CN110279352B - Sweeping robot wall-following walking method based on double PSD sensors - Google Patents
Sweeping robot wall-following walking method based on double PSD sensors Download PDFInfo
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- CN110279352B CN110279352B CN201910575858.3A CN201910575858A CN110279352B CN 110279352 B CN110279352 B CN 110279352B CN 201910575858 A CN201910575858 A CN 201910575858A CN 110279352 B CN110279352 B CN 110279352B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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Abstract
The invention discloses a wall-following walking method of a sweeping robot based on double PSD sensors, wherein the sweeping robot comprises a supporting wheel, a left driving wheel and a right driving wheel, a local coordinate system X-Y rectangular coordinate system is established by taking the center of the sweeping robot as an origin, the connecting line of the center and the supporting wheel is in the Y-axis direction, and the advancing direction of the supporting wheel is in the Y-axis positive direction; a first PSD sensor and a second PSD sensor are respectively arranged at the front position and the rear position of one driving wheel, the distances between the first PSD sensor and the wall surface and the distances between the second PSD sensor and the wall surface are d1 and d2 respectively, and when the Y axis is parallel to the wall surface, the distance d1 is d 2; the angle between the first PSD sensor and the second PSD sensor and the connecting line of the centers is theta. The invention can ensure that the distance between the side surface of the sweeping robot and the wall surface is maintained in an ideal range, and the advancing direction is parallel to the wall surface direction as much as possible. When the walking vehicle travels to the cliff of the wall surface, the walking vehicle can prejudge in advance and rotate a certain angle more effectively to continue walking along the wall.
Description
Technical Field
The invention discloses a wall-following walking method of a sweeping robot based on double PSD sensors, and relates to the technical field of robot movement control.
Background
A conventional intelligent floor sweeping robot is a two-wheel-driven mobile robot, and a Position Sensitive Detector (PSD) sensor is installed on one side of the robot, as shown in fig. 1. A conventional PSD sensor includes an infrared transmitting and receiving portion, detects a distance to an obstacle by using a triangulation method, and outputs an analog voltage signal.
The real-time distance d _ real fed back by the PSD is compared with a reference threshold value d _ ref, and the sweeping robot can walk along the wall by changing the speed of the left driving wheel and the speed of the right driving wheel, wherein the conventional judgment method in the prior art specifically comprises the following steps:
v _ L and V _ R are linear speeds of the left driving wheel and the right driving wheel, a reference threshold value d _ ref and a tolerance distance error delta d are set
When the distance between the two adjacent wheels is less than or equal to the distance between the two wheels, the distance between the two wheels is less than or equal to Case 1, d _ ref-delta d and d _ real and d _ ref +/delta d, the robot moves straight;
case 2.d _ real is less than or equal to d _ ref-delta d, V _ R is more than V _ L, and the robot moves away from the wall surface;
case 3.d _ real is more than or equal to d _ ref +. DELTA.d, V _ L is more than V _ R, and the robot moves towards the wall surface;
case 4.d _ real > d _ ref +. DELTA.d, V _ L > V _ R, and the robot motion trend is a right turn.
Because a single PSD sensor can only provide the distance between a certain point on the side surface of the sweeping robot and a certain point on the wall surface, and cannot provide the relation information between the advancing direction of the sweeping robot and the direction of the wall surface, the existing method causes that the direction of the sweeping robot is frequently switched when the sweeping robot walks along the wall, the walking route is not smooth enough, and the phenomenon of snake-shaped advancing easily occurs at the same time, so that the use feeling of a user is influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the defects of the prior art, the method for the floor sweeping robot to walk along the wall based on the double PSD sensors is provided, and the distance between the side face of the floor sweeping robot and the wall surface is maintained in an ideal range and the advancing direction of the floor sweeping robot is parallel to the wall surface direction as far as possible by installing 2 PSD sensors. When the walking vehicle travels to the cliff of the wall surface, the walking vehicle can prejudge in advance and rotate a certain angle more effectively to continue walking along the wall.
The invention adopts the following technical scheme for solving the technical problems:
a floor sweeping robot walking method along a wall based on double PSD sensors is characterized in that the floor sweeping robot comprises a supporting wheel, a left driving wheel and a right driving wheel, a local coordinate system X-Y rectangular coordinate system is established by taking the center of the floor sweeping robot as an origin, the connecting line of the center and the supporting wheel is in the Y-axis direction, and the advancing direction of the supporting wheel is in the Y-axis positive direction; a first PSD sensor and a second PSD sensor are respectively arranged at the front position and the rear position of one driving wheel, the distances between the first PSD sensor and the wall surface and the distances between the second PSD sensor and the wall surface are d1 and d2 respectively, and when the Y axis is parallel to the wall surface, the distance d1 is d 2; the angle of an included angle formed by the first PSD sensor and the second PSD sensor and the connecting line of the centers is theta; setting the real-time distances detected by the first PSD sensor and the second PSD sensor to be d1_ real and d2_ real, and if the following conditions are met simultaneously:
when | d1_ real-d _ ref | is less than or equal to Δ d and | d2_ real-d _ ref | is less than or equal to Δ d, judging that the advancing direction of the floor sweeping robot is parallel to the wall surface, wherein the Δ d is a tolerance distance error, and the d _ ref is a reference threshold value;
at the moment, the linear speed control quantity V _ R and V _ L of the left driving wheel and the right driving wheel are kept consistent, and the sweeping robot is in a straight running state; when the following conditions are satisfied: when d1_ real is larger than or equal to d _ ref + delta d and d1_ real is smaller than or equal to d _ ref +2 delta d, judging that the floor sweeping robot approaches the wall surface; when the following conditions are satisfied: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is less than or equal to d _ ref +2 DELTA d, judging that the sweeping robot is moving straight at the reduced speed.
