CN109758038A - Clean robot and its control method - Google Patents
Clean robot and its control method Download PDFInfo
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- CN109758038A CN109758038A CN201810390359.2A CN201810390359A CN109758038A CN 109758038 A CN109758038 A CN 109758038A CN 201810390359 A CN201810390359 A CN 201810390359A CN 109758038 A CN109758038 A CN 109758038A
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- 238000000034 method Methods 0.000 title claims description 24
- 238000001514 detection method Methods 0.000 claims abstract description 193
- 238000004140 cleaning Methods 0.000 claims abstract description 163
- 230000004888 barrier function Effects 0.000 claims abstract description 129
- 238000012360 testing method Methods 0.000 claims description 15
- 240000004371 Panax ginseng Species 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 11
- 230000004044 response Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 18
- 238000010586 diagram Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 10
- 239000012491 analyte Substances 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 241001269238 Data Species 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000012372 quality testing Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 240000005373 Panax quinquefolius Species 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
-
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
Clean robot includes: including walking unit, control unit, cleaner unit, display unit, voice unit, collision detection unit, it is characterized by: detection of obstacles unit of the clean robot at least provided with a position data for detecting the barrier in cleaning region, detection of obstacles unit is installed on the top on front side of clean robot and connect with control unit, detection of obstacles unit includes over top the second detection module that whether there are obstacles for detecting the front of the clean robot first detection module that whether there are obstacles and for detecting clean robot.The present invention program solves the problems, such as the front side that existing clean robot can not detect simultaneously clean robot and over top, and whether there are obstacles, and charging can not independently be recharged and cause user that can not timely and accurately find clean robot by solving the problems, such as that existing clean robot is easy to appear to rest in the lower area of space of indoor section.
Description
Technical field
The present invention relates to smart home fields, are related to a kind of clean robot, and in particular to arrive a kind of clean robot
And its control method.
Background technique
With popularizing for intellectual product, more and more people replace manually cleaning using clean robot indoor clear
Clean, existing clean robot is mainly divided to two kinds, a kind of to realize other side by the way that gyroscope is arranged in the inside of clean robot
To judgement, and clean robot is guided to advance in the proper direction, by the way that collision inspection is arranged in the front side of clean robot
Unit is surveyed to realize the detection to barrier, avoiding obstacles are walked to carry out indoor cleaning task；Another kind is by cleaning
Laser navigation module is arranged to realize the detection to indoor barrier and construct indoor map, to guide in the top of robot
Clean robot advances in the right direction and avoiding obstacles walking is to carry out indoor cleaning task.
Existing clean robot can only detect the barrier of indoor horizontal direction, can not detect the top of clean robot
Whether there are obstacles above portion, during detecting barrier mainly by collision detection unit or laser navigation module come
It realizes to being detection to the barrier on indoor horizontal direction；When clean robot encounters lower area of space, such as bed
Bottom, the bottom of sofa, tables and chairs the regions such as bottom when, clean robot is easy to appear the problem of blocking or breaking；Existing market
Upper part clean robot can construct map, but the map constructed is only able to display water outlet square upward barrier, can not visit
The correspondence map that whether there are obstacles on vertical direction is surveyed and constructs, clean robot is easy during execution is clean
The problem of appearance is collided or is blocked.
Existing clean robot can not detect the top of clean robot, and whether there are obstacles, corresponding can not generate
Taboo sweeps region, as prevents clean robot entering part cleaning region and executes clean up task, also can not be to not needing often to beat
Region is cleaned to set corresponding cleaning mode in the part disturbed, and such as regular cleaning mode or deep clean mode or restricted area are clear
Clean mode etc.；Such as: indoor bed bottom or the bottom of sofa do not need frequent clean region usually, only need to periodically clean i.e.
Can or user specify clean robot at a time to enter sofa or the bottom at bed bottom is cleaned, existing clean robot
It can not accurately identify the barrier on indoor vertical direction, corresponding can not generate including the barrier on vertical direction
Related local map, also can not corresponding setting is related limits clean mode, lead to that poor user experience, cleaning effect are poor, cover
Lid rate is low.
Existing clean robot exception short of electricity situation is more, and clean robot can rest on the indiscoverable interior space and lead
Family of applying is difficult to find that；Such as the lower area of space such as bed bottom or the bottom of sofa；When clean robot low battery
It waits, clean robot enters the bottom of a bottom or sofa, causes clean robot difficult because of the environment of its bottom space complexity
Timely to exit the region, what clean robot can not be autonomous at this time recharges charging, and the electricity of clean robot is caused to exhaust
The bottom of a bottom or sofa is rested on afterwards, and user is difficult to accurately find clean robot at this time, and user experience effect is poor.
Summary of the invention
The present invention is directed to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.
For this purpose, the purpose of the present invention is to provide a kind of clean robot and its control methods, existing cleaning is mainly solved
Robot can not detect the problem of whether there are obstacles on vertical direction in cleaning region, can not as detect clean robot
Over top the problem of whether there are obstacles；The front side of clean robot can not be detected simultaneously by solving existing clean robot
The problem of whether there are obstacles with over top；Solving existing clean robot can not be corresponding to part cleaning region setting
Deep clean mode or taboo the problem of sweeping the specific cleaning modes such as cleaning mode, solve existing clean robot and are easy to appear to stop
It stays within the problem of can not independently recharging charging in the lower area of space in part and user can not timely and accurately find clearly
Clean robot is in the problem of indoor where.
