CN108958254B - Self-moving robot - Google Patents
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- CN108958254B CN108958254B CN201810809821.8A CN201810809821A CN108958254B CN 108958254 B CN108958254 B CN 108958254B CN 201810809821 A CN201810809821 A CN 201810809821A CN 108958254 B CN108958254 B CN 108958254B
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- 238000004140 cleaning Methods 0.000 description 31
- 238000000034 method Methods 0.000 description 8
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- 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
- G05D1/0219—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, 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
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Abstract
The invention discloses a self-moving robot, which comprises a robot main body, a driving module for driving the self-moving robot to move on a surface to be cleaned, a collision sensor configured to sense collision information of the self-moving robot and an obstacle, an infrared wall sensor capable of generating a distance relation for representing the self-moving robot and the obstacle, and a controller. The controller updates the edge threshold according to a detection signal generated by the infrared edge wall sensor during the self-moving robot executes a preset action, and adjusts the distance relationship between the self-moving robot and the obstacle according to the detection signal generated by the infrared edge wall sensor during the edge mode after the self-moving robot executes the preset action and the updated edge threshold. The invention has the advantage that the self-moving robot can walk along the edge to work in a complex environment with larger color difference.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a self-moving robot.
Background
A self-moving robot is an intelligent robot which works in a complex environment and has the functions of self organization, self operation and self planning, integrates computer technology, information technology, communication technology, microelectronic technology, robot technology and the like, and is widely applied to industries such as industry, agriculture, medical treatment, service and the like. In recent years, with the rise of the service industry, service robots including medical robots, security robots, guest-welcoming robots, cleaning robots, and the like have been increasingly favored.
In the prior art, during the working process of a self-moving robot, a medical robot or a guest greeting robot needs to walk along a certain path, or the robot is set to walk according to the edge of a detection wall or other objects. The cleaning robot is configured to sweep along the edge of a wall or obstacle to improve coverage and cleaning. However, in the prior art, a fixed threshold is preset for detecting the edge condition of the self-moving robot, and the self-moving robot is adjusted to walk along the edge according to the comparison between the strength of the signal received by the wall detection sensor and the fixed threshold in the process of walking along the edge of the self-moving robot. The method has the defects that the reflected illumination intensity is inconsistent due to large color difference of the reflecting surfaces, and the method cannot be applied to more complex environments.
Disclosure of Invention
The invention aims to provide a self-moving robot which can walk along the edge in a complex environment with large color difference.
In order to solve the technical problem, the embodiment of the invention adopts the following technical scheme:
the present invention provides a self-moving robot, comprising:
a robot main body;
the driving module is connected with the robot main body and is configured to drive the self-moving robot to move on a surface to be cleaned;
a collision sensor mounted to the robot body, the collision sensor configured to sense collision information of the self-moving robot with an obstacle;
an infrared wall sensor mounted to the robot main body, the infrared wall sensor configured to emit infrared light toward a periphery of the robot main body and generate a detection signal in response to the infrared light reflected via an obstacle, the detection signal being used to characterize a distance relationship between the self-moving robot and the obstacle; and
a controller mounted to the robot main body, the controller configured to:
controlling the driving module in response to the collision information to drive the self-moving robot to execute a preset action;
updating an edge threshold according to a detection signal generated by the infrared edge wall sensor during the self-moving robot executing a preset action;
and adjusting the distance relationship between the self-moving robot and the obstacle according to detection signals generated by the infrared wall sensor during the edge mode after the self-moving robot executes the preset action and the updated edge threshold.
In an embodiment of the present invention, the updating the edgewise threshold according to the detection signal generated by the infrared edgewise wall sensor during the self-moving robot performing the preset action includes:
controlling the self-moving robot to rotate;
updating an edgewise threshold according to a detection signal generated by the infrared edgewise sensor during rotation of the self-moving robot.
In one embodiment of the present invention, said updating the edgewise threshold value according to the detection signal generated by the infrared edgewise wall sensor during the rotation of the self-moving robot comprises:
determining a maximum value of the detection signals according to a plurality of detection signals generated by the infrared wall sensor during the rotation of the self-moving robot;
selecting a proportional number;
and determining the product of the selected proportionality coefficient and the maximum value of the detection signal generated by the infrared wall sensor during the rotation of the self-moving robot as the edge threshold value of the self-moving robot.
