CN110353570A - Autonomous actions device and its avoidance method - Google Patents
Autonomous actions device and its avoidance method Download PDFInfo
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- CN110353570A CN110353570A CN201810310790.1A CN201810310790A CN110353570A CN 110353570 A CN110353570 A CN 110353570A CN 201810310790 A CN201810310790 A CN 201810310790A CN 110353570 A CN110353570 A CN 110353570A
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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
-
- 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
-
- 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
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present invention provides a kind of autonomous actions device and its avoidance method.Autonomous actions device includes ontology, driving wheel, auxiliary wheel, distance measuring sensor and control circuit.Driving wheel, auxiliary wheel and distance measuring sensor are set to the bottom of ontology.The bottom of distance measuring sensor detection body between ground at a distance from or ontology bottom between barrier at a distance from, and obtain detecting distance.Control circuit couples driving wheel and distance measuring sensor, control circuit compares detecting distance and the first preset value, when detecting distance is more than or equal to the first preset value, control circuit controls driving wheel and carries out obstacle avoidance, wherein the radius of the first preset value and auxiliary wheel is positively correlated.
Description
Technical field
The present invention relates to a kind of electronic device more particularly to a kind of autonomous actions devices and its avoidance method.
Background technique
The daily cleaning of general indoor environment is one of most frequent work with ground cleaning.In order to which the labour for mitigating the mankind is negative
Load, the cleaning machine of many conveniences invent listing in succession.Sweeping robot often has different when ground cleans, on ground
Obstacle can interfere to clean, for example, cardboard, CD box, upward ladder, to downstairs etc., will cause fuselage and ground has different height
The situation of difference, and may cause sweeping robot can not overcome the problems, such as difference in height and then favorably accomplish cleaning works.
Summary of the invention
The present invention provides a kind of autonomous actions device and its avoidance method, and autonomous actions device can be made to be more effectively carried out barrier
Hinder avoidance.
Autonomous actions device of the invention includes ontology, driving wheel, auxiliary wheel, distance measuring sensor and control circuit.It drives
Driving wheel, auxiliary wheel and distance measuring sensor are set to the bottom of ontology.Between the bottom and ground of distance measuring sensor detection body
The bottom of distance or ontology between barrier at a distance from, and obtain detecting distance.Control circuit couples driving wheel and ranging passes
Sensor, control circuit compare detecting distance and the first preset value, when detecting distance is more than or equal to the first preset value, control circuit
It controls driving wheel and carries out obstacle avoidance, wherein the radius of the first preset value and auxiliary wheel is positively correlated.
In one embodiment of this invention, the first above-mentioned preset value is substantially equal to the fuselage height of ontology plus auxiliary
The radius of wheel.
In one embodiment of this invention, above-mentioned control circuit compares detecting distance and the second preset value, when detection away from
From be less than or equal to the second preset value when, control circuit control driving wheel carry out obstacle avoidance, wherein the second preset value substantially etc.
In the radius of auxiliary wheel.
In one embodiment of this invention, when detecting distance is less than the first preset value and is greater than the second preset value, control
Movement speed or acceleration of the circuit according to detecting distance control driving wheel adjustment autonomous actions device.
In one embodiment of this invention, above-mentioned control circuit corresponds to the increase of detecting distance and reduces autonomous actions dress
The movement speed or acceleration set.
In one embodiment of this invention, above-mentioned autonomous actions device further includes photographic device, couples control circuit,
Photographic device control circuit judges state of ground according to the image on ground taken by photographic device, and adjusts according to state of ground
The movement speed of autonomous actions device, wherein state of ground includes the material and dirty situation on ground.
In one embodiment of this invention, above-mentioned distance measuring sensor includes optical transmitting set, optical sensor and processing electricity
Road.Optical transmitting set emits light beam.The reflected light provided after optical sensor sensing ground receiver light beam.Processing circuit couples light emitting
Device, optical sensor and control circuit, processing circuit receive reflected light according to optical transmitting set transmitting light beam and optical sensor
Time difference calculates detecting distance.