Embodiments of the present invention provide clean robot include: including walking unit, control unit, cleaner unit,
Display unit, voice unit, collision detection unit, it is characterised in that: clean robot is clear for detecting at least provided with one
The detection of obstacles unit of the position data of barrier in clean region, detection of obstacles unit are installed on front side of clean robot
Top and connect with control unit, detection of obstacles unit includes for detecting the front of clean robot with the presence or absence of obstacle
The first detection module of object and over top the second detection module that whether there are obstacles for detecting clean robot.
First detection module includes the first emission part of emission level detection signal and receives the water that the first emission part issues
First receiving unit of flat detection signal；When the first receiving unit receives horizontal detection signal, control unit determines cleaning at this time
There are barriers in front of robot；Second detection module includes the second emission part and the reception second for emitting vertical detection signal
Second receiving unit of the vertical detection signal that emission part issues；When the second receiving unit receives vertical detection signal, this time control
There are barriers for the over top of unit judgement clean robot processed.
Clean robot above-mentioned, the display unit and control unit are wirelessly connected, and display unit is that cell phone application is shown
End, cell phone application display end are used to show cleaning mode, clean conditions, cleaning progress, the map of building, behaviour of clean robot
It instructs；First detection module and the second detection module are that infrared sensor or ultrasonic sensor are one such.
The control method of clean robot, it is characterised in that: including clean robot as claimed in claim 2, cleaning
The robot position of label clean robot and the position of barrier and corresponding generation room during cleaning region expert and walking
Interior map, detection of obstacles unit are used to detect the position data of the barrier in cleaning region；Position data includes at least water
The position data of barrier in the position data and vertical direction of square upward barrier, detection of obstacles unit will test
To position data be transmitted to control unit, position data is wirelessly transmitted to display unit and marked indoors by control unit
In figure.
The control method of clean robot above-mentioned, second detection module are sent out during clean robot is walked
Vertical detection signal is penetrated to synchronize the barrier of detection clean robot over top, and is completed to vertical direction in cleaning region
On barrier detection；When detection of obstacles unit detects in cleaning region on vertical direction there are when barrier, at this time
The position data that detection of obstacles unit will test is transmitted to control unit, and position data is transferred to display list by control unit
Member simultaneously generates the area Jin Sao indoors in map, the quantity in the area Jin Sao is one or more.
The control method of clean robot above-mentioned, the taboo that described control unit is correspondingly arranged the response area Jin Sao clear away clean mould
Formula, display unit are correspondingly arranged on the interface that cleaning mode is swept including prohibiting, and user can directly select operational order to specify cleaning
Robot execution taboo is swept cleaning mode and is cleaned to the cleaning region other than the area indoor map Zhong Jinsao.
The control method of clean robot above-mentioned, second detection module come during clean robot is walked
The barrier of the over top of synchronous detection clean robot, and complete the inspection to the barrier in cleaning region on vertical direction
It surveys；When detection of obstacles unit detects in cleaning region on vertical direction there are barrier and there are the times of barrier to be more than
When preset value, the position data that detection of obstacles unit will test at this time is transmitted to control unit, and control unit is by positional number
Indoor short area is generated according to being transferred in display unit and indoors map, the quantity in the area Jin Sao is one or more.
The control method of clean robot above-mentioned, the depth that described control unit is correspondingly arranged the indoor short area of response are clear
Clean mode, display unit are correspondingly arranged on the interface including deep clean mode, and user's selectively actuatable instructs to specify cleaning
Robot executes deep clean mode and carries out deep clean to the cleaning region in indoor short area.
The control method of clean robot above-mentioned, the cleaning region that indoor short area is run to when clean robot
And when executing deep clean mode, voice unit prompts user's clean robot that will execute deep clean mould by voice broadcast
Formula；When the electricity of clean robot is lower than preset threshold value, clean robot does not execute deep clean mode or cleaning
Robot automatically exits from deep clean mode.
The control method of clean robot above-mentioned, the first detection module are sent out during clean robot is walked
Jetting is flat to detect signal to synchronize the barrier in the front of detection clean robot, and completion is in horizontal direction in cleaning region
Barrier detection；When detection of obstacles unit detects in horizontal direction there are when barrier, detection of obstacles list at this time
The position data that member will test is transmitted to control unit, and position data is transferred to display unit and indoors by control unit
Label is discharged flat barrier area in figure.
The control method of clean robot above-mentioned, described control unit are provided with the planning cleaning mould of response indoor map
Formula, display unit are correspondingly arranged on the interface of planning cleaning mode, and user can directly specify clean robot Execution plan to clean
Mode realizes that the cleaning region to indoor map is cleaned；Clean robot is kept away during Execution plan cleaning mode
The flat barrier area walking of boiled water；When clean robot runs to the edge in the short area in edge or interior in the area Jin Sao, touch at this time
Detection unit is hit not by barrier triggering and first detection module is not detected barrier, voice unit can by voice broadcast come
Prompt user's clean robot that can accordingly choose whether to open to prohibit and clear away normal through the area Jin Sao or indoor short area, user
Clean mode or deep clean mode.