In an embodiment of the present invention, the self-moving robot is further provided with a plurality of threshold ranges, and the controller selects the corresponding proportionality coefficient according to the threshold range in which the maximum value of the detection signal of the infrared wall sensor during the rotation of the self-moving robot is located.
In one embodiment of the present invention, the larger the upper limit value of the maximum value of the detection signal of the infrared wall sensor during the rotation of the self-moving robot is, the smaller the corresponding scale factor is selected.
In an embodiment of the present invention, the preset scaling factor is greater than zero and less than or equal to one.
In one embodiment of the present invention, if the detection signal generated by the infrared edge wall sensor during the edge mode after the self-moving robot performs the preset action is greater than the updated edge threshold, the self-moving robot is controlled to deflect to a side away from the infrared edge wall sensor 60 so as to increase the distance between the self-moving robot and the obstacle.
In one embodiment of the present invention, if the detection signal generated by the infrared edge wall sensor during the edge mode after the self-moving robot performs the preset action is less than the updated edge threshold, the self-moving robot is controlled to deflect to a side close to the infrared edge wall sensor 60 so as to reduce the distance between the self-moving robot and the obstacle.
In one embodiment of the invention, at least one infrared wall sensor is arranged on the left side or the right side of the robot main body;
if the infrared wall-following sensor is arranged on the left side of the robot main body, the controller controls the self-moving robot to rotate rightwards when the collision sensor is triggered;
if the infrared wall-following sensor is arranged on the right side of the robot main body, when the collision sensor is triggered, the controller controls the self-moving robot to rotate leftwards.
In one embodiment of the invention, the impact sensor is one of a tact switch or a photosensor.
Compared with the prior art, the technical scheme of the embodiment of the invention at least has the following beneficial effects:
in the embodiment of the invention, the self-moving robot is provided with a collision sensor and an infrared wall sensor, controls the self-moving robot to execute the preset action according to the collision information of the collision sensor, updates the edge threshold according to the detection signal generated by the infrared wall sensor during the self-moving robot executing the preset action, and adjusts the distance relationship between the self-moving robot and the obstacle according to the detection signal generated by the infrared wall sensor during the edge mode after the self-moving robot executes the preset action and the updated edge threshold, so that the self-moving robot can walk along the edge in the complex environment with large color difference.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other modifications can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a bottom view of a self-moving robot in an embodiment of the present invention;
FIG. 2 is a graph of distance from a mobile robot to an obstacle versus the signal of an infrared wall sensor;
FIG. 3 is a diagram illustrating a relationship between a preset threshold range and a preset scaling factor;
FIG. 4 is a flowchart illustrating the control flow of the autonomous mobile robot according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating the control flow steps for determining the edgewise threshold from the mobile robot in accordance with an embodiment of the present invention;
FIG. 6 is a flowchart illustrating steps of a control flow after a mobile robot performs a predetermined action according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of an infrared wall-mounted sensor in accordance with an embodiment of the present invention;
FIG. 8 is a left side view of an infrared wall sensor according to one embodiment of the present invention;
FIG. 9 is a schematic illustration of the mounting of the infrared wall sensor on both left and right sides in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "front", "rear", "left" and "right" in the present description refer to the forward direction of the self-moving robot, and the terms "top", "bottom", "up", "down", "horizontal" and "vertical" in the present description refer to the normal working state of the self-moving robot.
The patent of the invention is exemplified by a self-moving robot as a cleaning robot, and in other embodiments, the self-moving robot can be a security robot, a medical robot, a welcome robot, a window cleaning robot or other intelligent robots, and the like.
Referring to fig. 1, fig. 1 is a bottom view of a self-moving robot according to an embodiment of the present invention. The self-moving robot of the present invention includes a robot main body 10, a driving module 20 for driving the self-moving robot to move on a surface to be cleaned, a collision sensor 70 mounted to the robot main body 10 and configured to sense collision information of the self-moving robot with an obstacle, a wall sensor 60 mounted to the robot main body 10 and configured to characterize a distance relationship between the self-moving robot and the obstacle from a detection signal generated from infrared light reflected via the obstacle, and a controller 50 mounted to the robot main body 10.