As a further preferable aspect of the present invention, the angle θ is in a range of 35 ° ± 10 °.
As a further preferred embodiment of the present invention, the parameter Δ d ≦ d _ ref ×. 10%.
As a further preferable aspect of the present invention, when: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is more than or equal to d _ ref +2 DELTA d, judging that the wall face cliff occurs, and steering the sweeping robot by adjusting the linear speed control quantity V _ R and V _ L of the left and right driving wheels.
As a further preferable aspect of the present invention, when: and when d1_ real is less than or equal to d _ ref +. DELTA d and d1_ real is less than or equal to d _ ref-. DELTA d, judging that the sweeping robot is far away from the wall surface.
As a further preferable aspect of the present invention, when: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is more than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is close to the wall surface.
As a further preferable aspect of the present invention, when: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is less than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is far away from the wall surface.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects: the invention solves the problems that when a sweeping robot walks along a wall by a single PSD sensor, walking is not smooth and direction switching is too frequent. According to the technical scheme disclosed by the invention, the distance between the side surface of the sweeping robot and the wall surface is maintained in an ideal range, and the advancing direction is parallel to the wall surface direction as far as possible. When the walking vehicle travels to the cliff of the wall surface, the walking vehicle can prejudge in advance and rotate a certain angle more effectively to continue walking along the wall.
Drawings
Fig. 1 is a schematic top view of a sweeping robot walking along a wall in the prior art.
Fig. 2 is a schematic top view of a sweeping robot walking along a wall in the technical scheme adopted by the invention.
Fig. 3 is a schematic view of an implementation method of the sweeping robot walking along a wall in the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The technical scheme of the invention is further explained in detail by combining the attached drawings:
according to the technical scheme, the schematic plan view of the sweeping robot walking along the wall is shown in fig. 2. The sweeping robot comprises a supporting wheel, a left driving wheel and a right driving wheel, wherein 2 PSD sensors are arranged on the side surface of the sweeping robot, an X-Y coordinate system is a local coordinate system taking the center of the sweeping robot as an origin, and the advancing direction of the sweeping robot is the positive direction of a Y axis. d1、d2The distance between the first sensor and the wall surface and the distance d when the advancing direction of the sweeping robot is strictly parallel to the wall surface1＝d2。
The two PSD sensors are arranged at the front and back positions of the wheel on one side, and the angle theta in figure 2 is selected to be within the range of 35 degrees +/-10 degrees.
The two PSD sensors detect real-time distances d1_ real and d2_ real, when | d1_ real-d _ ref | is less than or equal to Δ d and | d2_ real-d _ ref | is less than or equal to Δ d (the Δ d does not exceed 10% of a reference threshold value d _ ref), the fact that the advancing direction of the sweeping robot is parallel to the wall surface is indicated, V _ R and V _ L are kept consistent at the moment, and the sweeping robot is in a straight-going state.
When the difference between the detection distance of the No. 1 sensor and the detection distance of the No. 2 sensor is greater than 2 times of the reference threshold value, namely d1_ real is greater than or equal to d _ ref +2 Δ d, the robot is considered to have a broken cliff on the right side wall surface, and the sweeping robot turns right.
In an embodiment of the present invention, a schematic diagram of an implementation method for a sweeping robot to walk along a wall is shown in fig. 3, taking a right side wall extending of the sweeping robot as an example, V _ L and V _ R are linear speed control amounts of a left driving wheel and a right driving wheel, and when actual measurement values of distances d1 and d2 are d1_ real and d1_ real, a reference threshold value d _ ref and a tolerance distance error Δ d are set. The logic judgment of the floor sweeping robot walking along the wall comprises the following steps:
when the following conditions are satisfied: and when the absolute value d1_ real-d _ ref is less than or equal to the delta d and the absolute value d2_ real-d _ ref is less than or equal to the delta d, judging that the advancing direction of the floor sweeping robot is parallel to the wall surface.