Compared with prior art, the invention has the following beneficial effects:
The present invention program realizes the detection of the position to indoor barrier by placing obstacles analyte detection unit, cleaning
Robot marks the position of clean robot and the position of barrier and corresponding generation indoor map during walking, mainly
First detection module is set to detect the barrier in the front of clean robot and the second detection module of setting to detect and clean
The barrier of the over top of robot solves what existing clean robot can not detect over top whether there are obstacles
Problem, and solve front side and over top that existing clean robot can not detect clean robot simultaneously with the presence or absence of obstacle
The problem of object.
The present invention program detects the barrier of clean robot over top by the second detection module of setting, the second detection module
Hinder and generate the area Jin Sao in object and corresponding map indoors, and sweeps cleaning mode by being arranged to prohibit come to the area indoor map Zhong Jinsao
Cleaning region in addition is cleaned, and can be limited clean robot and be entered in the area Jin Sao, is solved existing clean robot and is held
Charging can not independently be recharged user is caused not look for timely and accurately by easily occurring resting in the lower area of space of indoor section
The problem of to clean robot.
The present invention program detects the barrier of clean robot over top by the second detection module of setting, the second detection module
Indoor short area is generated when the time existing for object being hindered to be more than preset value and in corresponding map indoors, and by the way that indoor depth is arranged
Cleaning mode to carry out deep clean to indoor short area, solves the clear area that existing clean robot can not be short to part
Domain carries out specified clean up task to reach better cleaning effect.
The present invention program detects the front of clean robot and the barrier of over top by placing obstacles analyte detection unit
Hinder object, can correspond to and generate a variety of cleaning modes, user may be selected corresponding cleaning mode to carry out indoor cleaning, improve user
Experience effect, and prevented clean robot abnormal conditions occur, use more secure and reliable.
Voice unit is arranged in the present invention program, and the edge in the area Jin Sao or the side in indoor short area are run to when clean robot
When edge, voice unit can broadcast state and the progress of current clean robot by voice to remind user, Yong Huke in time
Corresponding cleaning mode is specified according to current demand in time, improves the experience effect of user, and improve clean robot
To indoor cleaning efficiency.
Detailed description of the invention
Fig. 1 is the perspective view of the clean robot of the present invention program；
Fig. 2 is that the detection of obstacles unit of the present invention program detects the schematic diagram of barrier；
Fig. 3 is the schematic diagram of the clean robot of the present invention program；
Fig. 4 is the partial enlargement diagram in Fig. 3 of the present invention program at A；
Fig. 5 is that the detection of obstacles unit of the present invention program detects the schematic diagram of barrier above clean robot；
Fig. 6 is that the detection of obstacles unit of the present invention program detects the schematic diagram of clean robot front obstacle；
Fig. 7 is the detecting state signal of clean robot detection of obstacles unit at desk bottom of the present invention program
Figure；
Fig. 8 is schematic diagram of the horizontal obstacle object area of the present invention program in the area Jin Sao；
Fig. 9 is the horizontal obstacle object area schematic diagram in short area indoors of the present invention program；
Figure 10 is the horizontal obstacle object area, the area Jin Sao, the indoor short partly overlapping schematic diagram in area of the present invention program；
Figure 11 is that the taboo of the present invention program sweeps the cleaning schematic diagram of cleaning mode；
Figure 12 is the cleaning schematic diagram of the deep clean mode of the present invention program.
Appended drawing reference: 1- clean robot, 2- detection of obstacles unit, 201- first detection module, 2011- first emit
Portion, the first receiving unit of 2012-, the second detection module of 202-, the second emission part of 2021-, 2,022 second receiving units, the area M- Jin Sao,
Short area in the room N-, K- horizontal obstacle object area, D- desk.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
Embodiment: clean robot 1 of the invention, as shown in Fig. 1 to Figure 12 composition, comprising: including walking unit, control
Unit, cleaner unit, display unit, voice unit, collision detection unit, clean robot 1 is at least provided with one for examining
The detection of obstacles unit 2 of the position data of the barrier in cleaning region is surveyed, detection of obstacles unit 2 is installed on cleaning machine
The top of 1 front side of people is simultaneously connect with control unit, and detection of obstacles unit 2 includes that the front for detecting clean robot 1 is
Whether there are obstacles for the no over top there are the first detection module 201 of barrier and for detecting clean robot 1
Second detection module 202.
First detection module 201 includes the first emission part 2011 of emission level detection signal and receives the first emission part
First receiving unit 2012 of the 2011 horizontal detection signals issued；When the first receiving unit 2012 receives horizontal detection signal,
There are barriers in the front of the clean robot 1 of control unit judgement at this time；Second detection module 202 includes the vertical detection letter of transmitting
Number the second emission part 2021 and receive the second receiving unit 2022 of the vertical detection signal that the second emission part 2021 issues；When
When two receiving units 2022 receive vertical detection signal, control unit determines that the over top of clean robot 1 has barrier at this time
Hinder object.
The display unit and control unit are wirelessly connected, and display unit is cell phone application display end, cell phone application display end
For showing cleaning mode, clean conditions, cleaning progress, the map of building, operational order of clean robot 1；First detection
Module 201 and the second detection module 202 are that infrared sensor or ultrasonic sensor are one such.