It is conceivable that the self-moving robot of the present invention exemplifies each component and function by a cleaning robot, and further includes a first cleaning assembly 30 and a second cleaning assembly 40 for cleaning a surface to be cleaned.
The driving modules 20 are installed at the left and right sides of the robot main body 10 facing the surface to be cleaned, and the driving modules 20 at least partially protrude out of the robot main body 10 and partially retract into the robot main body 10 based on the squeezing of the self-moving robot itself. The self-moving robot further includes an omni-wheel 21 provided at the rear of the front part of the robot body 10, and the omni-wheel 21 enables the self-moving robot to walk smoothly during operation. When the self-moving robot performs a cleaning operation, the self-moving robot collides with an obstacle, the collision sensor 70 is triggered, and the controller 50 controls the driving module 20 to drive the self-moving robot to perform a preset action in response to the collision information of the self-moving robot and the obstacle sensed by the collision sensor 70.
The first cleaning assembly 30 is transversely installed at a middle portion of one side of the robot main body 10 facing the surface to be cleaned, and the first cleaning assembly 30 starts to rotate after the mobile robot starts to operate. The first cleaning assembly 30 is used for cleaning a part of a surface to be cleaned covered by the self-moving robot. The second cleaning assembly 40 is disposed at an edge position of a side of the robot main body 10 facing the surface to be cleaned, at least one second cleaning assembly 40 is disposed, and the second cleaning assembly 40 and the infrared edge sensor 6060 are disposed at the same side, so that after the self-moving robot enters the edge mode, the second cleaning assembly 40 operates, and the edge position is effectively cleaned. The second cleaning assembly 40 is used to clean the edge position or corner where the self-moving robot walks. After the mobile robot enters the edgewise mode, the first cleaning assembly 30 and the second cleaning assembly 40 may be operated simultaneously, or only the second cleaning assembly 40 may be operated.
The controller 50 is attached to the robot main body 10, and the controller 50 may include a plurality of components that control the respective components, or may be provided with only one component that controls all the components. For example: the controller 50 may include a main controller provided to the main body, a driving module controller sensing speed information of the driving module 20 and controlling the driving module 20 to adjust the operation from the mobile robot, a cleaning assembly controller for controlling the first cleaning assembly 30 or the second cleaning assembly 40, and the like. The controller of each component transmits the information of each component to the main controller, and the main controller respectively feeds back corresponding signals to each component according to the information of each component. The components are communicated with each other by taking the main controller as a center and transmit signals. The controller 50 may be a micro control unit such as a single chip, an FPGA, an ASI C, or a DSP.
The collision sensors 70 are disposed at the front position of the robot main body 10, and at least two groups of collision sensors 70 are disposed and distributed at both sides of the front position of the robot main body 10. The collision sensor 70 is configured to sense collision information from the mobile robot with an obstacle, such as: when the front, left or right side of the self-moving robot collides with an obstacle, the collision sensor 70 of the corresponding position is triggered.
At least one infrared wall sensor 60 is provided, and the infrared wall sensors 60 are installed on the left or right side or left or right side of the robot main body 10. The infrared along-wall sensor 60 is configured to emit infrared light toward the periphery of the robot main body 10 and generate a detection signal for characterizing a distance relationship between the self-moving robot and an obstacle in response to the infrared light reflected via the obstacle.
Referring to fig. 4, 7, 8 and 9, fig. 4 is a flowchart illustrating a control flow of the self-moving robot according to an embodiment of the present invention, fig. 7 is a schematic diagram illustrating an infrared wall sensor according to an embodiment of the present invention installed on a right side, fig. 8 is a schematic diagram illustrating an infrared wall sensor according to an embodiment of the present invention installed on a left side, and fig. 9 is a schematic diagram illustrating an infrared wall sensor according to an embodiment of the present invention installed on left and right sides. When the self-moving robot collides with an obstacle during operation, the self-moving robot performs step 100, the collision sensor 70 is triggered, and the controller 50 controls the driving module 20 to drive the self-moving robot to perform a preset action in response to the collision information of the self-moving robot and the obstacle sensed by the collision sensor 70. In other embodiments, the self-moving robot controls the self-moving robot to perform the preset action after receiving the signal to perform the edgewise mode. The signal received from the mobile robot to perform the edgewise mode may be sent by the user to the mobile robot, for example: and sending voice or sending the voice to the self-moving robot by using the mobile terminal. The signal received from the mobile robot to execute the edgewise mode may also be control information previously set inside the mobile robot, such as: the edgewise mode is preset to be executed after the mobile robot runs for a certain time or the collision sensor 70 is triggered for a certain number of times or the mobile robot runs for a certain distance.
