terminal anti-fall method, device, equipment and computer readable storage medium |
| CN110192812A (en) * | 2019-05-15 | 2019-09-03 | 深圳市银星智能科技股份有限公司 | It is a kind of to follow clean method and clean robot along side |
| CN111958610A (en) * | 2020-07-24 | 2020-11-20 | 深圳乐动机器人有限公司 | Method and device for cleaning edge of robot, robot and storage medium |
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| CN115251765A (en) * | 2022-07-04 | 2022-11-01 | 麦岩智能科技(北京)有限公司 | Cleaning robot edge sweeping control method based on multiple sensors |
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