The control method of clean robot, including clean robot as claimed in claim 21, clean robot 1 is clear
The position of clean robot 1 and the position of barrier and corresponding generation indoor map, barrier are marked during walking in clean region
Hinder analyte detection unit 2 for detecting the position data of the barrier in cleaning region；Position data includes at least in horizontal direction
Barrier position data and vertical direction on barrier position data, the position that detection of obstacles unit 2 will test
It sets data and is transmitted to control unit, position data is wirelessly transmitted to display unit and marked in map indoors by control unit.
The vertical detection signal of second detection module 202 transmitting during clean robot 1 is walked is examined to synchronize
The barrier of 1 over top of clean robot is surveyed, and completes the detection to the barrier in cleaning region on vertical direction；Work as barrier
Analyte detection unit 2 is hindered to detect in cleaning region on vertical direction that detection of obstacles unit 2 will test at this time there are when barrier
To position data be transmitted to control unit, position data is transferred in display unit and indoors map and generates by control unit
The quantity of the area Jin Sao M, Jin Sao area M is one or more.
The taboo that described control unit is correspondingly arranged the response area Jin Sao M sweeps cleaning mode, display unit be correspondingly arranged on including
Prohibit the interface for sweeping cleaning mode, user can directly select operational order to specify clean robot 1 to execute to prohibit and sweep cleaning mode pair
It is cleaned in cleaning region other than indoor map Zhong Jinsao area M.
Second detection module 202 synchronizes the top of detection clean robot 1 during clean robot 1 is walked
Barrier above portion, and complete the detection to the barrier in cleaning region on vertical direction；When detection of obstacles unit 2 is examined
It measures in cleaning region on vertical direction there are barrier and when being more than preset value there are the time of barrier, at this time obstacle quality testing
Survey the position data that will test of unit 2 and be transmitted to control unit, control unit by position data be transferred to display unit and
Indoor short area N is generated in indoor map, the quantity of indoor short area N is one or more.
Described control unit is correspondingly arranged the deep clean mode of the indoor short area N of response, and display unit is correspondingly arranged on
Interface including deep clean mode, user's selectively actuatable instruct that clean robot 1 is specified to execute deep clean mode pair
The cleaning region of indoor short area N carries out deep clean.
It is described when clean robot 1 runs to the cleaning region of indoor short area N and executes deep clean mode, voice
Unit prompts user's clean robot 1 that will execute deep clean mode by voice broadcast；When the electricity of clean robot 1 is low
When preset threshold value, clean robot 1 does not execute deep clean mode or clean robot 1 automatically exits from deep clean
Mode.
The first detection module 201 emission level detection signal during clean robot 1 is walked is examined to synchronize
The barrier in the front of clean robot 1 is surveyed, and completes the detection to the barrier in cleaning region in horizontal direction；Work as obstacle
Analyte detection unit 2 detects that there are the position datas that when barrier, detection of obstacles unit 2 be will test at this time in horizontal direction
It is transmitted to control unit, position data is transferred to label in display unit and indoors map and is discharged flat barrier by control unit
Area K.
Described control unit is provided with the planning cleaning mode of response indoor map, and it is clear that display unit is correspondingly arranged on planning
The interface of clean mode, user can directly specify 1 Execution plan cleaning mode of clean robot to realize the cleaning to indoor map
It is cleaned in region；Clean robot 1 avoids horizontal obstacle object area K walking during Execution plan cleaning mode；When clear
Clean robot 1 run to the area Jin Sao M edge or indoor short area N edge when, collision detection unit is not by barrier at this time
Barrier is not detected in triggering and first detection module 201, and voice unit can prompt user to clean machine by voice broadcast
People 1 can accordingly choose whether to open to prohibit normal through the area Jin Sao M or indoor short area N, user sweeps cleaning mode or depth
Cleaning mode.
Clean robot 1 includes walking unit, control unit, cleaner unit, display unit, voice unit, collision detection
Unit, detection of obstacles unit 2, the bottom that clean robot 1 is arranged in walking unit are used for the mobile row of clean robot 1
It walks, the middle position that the bottom of clean robot 1 is arranged in cleaner unit absorbs dust or particulate matter, collision detection for cleaning
The barrier in the front end face of clean robot 1 for 1 front side of collision detection clean robot, voice unit is arranged in unit
The instructions such as state of the rear side for voice broadcast clean robot 1, the execution order of clean robot 1, display unit are set
It is used to show cleaning mode, clean conditions, cleaning progress, the map of building, behaviour of clean robot 1 for cell phone application display end
The information such as instruct, control unit controls walking, dust suction, voice broadcast, display information of clean robot 1 etc..
The present invention program places obstacles analyte detection unit 2, and detection of obstacles unit 2 is for before detecting clean robot 1
The barrier of side and over top, and it is gradually completing the obstacle to barrier and vertical direction in cleaning region in horizontal direction
The detection of object, and record the Obstacle Position data that detect, is transferred to display unit for position data to generate indoor map,
I.e. detection of obstacles unit 2 is used to detect the position of barrier and constructs map, and then according to the region internal labeling of indoor map
Barrier come to the walking of the navigation avoidance of clean robot 1；Detection of obstacles unit 2 predominantly detects level side in cleaning region
The barrier of upward barrier and vertical direction, it is each different by being marked in the detection to barrier indoors map
Region is to guide the walking of clean robot 1 to carry out clean up task.