The self-moving robot collides with an obstacle, the self-moving robot performs step 100 to determine that the collision sensor 70 is triggered, and determines the position of the triggered collision sensor 70, and further performs step 110 the controller 50 controls the driving module 20 in response to collision information sensed by the collision sensor 70 to drive the self-moving robot to perform a preset action. The self-moving robot performs a preset action in which the controller 50 controls the self-moving robot to rotate according to the collision information sensed by the collision sensor 70. Step 120 is further executed after the mobile robot executes step 110 to update the edgewise threshold according to the detection signal generated by the infrared edgewise wall sensor 60 during the execution of the preset action from the mobile robot, the mobile robot enters the edgewise mode after updating the edgewise threshold, and step 130 is further executed to adjust the distance relationship between the mobile robot and the obstacle according to the detection signal generated by the infrared edgewise wall sensor 60 during the edgewise mode after the execution of the preset action from the mobile robot and the updated edgewise threshold.
In an exemplary embodiment of the present invention, as shown in fig. 7, the infrared wall sensors 60 are one in number and are installed at the right side of the robot main body 10. The collision sensors 70 are provided in at least two groups, respectively, on both sides of the front position of the robot main body 10. The collision information of the self-moving robot and the obstacle sensed by the collision sensor 70 is the collision position of the self-moving robot and the obstacle. After receiving the information of executing the edgewise mode, the self-moving robot collides with an obstacle or a wall on the left side, the collision sensor 70 is triggered, the controller 50 controls the self-moving robot to rotate to the left, and the controller 50 updates the edgewise threshold according to the detection signal generated by the infrared edgewise wall sensor 60 during the rotation of the self-moving robot, so as to further control the self-moving robot to enter the edgewise mode. Since the infrared edge wall sensor 60 is disposed at the right side of the robot main body 10, in order to shorten the time for the self-moving robot to enter the edge mode as much as possible, the controller controls the self-moving robot to rotate leftward as long as the collision sensor 70 is triggered.
In another exemplary embodiment of the present invention, as shown in fig. 8, the infrared wall sensors 60 are one in number and are installed at the left side of the robot main body 10. The collision sensors 70 are provided in at least two groups, respectively, on both sides of the front position of the robot main body 10. The collision information of the self-moving robot and the obstacle sensed by the collision sensor 70 is the collision position of the self-moving robot and the obstacle. After receiving the information of executing the edgewise mode, the self-moving robot collides with an obstacle or a wall, the collision sensor 70 is triggered, the controller 50 controls the self-moving robot to rotate to the right, and the controller 50 updates the edgewise threshold according to a detection signal generated by the infrared edgewise wall sensor 60 during the rotation of the self-moving robot, and further controls the self-moving robot to enter the edgewise mode. Since the infrared edge wall sensor 60 is disposed on the left side of the robot main body 10, in order to shorten the time for the self-moving robot to enter the edge mode as much as possible, the controller 50 controls the self-moving robot to rotate rightward as long as the collision sensor 70 is triggered.