When the following conditions are satisfied: and when d1_ real is larger than or equal to d _ ref + delta d and d1_ real is smaller than or equal to d _ ref +2 delta d, judging that the floor sweeping robot approaches the wall surface.
When the following conditions are satisfied: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is less than or equal to d _ ref +2 DELTA d, judging that the sweeping robot is moving straight at the reduced speed.
When the following conditions are satisfied: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is more than or equal to d _ ref +2 DELTA d, judging that the wall face cliff occurs, and steering the sweeping robot by adjusting the linear speed control quantity V _ R and V _ L of the left and right driving wheels.
When the following conditions are satisfied: and when d1_ real is less than or equal to d _ ref +. DELTA d and d1_ real is less than or equal to d _ ref-. DELTA d, judging that the sweeping robot is far away from the wall surface.
When the following conditions are satisfied: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is more than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is close to the wall surface.
When the following conditions are satisfied: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is less than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is far away from the wall surface.
The invention is not limited to the sweeping robot moving forward to the right side along the wall, but in another embodiment of the invention, the sweeping robot is required to move left side along the wall. At this time, the technical solution is correspondingly adjusted to install the PSD sensor in fig. 2 at a symmetrical position about the Y axis, and the left wheel speed V _ L and the right wheel speed V _ R in fig. 3 are exchanged to achieve the required technical effect.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a robot of sweeping floor is along wall walking method based on two PSD sensors, the robot of sweeping floor includes supporting wheel and left and right drive wheel, its characterized in that: establishing a local coordinate system X-Y rectangular coordinate system by taking the center of the sweeping robot as an origin, wherein the connecting line of the center and the supporting wheels is in the Y-axis direction, and the advancing direction of the supporting wheels is in the Y-axis positive direction;
a first PSD sensor and a second PSD sensor are respectively arranged at the front position and the rear position of one driving wheel, the distances between the first PSD sensor and the wall surface and the distances between the second PSD sensor and the wall surface are d1 and d2 respectively, and when the Y axis is parallel to the wall surface, the distance d1 is d 2;
the angle of an included angle formed by the first PSD sensor and the second PSD sensor and the connecting line of the centers is theta; setting the real-time distances detected by the first PSD sensor and the second PSD sensor to be d1_ real and d2_ real, and if the following conditions are met simultaneously:
when | d1_ real-d _ ref | is less than or equal to Δ d and | d2_ real-d _ ref | is less than or equal to Δ d, judging that the advancing direction of the floor sweeping robot is parallel to the wall surface, wherein the Δ d is a tolerance distance error, and the d _ ref is a reference threshold value;
at the moment, the linear speed control quantity V _ R and V _ L of the left driving wheel and the right driving wheel are kept consistent, and the sweeping robot is in a straight running state; when the following conditions are satisfied: when d1_ real is larger than or equal to d _ ref + delta d and d1_ real is smaller than or equal to d _ ref +2 delta d, judging that the floor sweeping robot approaches the wall surface; when the following conditions are satisfied: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is less than or equal to d _ ref +2 DELTA d, judging that the sweeping robot is moving straight at the reduced speed.
2. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein the method comprises the following steps: the value range of the angle theta is 35 degrees +/-10 degrees.
3. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein the method comprises the following steps: the parameter Δ d is less than or equal to d _ ref by 10%.
4. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein when the following conditions are met: and d1_ real is more than or equal to d _ ref +. DELTA d, d1_ real is more than or equal to d _ ref +2 DELTA d, and d2_ real is more than or equal to d _ ref +2 DELTA d, judging that the wall face cliff occurs, and steering the sweeping robot by adjusting the linear speed control quantity V _ R and V _ L of the left and right driving wheels.
5. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein when the following conditions are met: and when d1_ real is less than or equal to d _ ref +. DELTA d and d1_ real is less than or equal to d _ ref-. DELTA d, judging that the sweeping robot is far away from the wall surface.
6. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein when the following conditions are met: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is more than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is close to the wall surface.
7. The method for walking along the wall of the sweeping robot based on the double PSD sensors as claimed in claim 1, wherein when the following conditions are met: and when d1_ real is less than or equal to d _ ref +. DELTA.d, d1_ real is more than or equal to d _ ref-. DELTA.d, and d2_ real is less than or equal to d _ ref +. DELTA.d, judging that the sweeping robot is far away from the wall surface.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111053500B (en) * | 2020-01-02 | 2022-06-10 | 小狗电器互联网科技（北京）股份有限公司 | Method and device for controlling sweeping equipment to sweep along wall and sweeping equipment |
| CN111297266A (en) * | 2020-02-25 | 2020-06-19 | 微思机器人(深圳)有限公司 | Wall-following walking control system and method for sweeper and sweeper |
| CN112690722B (en) * | 2020-11-18 | 2022-08-12 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
| CN113273927B (en) * | 2021-04-01 | 2022-04-15 | 浙江大学 | Differential wheel type robot based on multi-sensor fusion and wall navigation method |
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