Whether there are obstacles in front of the first detection module 201 of the present invention program for detecting clean robot 1, the
One detection module 201 is located at the top of the front side of clean robot 1, and clean robot 1 is during walking, the first detection mould
Detecting to 201 timing synchronization of block the front of clean robot 1, whether there are obstacles, to guide clean robot 1 to avoid front
Barrier walking；Clean robot 1 passes through before turning to, turn around etc. and constantly adjusting clean robot 1 during walking
The detection that the barrier to the front in 1 direction of advance of clean robot is completed into direction is further completed to indoor clear
The detection of all barriers in horizontal direction in clean region, be correspondingly formed horizontal obstacle object area K and indoors in map into
Line flag；It can be according to the water in indoor map when carrying out indoor cleaning within next time or later time so as to clean robot 1
Flat barrier area K carries out avoidance walking, prevents the collision of clean robot 1 Yu barrier.
The first emission part 2011, the first receiving unit 2012 is arranged in first detection module 201, and the first emission part 2011 is mainly used
In the horizontal detection signal on emission level direction, level detection signal to whether there is obstacle in detecting chamber in horizontal direction
Object, when, there are when barrier, level detection signal changes direction due to the blocking by barrier, horizontal on indoor horizontal direction
Detection signal is obscured by an obstacle and reflects or direction that bounce back is opposite makes the first receiving unit 2012 can receive horizontal inspection
Signal is surveyed, control unit determines that there are the position datas of barrier and barrier in indoor horizontal direction in turn；Optionally, may be used
Multiple first detection modules 201 are set at the top in the front of clean robot 1, including multiple first emission parts 2011 and multiple
First receiving unit 2012, the first emission part 2011 and the first receiving unit 2012 of single first detection module 201 are correspondingly arranged.
The second detection module 202 of the present invention program is used to detect the over top of clean robot 1 with the presence or absence of obstacle
Object, clean robot 1 constantly adjust the direction of travel of itself, the second detection module 202 in walking process during walking
Whether there are obstacles for the over top of timing synchronization detection clean robot 1, when the top for detecting clean robot 1 exists
When barrier, clean robot 1 is marked according to the concrete condition of the barrier detected；Optionally, clean robot 1 exists
The a certain moment detects the over top of clean robot 1, and there are barriers, and the zone marker that clean robot 1 will test is simultaneously
The area Jin Sao M is generated, interior there can be the multiple area Jin Sao M, 1 need of clean robot multiple and different regions in map indoors
It marks and generates the area Jin Sao M.
The second emission part 2021, the second receiving unit 2022 is arranged in second detection module 202, and the second emission part 2021 is mainly used
Vertical detection signal on transmitting vertical direction, the vertical direction of the launch for detecting signal are the top at 1 top of clean robot
Region, the vertical signal that detects comes in detecting chamber that whether there are obstacles on vertical direction, when there are obstacles on indoor vertical direction
When object, it is vertical detect signal and change direction due to the blocking by barrier and to detect signal vertically reflected or bounce back court
The downwardly direction on vertical direction, the second receiving unit 2022 can receive vertical detection signal, control unit and then determining room
There are the position datas of barrier and barrier on interior vertical direction；It optionally, can be at the top in the front of clean robot 1
Multiple second detection modules 202, including multiple second emission parts 2021 and multiple second receiving units 2022, single second inspection are set
The second emission part 2021 for surveying module 202 is correspondingly arranged with the second receiving unit 2022.
The short area N in interior in the second detection module 202 detection cleaning region of the present invention program, when clean robot 1
At a time being consecutively detected the over top of clean robot 1, there are the areas that when barrier, clean robot 1 be will test
Field mark simultaneously generates indoor short area N；Preferably, the second detection module 202 detects in cleaning region and exists on vertical direction
Barrier and there are the time of barrier be more than preset value, under the premise of clean robot 1 has not been changed direction of travel, preset value
For preset time value, preset time value is more than or equal to 3 seconds, then clean robot 1 marks the region and generates in map indoors
Indoor short area N；Preferably, the second detection module 202 of clean robot 1 detects in cleaning region and exists on vertical direction
Barrier and there are the time of barrier be more than preset value, clean robot 1 is at least in two or more different directions
Under the premise of upper continuous change direction walking, preset value is preset time value, and preset time value in a plurality of directions is greater than
Equal to 3 seconds, then clean robot 1 marked the region and generates indoor short area N in map indoors；Second detection module 202
Mainly for detection of indoor barrier and for realizing that clean robot 1 constructs indoor ground according to the position data detected
Figure, and mark the barrier on vertical direction to generate multiple independent cleaning regions to correspond in map indoors, to guide
Clean robot 1 walks or user is facilitated to specify clean robot 1 to execute the different cleaning mode of multizone.