In one embodiment of the present invention, as shown in fig. 9, the infrared wall sensors 60 are two in number, and are installed at both left and right sides of the robot main body 10. The collision sensors 70 are provided in at least two groups, respectively, on both sides of the front position of the robot main body 10. In the present embodiment, the collision sensors 70 are provided in three groups. The collision information of the self-moving robot and the obstacle sensed by the collision sensor 70 is the collision position of the self-moving robot and the obstacle. After receiving the information of the execution edgewise mode, the self-moving robot collides with the obstacle or the wall, and triggers the collision sensor 70 at the corresponding position. The controller 50 controls the self-moving robot to rotate leftward or rightward according to the position of the triggered collision sensor 70. For example: if the collision sensor 70 from the left side of the mobile robot is triggered, the controller 50 controls the self-moving robot to rotate to the right; if the collision sensor 70 from the right side of the mobile robot is triggered, the controller 50 controls the self-moving robot to rotate leftward; if the collision sensor 70 from the front of the mobile robot is triggered, the controller 50 controls the mobile robot to rotate left or right.
In the embodiment of the present invention, the controller 50 controls the rotation angle of the self-moving robot according to the trigger position of the collision sensor 70 and the installation position of the infrared along-the-wall sensor 60. For example: if the infrared along-the-wall sensor 60 is disposed on the left side of the mobile robot, the angle of rotation from the mobile robot to the right when the collision sensor 70 from the left side of the mobile robot is triggered is smaller than the angle of rotation from the mobile robot to the right when the collision sensor 70 from the right side of the mobile robot is triggered; if infrared along-wall sensor 60 is disposed on the right side of the mobile robot, the angle of rotation to the left from the mobile robot when collision sensor 70 on the left side of the mobile robot is triggered is greater than the angle of rotation to the left from the mobile robot when collision sensor 70 on the right side of the mobile robot is triggered.
Referring to fig. 1, fig. 2, fig. 3 and fig. 5, fig. 1 is a bottom view of a self-moving robot in an embodiment of the present invention, fig. 2 is a graph illustrating a relationship between a distance between the self-moving robot and an obstacle and a signal of an infrared along-the-wall sensor 60, fig. 3 is a schematic diagram illustrating a corresponding relationship between a preset threshold range and a preset scaling factor, and fig. 5 is a flowchart illustrating a control flow of determining an edge threshold from the self-moving robot in an embodiment of the present invention. The self-moving robot collides with an obstacle, the self-moving robot determines that the collision sensor 70 is triggered, and the controller 50 controls the driving module 20 in response to collision information sensed by the collision sensor 70 to drive the self-moving robot to perform a preset action. After the controller 50 updates the edgewise threshold value according to the detection signal generated by the infrared edgewise sensor 60 during the self-moving robot performs the preset action, the self-moving robot executes step 121 to determine the maximum value of the detection signal according to the detection signals generated by the infrared wall sensor 60 during the rotation of the self-moving robot, executes step 122 to select a scaling factor, and executes step 123 to use the product of the maximum value of the detection signal and the scaling factor as an edge threshold, wherein the scaling factor is greater than zero and less than or equal to one, the selection of the scaling factor is related to a preset threshold range in which the maximum value of the detection signals generated by the infrared wall sensor 60 during the rotation of the self-moving robot is located, and the larger the upper limit value of the maximum value of the detection signals of the infrared wall sensor 60 during the rotation of the self-moving robot is, the smaller the selected corresponding scaling factor is. The embodiment is exemplified by cleaning along a wall from a mobile robot, and the same method can be applied to cleaning along an obstacle. In the working environment of the self-moving robot, the colors of the wall surfaces are different, and the reflected signals received by the corresponding infrared wall-following sensors 60 are different.
As shown in fig. 2, a curve 1, a curve 2, and a curve 3 in fig. 2 are curves simulated based on a plurality of detection signals generated from the mobile robot during rotation of the reflection surfaces of different colors. The curves 1, 2 and 3 represent the colors of the reflecting surfaces from light to dark, for example: curve 1 indicates that the reflective surface is white, curve 2 indicates that the reflective surface is grey, and curve 3 indicates that the reflective surface is black. After the self-moving robot collides with the obstacle, in the process that the distance between the self-moving robot and the obstacle is increased, the signal received by the infrared wall sensor 60 is increased and then decreased, and the reflected signal has a maximum value. The darker the color of the reflecting surface, the smaller the maximum value of the reflected signal, and the more gradually the reflected signal changes near the maximum value. D1 and D2 indicate that the minimum distance between the self-moving robot and the obstacle is D1 and the maximum distance is D2 after the self-moving robot enters the edgewise mode. D1 may be zero at minimum, i.e. clean against an obstacle from the mobile robot, and D2 is related to the length of the second cleaning member 40 extending beyond the outer edge of the robot body 10, and not more than the length of the second cleaning member 40 extending beyond the outer edge of the robot body 10, so that the position of the edge of the obstacle can be cleaned effectively after the mobile robot enters the edgewise mode.