The control method of the clean robot of the present invention program includes cleaning mode, cleaning mode have planning cleaning mode,
Taboo sweeps cleaning mode, deep clean mode, and planning cleaning mode is mainly common cleaning mode, mainly for indoor level
Region other than barrier area K is cleaned, and clean robot 1 plans that cleaning mode is silent in the not specified cleaning mode of user
The cleaning mode recognized is Execution plan cleaning mode after the unlatching of clean robot 1；Taboo sweeps cleaning mode mainly for indoor taboo
It sweeps the region other than area M to be cleaned, prevents clean robot 1 and enter in the region of the area Jin Sao M, in 1 row of clean robot
During walking while horizontal obstacle object area K walking is avoided, the cleaning efficiency of clean robot 1 can be improved, user can refer at any time
Determine the execution taboo of clean robot 1 and sweeps cleaning mode；Deep clean mode is carried out mainly for the region of the short area N in indoor interior
It cleans, indoor short area N can periodically be cleaned or cleaning in time, user can specify clean robot 1 to execute deep clean at any time
Mode；Realize that cleaning efficiency is higher to indoor cleaning by the way that different cleaning modes can be performed to different zones, clean body
It is more preferable to test effect.
The present invention program may specify that clean robot 1 carries out planning cleaning mode to room area, and clean robot 1 is first
During walking indoors, the detection to indoor barrier is completed under the detection of detection of obstacles unit 2 and generates room
Interior map includes at least horizontal obstacle object area K in indoor map, avoids level under 1 Execution plan cleaning mode of clean robot
Barrier area K walking cleaning, in user without especially setting outside restrictive condition, when clean robot 1 runs to the side of the area Jin Sao M
When the edge of edge or indoor short area N, collision detection unit is not triggered by barrier at this time and first detection module 201 does not detect
To barrier, clean robot 1, which is then defaulted, carries out indoor cleaning normal through indoor short area N Huo Jinsao area M, with to it is indoor more
It is cleaned in large-scale ground cleaning region.
The present invention program may specify that the short area N in 1 pair of interior of clean robot carries out deep clean mode, as shown in figure 12,
After clean robot 1 constructs indoor map, indoor map includes at least indoor short area N, and indoor short area N generally can be true
It is set to the bottom of indoor bed bottom, sofa bottom, the bottom of tables and chairs or other conventional furnitures, it can for indoor short area N user
Setting reservation executes deep clean mode or user during defined can specify cleaning in cell phone application client at any time
The short area N in 1 pair of interior of robot carries out clean up task；During clean robot 1 executes deep clean mode, work as cleaning
When 1 electricity of robot is lower than preset threshold value, preset threshold value is that 1 electricity of clean robot is lower than 20%, cleaning
Robot 1 automatically exits from deep clean mode, and the region that clean robot 1 runs to indoor spaciousness carries out independently recharging charging,
Ensure that clean robot 1 can normally recharge charging, preventing 1 electricity of clean robot from exhausting stop indoors can not in short area N
It independently recharges charging and is difficult to be found by user.
The present invention program may specify that clean robot 1 carries out taboo to the region other than the indoor area Jin Sao M and sweeps cleaning mode,
As shown in figure 11, after clean robot 1 constructs indoor map, indoor map includes at least the area Jin Sao M, and taboo sweeps cleaning mode limit
Clean robot 1 processed enters in the area Jin Sao M；The area Jin Sao M is mainly the barrier on indoor some vertical directions, also be can wrap
Indoor short area N is included, the as area Jin Sao M can be Chong Die with indoor short area's N section, as shown in figure 9, being primarily present indoor perpendicular
Histogram to and the fixed barrier of unbounded size region, realize the guidance to clean robot 1 by generating the area Jin Sao M
Walking promotes the cleaning efficiency of clean robot 1 to complete indoor walking cleaning faster.
When first detection module 201 and the second detection module 202 are detected simultaneously by barrier, 201 He of first detection module
The Obstacle Position data that detect of basis of second detection module 202 independently mark in map indoors and generate correspondence
Region, first detection module 201, which detects, simultaneously generates horizontal obstacle object area K, the detection of the second detection module 202 and the area Sheng Jinsao M
Or indoor short area N；It is this hair that the region that second detection module 202 detects, which can mark to sweep area M or indoor short area N,
Two kinds of detection effects that bright scheme may be implemented are correspondingly arranged taboo when being labeled as the area Jin Sao M and sweep cleaning mode, when labeled as room
Deep clean mode is correspondingly arranged when interior short area N；Such as: as shown in fig. 7, clean robot 1 is in the bottom space area of desk D
It walks in domain and detects table leg, when clean robot 1 runs to position near table leg, detection of obstacles unit 2 at this time
It is barrier in horizontal direction, clean robot that the bottom for being detected simultaneously by desk D, which is barrier, table leg on vertical direction,
The bottom of 1 correspondence markings desk D is indoor short area N Huo Jinsao area M, and correspondence markings table leg is horizontal obstacle object area K, two detections
Module detects non-interference independently of each other, and does not influence each other to the detection effect of the position data of barrier；As Fig. 7, Fig. 8,
Shown in Fig. 9, the region that the horizontal obstacle object area area K and Jin Sao M or indoor short area N are generated in the horizontal direction can part or complete
Portion's overlapping may include indoor short area N in the map Zhong Jinsao area M of same detection zone, not influence clean robot 1 and exist
Avoiding obstacles during walking.