As shown in fig. 3, the infrared wall sensor 60 generates a detection signal having a different trend at the maximum value during the self-moving robot performs a preset action due to the color of the reflective surface, so that the self-moving robot can walk along the side between the distances D1 to D2 from the obstacle after entering the edge mode. The self-moving robot is further provided with a plurality of threshold ranges, and the controller 50 selects a corresponding proportionality coefficient according to the threshold range in which the maximum value of the detection signal of the infrared wall sensor 60 during the rotation of the self-moving robot is located. In this embodiment, three threshold ranges are preset in the self-moving robot, which are 0 to A, A to B and B to C, and A, B and C represent different thresholds, respectively, where the threshold C is greater than the threshold B, the threshold B is greater than the threshold a and smaller than the threshold C, and the threshold a is greater than zero and smaller than the threshold B. As follows:
| preset threshold range | Upper limit value | Preset |
| 0 to A | A | Y1 |
| A to B | B | Y2 |
| B to C | C | Y3 |
A first threshold range 0 to a, wherein 0 represents a lower limit value of the threshold range, a represents an upper limit value of the threshold range, and a preset proportionality coefficient corresponding to the threshold range 0 to a is Y1;
a second threshold range a to B, where a represents a lower limit of the threshold range, B represents an upper limit of the threshold range, and the predetermined proportionality coefficient corresponding to the threshold range a to B is Y2;
and a third threshold range B to C, wherein B represents a lower limit value of the threshold range, C represents an upper limit value of the threshold range, and the preset proportionality coefficient corresponding to the threshold range B to C is Y3.
Y3 is greater than zero and less than Y2, Y2 is greater than Y3 and less than Y1, and Y1 is greater than Y2 and less than 1.
In other embodiments, the threshold range may be set to be plural, so that the determined preset scaling factor is more accurate.
After the self-moving robot collides with the obstacle, in the process that the distance between the self-moving robot and the obstacle is increased, the signal received by the infrared wall sensor 60 is increased and then decreased, and the reflected signal has a maximum value. The darker the color of the reflecting surface, the smaller the maximum value of the reflected signal, and the more gradually the reflected signal changes near the maximum value. In this embodiment, curve 1 indicates that the reflective surface is white, curve 2 indicates that the reflective surface is gray, curve 3 indicates that the reflective surface is black, and three threshold ranges are preset in the mobile robot, so the updated threshold values of the reflective surfaces represented by curves 1, 2, and 3 in this embodiment are as follows:
The curve 3 represents that the reflecting surface is white, the detection signal generated by the infrared along-the-wall sensor 60 during the self-moving robot performing the preset action changes rapidly at the maximum value X1, the maximum value X1 is within a third threshold range from B to C, the corresponding preset proportionality coefficient is Y3, and the updated edge threshold is an edge threshold range, namely, between Y3 times X1 and X1.
The curved shapes with white, gray, and black reflections and the selected preset scaling factor in this embodiment are only used as an example to illustrate the process of determining the edge threshold when the colors of the reflective surfaces are different from each other, and are not the relationship of the selected values in practical applications.
Referring to fig. 1, 2, 3 and 6, fig. 1 is a bottom view of a self-moving robot in an embodiment of the present invention, fig. 2 is a graph illustrating a relationship between a distance between the self-moving robot and an obstacle and a signal of an infrared wall sensor 60, fig. 3 is a diagram illustrating a corresponding relationship between a preset threshold range and a preset scaling factor, and fig. 6 is a flowchart illustrating a control flow after the self-moving robot performs a preset action in an embodiment of the present invention. After the self-moving robot enters the edgewise mode, in order to enable the distance between the self-moving robot and the obstacle during the edgewise mode to be between D1 and D2, the self-moving robot adjusts the distance relation between the self-moving robot and the obstacle according to the detection signal generated by the infrared along-wall sensor 60 during the edgewise mode after the self-moving robot performs the preset action and the updated edgewise threshold value. The specific self-moving robot executing step 131 adjusts the self-moving robot walking according to the relation between the detection signal generated by the infrared along-the-wall sensor 60 during the edge mode after the self-moving robot executes the preset action and the updated edge threshold.