The present invention program can prevent the exception that clean robot 1 independently recharges charging, and detection of obstacles unit 2 detects room
The area Nei Jinsao M and short area, the area Jin Sao M and indoor short area N can generally be determined as indoor bed bottom, sofa bottom, table
The bottom of chair or the bottom of other conventional furnitures；The area Jin Sao M or indoor short area N do not need frequent cleans, side of the present invention generally
Case can limit clean robot 1 and enter the area Jin Sao M or indoor short area N；The electricity that clean robot 1 can wherein be set is lower than
When 20%, clean robot 1 cannot execute deep clean mode or clean robot 1 automatically exits from deep clean mode,
Clean robot 1 is prevented at this time and has entered indoor short area in the case where low battery, it is ensured that cleaning machine
For people 1 in region spacious indoors in the case where low battery, robot 1 convenient for cleaning independently recharges charging, solves existing
Charging can not independently be recharged because of environment complexity in time by having clean robot 1 to be easy to appear in lower area of space indoors
Problem；When 1 electricity of clean robot is lower when and when clean robot 1 is in indoor short area N, cleaner at this time
Therefore device people 1 may cause electricity to exhaust to eventually settle in indoor short area N to walk out indoor short area N, at this time
Clean robot 1 independently recharges charging failure, and user can not find clean robot 1 is in indoor where, especially indoor
When short area N is the relatively very short area of space such as bed bottom or sofa bottom, user is difficult to find the current of clean robot 1
Position leads to user experience poor effect.
Voice unit is arranged in the present invention program, and voice unit is mainly used for carrying out voice broadcast to remind user to clean machine
The current position of people 1 or the current state of clean robot 1, the area that main users remind user's clean robot 1 to be presently in
Domain or will by region；The present invention program is provided with the area Jin Sao M, indoor short area N, horizontal obstacle object area K, and correspondence is set
It is equipped with taboo and sweeps cleaning mode, deep clean mode, planning cleaning mode；Optionally, when clean robot 1 run to it is indoor short
The cleaning region of area N and when executing deep clean mode, voice unit prompts user's clean robot 1 will by voice broadcast
Execute deep clean mode, and clean robot 1 can record this execute deep clean mode region and the time for user
It is checked in cell phone application；Optionally, when clean robot 1, which starts execution taboo, sweeps cleaning mode, voice unit passes through language
Sound casting sweeps cleaning mode to promote user's clean robot 1 for execution taboo, and clean robot 1 can record this execution taboo and sweep
The region of cleaning mode and time check in cell phone application for user；Optionally, mistake of the user in Execution plan cleaning mode
Cheng Zhong, when clean robot 1 run to the area Jin Sao M edge or indoor short area N edge when, collision detection unit is not at this time
By barrier triggering and barrier is not detected in first detection module 201, and voice unit can prompt user by voice broadcast
Clean robot 1 can accordingly choose whether to open to prohibit normal through the area Jin Sao M or indoor short area N, user clears away clean mould
Formula or deep clean mode.
Display unit is arranged in the present invention program, and display unit is mainly cell phone application display end, and cell phone application display end is used for
Show the cleaning mode, clean conditions, cleaning progress, the related interfaces of the map of building, operational order of clean robot 1；Clearly
Clean robot 1 can be wirelessly connected with display unit, and the coherent detection data of clean robot 1 are transferred to cell phone application display end,
User can check position and the state of current clean robot 1, can also check the previous cleaning course of clean robot 1, pass through
Comparison is checked to determine clean robot 1 currently with greater need for which kind of cleaning mode of execution；Such as: clean robot 1 just executed
Deep clean mode, user determine that indoor short area N does not need frequently to clean, and user can set in recent a period of time at this time
Clean robot 1 does not execute deep clean mode；Cell phone application display end is also used to the instruction of user's selection operation to specify cleaner
Device people 1 executes any cleaning mode；Cell phone application display end shows the indoor map that clean robot 1 is planned, shows indoor map
The area Zhong Jinsao M, indoor short area N, horizontal obstacle object area K, and show that taboo sweeps cleaning mode, deep clean mode, planning clearly
The interfaces such as clean mode to select for user；The interaction that cell phone application display end is mainly used between clean robot 1 and user interacts
And manipulation, facilitate the user directly to issue operational order to clean robot 1, the remote controlled clean robot 1 of user executes
Corresponding clean up task.
Working principle: the present invention program detects indoor barrier, obstacle quality testing by placing obstacles analyte detection unit 2
It surveys unit 2 and primarily serves detection barrier and the corresponding effect for generating indoor map, examined by setting first detection module 201
The barrier of indoor horizontal direction is surveyed, the second detection module 202 is set to detect the barrier of indoor vertical direction, and handle
The position data of the associated disorders object detected is transferred to control unit, and control unit is wireless the position data of associated disorders object
It is transferred to display unit and shows and generate corresponding indoor map, and according to first detection module 201 or the second detection module 202
The information detected corresponds to mark indoor barrier region, the main area You Jinsao M, indoor short area N, horizontal obstacle object area
K mainly has taboo to sweep cleaning mode, depth by corresponding to the corresponding cleaning mode of setting to being the label in indoor cleaning region
Cleaning module, planning cleaning mode promote the use of user to realize to the cleaning of the different cleaning mode of indoor different zones
Experience effect, the further cleaning efficiency for promoting clean robot 1, user can specify according to indoor cleaning demand at that time
Corresponding cleaning mode carries out clean up task.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention,
It is within the scope of the invention.
Claims (10)
1. clean robot, clean robot includes: including walking unit, control unit, cleaner unit, display unit, voice
Unit, collision detection unit, it is characterised in that:
Detection of obstacles of the clean robot at least provided with a position data for detecting the barrier in cleaning region
Unit, detection of obstacles unit are installed on the top on front side of clean robot and connect with control unit, detection of obstacles unit
Including the first detection module that whether there are obstacles of the front for detecting clean robot and for detecting clean robot
Over top the second detection module that whether there are obstacles；
First detection module includes the first emission part of emission level detection signal and the horizontal inspection for receiving the sending of the first emission part
Survey the first receiving unit of signal；When the first receiving unit receives horizontal detection signal, control unit determines cleaning machine at this time
There are barriers in front of people；
Second detection module includes emitting the second emission part of vertical detection signal and receiving the vertical inspection that the second emission part issues
Survey the second receiving unit of signal；When the second receiving unit receives vertical detection signal, control unit determines cleaning machine at this time
There are barriers for the over top of people.
2. clean robot according to claim 1, it is characterised in that: display unit and control unit are wirelessly connected, and are shown
Show that unit is cell phone application display end, cell phone application display end is used to show the cleaning mode, clean conditions, cleaning of clean robot
Progress, the map of building, operational order；
First detection module and the second detection module are that infrared sensor or ultrasonic sensor are one such.
3. the control method of clean robot, it is characterised in that: including clean robot as claimed in claim 2, cleaner
Device the people position of label clean robot and the position of barrier and corresponding generation interior during cleaning region expert and walking
Map, detection of obstacles unit are used to detect the position data of the barrier in cleaning region；
Position data includes at least the positional number of the barrier in the position data and vertical direction of the barrier in horizontal direction
According to the position data that detection of obstacles unit will test is transmitted to control unit, and position data is wirelessly transferred by control unit
To display unit and mark in map indoors.
4. the control method of clean robot according to claim 3, it is characterised in that: the second detection module is in cleaner
Emit vertical detection signal during device people walking to synchronize the barrier of detection clean robot over top, and completion pair
Clean the detection of the barrier in region on vertical direction；
When detection of obstacles unit detects in cleaning region on vertical direction there are when barrier, detection of obstacles unit at this time
The position data that will test is transmitted to control unit, and position data is transferred to display unit and indoors map by control unit
The middle area generation Jin Sao, the quantity in the area Jin Sao are one or more.
5. the control method of clean robot according to claim 4, it is characterised in that: control unit is correspondingly arranged response
The taboo in the area Jin Sao sweeps cleaning mode, and display unit is correspondingly arranged on the interface that cleaning mode is swept including prohibiting, and user can directly select
Operational order come specify clean robot execute prohibit sweep cleaning mode to the cleaning region other than the area indoor map Zhong Jinsao into
Row cleaning.
6. the control method of clean robot according to claim 3, it is characterised in that: the second detection module is in cleaner
The barrier of the over top of detection clean robot is synchronized during device people walking, and is completed to vertical in cleaning region
The detection of barrier on direction；
When detection of obstacles unit detect in cleaning region on vertical direction there are barrier and there are the time of barrier it is super
When crossing preset value, the position data that detection of obstacles unit will test at this time is transmitted to control unit, and control unit is by position
Data, which are transferred in display unit and indoors map, generates indoor short area, and the quantity in indoor short area is one or more.
7. the control method of clean robot according to claim 6, it is characterised in that: control unit is correspondingly arranged response
The deep clean mode in indoor short area, display unit are correspondingly arranged on the interface including deep clean mode, and user may be selected
Operational order carries out deep clean to the cleaning region in indoor short area to specify clean robot to execute deep clean mode.
8. the control method of clean robot according to claim 7, it is characterised in that: when clean robot runs to room
The cleaning region in interior short area and when executing deep clean mode, voice unit prompts user to clean machine by voice broadcast
People will execute deep clean mode；
When the electricity of clean robot is lower than preset threshold value, clean robot does not execute deep clean mode or cleaning
Robot automatically exits from deep clean mode.
9. the control method of clean robot according to any one of claims 1 to 8, it is characterised in that: the first detection mould
Block clean robot walk during emission level detection signal come synchronize detection clean robot front barrier,
And detection of the completion to the barrier in horizontal direction in cleaning region；
When detection of obstacles unit detects that detection of obstacles unit will test at this time there are when barrier in horizontal direction
Position data is transmitted to control unit, and position data is transferred to mark in display unit and indoors map and be discharged by control unit
Flat barrier area.
10. the control method of clean robot according to claim 9, it is characterised in that: control unit is provided with response
The planning cleaning mode of indoor map, display unit are correspondingly arranged on the interface of planning cleaning mode, and user can directly specify clearly
Clean robot Execution plan cleaning mode realizes that the cleaning region to indoor map is cleaned；
Clean robot avoids the walking of horizontal obstacle object area during Execution plan cleaning mode；
When clean robot runs to the edge in the short area in edge or interior in the area Jin Sao, collision detection unit is not hindered at this time
Hinder object triggering and barrier is not detected in first detection module, voice unit can prompt user to clean machine by voice broadcast
People can accordingly choose whether to open to prohibit normal through the area Jin Sao or indoor short area, user sweeps cleaning mode or deep clean
Mode.
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| CN114554923B (en) * | 2020-05-29 | 2024-04-30 | 宝时得科技（中国）有限公司 | Cleaning robot and control method thereof |
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