If the detection signal generated during the edgewise mode after the self-moving robot performs the preset action is greater than the updated edgewise threshold, i.e., the controller 50 detects that the distance from the self-moving robot to the obstacle is less than D1, the controller 50 controls the self-moving robot to deflect to the side away from the infrared along-the-wall sensor 60, i.e., controls the self-moving robot to move away from the obstacle, so as to increase the distance between the self-moving robot and the obstacle such that the distance between the self-moving robot and the obstacle is between D1 and D2.
If the detection signal generated during the edgewise mode after the self-moving robot performs the preset action is less than the updated edgewise threshold, i.e., the controller 50 detects that the distance from the self-moving robot to the obstacle is greater than D2, the controller 50 controls the self-moving robot to deflect to the side close to the infrared along-the-wall sensor 60, i.e., controls the self-moving robot to approach the obstacle, so as to reduce the distance between the self-moving robot and the obstacle such that the distance between the self-moving robot and the obstacle is between D1 and D2.
The controller 50 controls the self-moving robot to deflect to a side closer to or farther from the infrared along-the-wall sensor 60 by controlling the speed of the drive module 20 to deflect the self-moving robot, for example: the self-moving robot is controlled to deflect to one side close to the infrared wall sensor 60, and then the driving module 20 close to one side of the infrared wall sensor 60 is controlled to reduce the speed or increase the speed of the driving module 20 at the other side, so that the self-moving robot is deflected by combining the flexible steering characteristic of the omnidirectional wheel 21. Correspondingly, when the mobile robot deflects to the side far away from the infrared wall sensor 60, the driving module 20 close to the infrared wall sensor 60 is controlled to increase the speed or decrease the speed of the driving module 20 at the other side, and the mobile robot is deflected by combining the flexible steering characteristic of the omnidirectional wheel 21.
In other embodiments of the present invention, the self-moving robot may further include a fan assembly and a storage box, and after the self-moving robot enters the edgewise mode, the power of the second cleaning assembly 40 may be increased, the power of the fan assembly may be increased, and the speed of the driving module 20 may be reduced, so that the edge position may be effectively cleaned. Or the self-moving robot is not provided with the second cleaning component 40, the edge position of the self-moving robot is provided with the telescopic suction pipe, and after the self-moving robot enters the edge mode, the suction pipe extends out to adsorb dust, debris and the like at the edge position.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above embodiments do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the above-described embodiments should be included in the protection scope of the technical solution.
Claims (6)
1. A self-moving robot, comprising:
a robot main body;
the driving module is connected with the robot main body and is configured to drive the self-moving robot to move on a surface to be cleaned;
a collision sensor mounted to the robot body, the collision sensor configured to sense collision information of the self-moving robot with an obstacle;
an infrared wall sensor mounted to the robot main body, the infrared wall sensor configured to emit infrared light toward a periphery of the robot main body and generate a detection signal in response to the infrared light reflected via an obstacle, the detection signal being used to characterize a distance relationship between the self-moving robot and the obstacle; and
a controller mounted to the robot main body, the controller configured to:
controlling the driving module in response to the collision information to drive the self-moving robot to execute a preset action;
updating an edge threshold according to a detection signal generated by the infrared edge wall sensor during the self-moving robot executing a preset action;
the self-moving robot enters an edge mode after updating the edge threshold value, and the distance relation between the self-moving robot and the obstacle is adjusted according to a detection signal generated by the infrared edge wall sensor in the edge mode after the self-moving robot executes a preset action and the updated edge threshold value;
wherein updating the edgewise threshold according to a detection signal generated by the infrared edgewise sensor during execution of a preset action by the self-moving robot comprises:
controlling the self-moving robot to rotate;
determining a maximum value of the detection signals according to a plurality of detection signals generated by the infrared wall sensor during the rotation of the self-moving robot;
selecting a proportionality coefficient, wherein the value of the preset proportionality coefficient is greater than zero and less than or equal to one;
and determining the product of the selected proportionality coefficient and the maximum value of the detection signal generated by the infrared wall sensor during the rotation of the self-moving robot as the edge threshold value of the self-moving robot.
2. The self-moving robot as claimed in claim 1, wherein the self-moving robot is further provided with a plurality of threshold ranges, and the controller selects the corresponding scaling factor according to the threshold range in which the maximum value of the detection signal of the infrared wall sensor during the rotation of the self-moving robot is located.
3. The self-moving robot according to claim 2, wherein the larger the upper limit value of the maximum value of the detection signal of the infrared wall sensor during rotation of the self-moving robot, the smaller the corresponding scale factor is selected.
4. The self-moving robot according to claim 1, wherein if the detection signal generated by the infrared edge wall sensor during the edge mode after the self-moving robot performs the preset action is greater than the updated edge threshold, the self-moving robot is controlled to deflect to a side away from the infrared edge wall sensor so as to increase a distance between the self-moving robot and an obstacle.
5. The self-moving robot according to claim 1, wherein if the detection signal generated by the infrared edge wall sensor during the edge mode after the self-moving robot performs the preset action is smaller than the updated edge threshold, the self-moving robot is controlled to deflect to a side close to the infrared edge wall sensor so as to reduce a distance between the self-moving robot and an obstacle.
6. The self-moving robot as claimed in claim 1, wherein at least one infrared wall sensor is provided on the left or right side of the robot main body;
if the infrared wall-following sensor is arranged on the left side of the robot main body, the controller controls the self-moving robot to rotate rightwards when the collision sensor is triggered;
if the infrared wall-following sensor is arranged on the right side of the robot main body, when the collision sensor is triggered, the controller controls the self-moving robot to rotate leftwards.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109683622B (en) * | 2019-02-22 | 2022-03-15 | 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 |
| CN113440049B (en) * | 2020-03-25 | 2023-06-09 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| 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 |
| CN112051844B (en) * | 2020-08-17 | 2023-08-04 | 尚科宁家(中国)科技有限公司 | Self-moving robot and control method thereof |
| CN112386177A (en) * | 2020-11-04 | 2021-02-23 | 深圳市云视机器人有限公司 | Cleaning device motion control method, storage medium and cleaning device |
| CN114794976A (en) * | 2021-01-29 | 2022-07-29 | 尚科宁家(中国)科技有限公司 | Cleaning robot and wall following method thereof |
| CN114983293A (en) * | 2022-06-30 | 2022-09-02 | 深圳银星智能集团股份有限公司 | Self-moving robot |
| 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 |
| CN116117839B (en) * | 2023-04-13 | 2023-07-07 | 广东美的制冷设备有限公司 | Mobile robot and safety control system thereof |
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| CN102038470B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Automatic-moving ground treatment robot and ground-abutting treatment control method thereof |
| CN102039595B (en) * | 2009-10-09 | 2013-02-27 | 泰怡凯电器(苏州)有限公司 | Self-moving ground handling robot and facing ground handling control method thereof |
| US9278690B2 (en) * | 2013-12-18 | 2016-03-08 | Irobot Corporation | Autonomous mobile robot |
| CN104757911B (en) * | 2014-11-26 | 2018-02-06 | 深圳市银星智能科技股份有限公司 | The cleaning method and Intelligent robot for sweeping floor of Intelligent robot for sweeping floor |
| CN106272420B (en) * | 2016-08-30 | 2019-07-02 | 北京小米移动软件有限公司 | Robot and robot control method |
| CN107045352A (en) * | 2017-05-31 | 2017-08-15 | 珠海市微半导体有限公司 | Based on how infrared robot obstacle-avoiding device, its control method and Robot side control method |
| CN107581976B (en) * | 2017-09-20 | 2022-09-23 | 追觅创新科技(苏州)有限公司 | Cleaning method and device and cleaning robot |
| CN108303989B (en) * | 2018-01-17 | 2018-09-14 | 上海思岚科技有限公司 | A kind of method and apparatus moved along wall for mobile robot |
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