The present invention also provides a kind of avoidance methods of autonomous actions device, and wherein autonomous actions device includes ontology, driving
Wheel and auxiliary wheel, driving wheel and auxiliary wheel are set to the bottom of ontology, and the avoidance method of autonomous actions device includes following
Step；The bottom of detection body between ground at a distance from or ontology bottom between barrier at a distance from, and obtain detecting distance；
And compare detecting distance and the first preset value, when detecting distance is more than or equal to the first preset value, control driving wheel is hindered
Hinder avoidance, wherein the radius of the first preset value and auxiliary wheel is positively correlated.
In one embodiment of this invention, the first above-mentioned preset value is substantially equal to the fuselage height of ontology plus auxiliary
The radius of wheel.
In one embodiment of this invention, the avoidance method of above-mentioned autonomous actions device further includes comparing detecting distance
With the second preset value, when detecting distance is less than or equal to the second preset value, control driving wheel carries out obstacle avoidance, wherein second is pre-
If value is substantially equal to the radius of auxiliary wheel.
In one embodiment of this invention, when detecting distance is less than the first preset value and is greater than the second preset value, foundation
Detecting distance controls the movement speed or acceleration of driving wheel adjustment autonomous actions device.
In one embodiment of this invention, the avoidance method of above-mentioned autonomous actions device includes corresponding to detecting distance
Increase and reduce the movement speed or acceleration of autonomous actions device.
In one embodiment of this invention, the avoidance method of above-mentioned autonomous actions device further includes the following steps.Shooting
The image on ground.Image according to taken ground judges state of ground.Autonomous actions device is adjusted according to state of ground
Movement speed, wherein state of ground includes the material and dirty situation on ground.
Based on above-mentioned, the embodiment of the present invention controls drive wheel autonomous actions device according to detecting distance and carries out obstacle
Avoid, autonomous actions device can be made to be more effectively carried out obstacle avoidance.
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and it is detailed to cooperate attached drawing to make
Carefully it is described as follows.
Detailed description of the invention
Fig. 1 is the schematic diagram according to a kind of autonomous actions device of one embodiment of the invention.
Fig. 2 is the schematic diagram according to the bottom of the ontology of the autonomous actions device of one embodiment of the invention.
Fig. 3 is the schematic diagram carried out according to a kind of distance measuring sensor of one embodiment of the invention apart from detection.
Fig. 4 is the schematic diagram according to the autonomous actions device detection state of ground of one embodiment of the invention.
Fig. 5 is the schematic diagram according to the autonomous actions device detection state of ground of another embodiment of the present invention.
Fig. 6 is the schematic diagram according to the autonomous actions device detection barrier of another embodiment of the present invention.
Fig. 7 is the flow chart according to a kind of avoidance method of autonomous actions device of one embodiment of the invention.
Fig. 8 is the flow chart according to a kind of avoidance method of autonomous actions device of another embodiment of the present invention.
Description of symbols
100: autonomous actions device；
102: ontology；
104: driving wheel；
106: auxiliary wheel；
108: distance measuring sensor；
109: photographic device；
110: control circuit；
302: optical transmitting set；
304: optical sensor；
306: processing circuit；
B: bottom；
D1~D4: detecting distance；
G1, G2: ground；
H: fuselage height；
R: radius；
O: barrier；
S702~S710, S802: step.
Specific embodiment
Fig. 1 is to please refer to Fig. 1 according to a kind of schematic diagram of autonomous actions device of one embodiment of the invention.Autonomous actions
Device 100 may be, for example, sweeping robot or floor-mopping robot, is not limited with these so.Autonomous actions device 100 includes ontology
102, driving wheel 104, auxiliary wheel 106, distance measuring sensor 108 and control circuit 110.Driving wheel 104 and auxiliary wheel 106 are arranged
In the bottom B of ontology 102.Driving wheel 104 and auxiliary wheel 106 can be realized with directional wheel, universal wheel or omni-directional wheel.Driving wheel 104
It can be used to drive the movement of autonomous actions device 100, and auxiliary wheel 106 can be used to support autonomous actions device 100.
Please continue to refer to Fig. 1, distance measuring sensor 108 is also disposed on the bottom B of ontology 102.The setting of distance measuring sensor 108
Mode can be for example shown in Fig. 2 embodiment.In the embodiment of fig. 2, autonomous actions device 100 includes being disposed in proximity to ontology 102
Edge multiple distance measuring sensors 108.The distance at edge of each distance measuring sensor 108 to ontology 102 is less than driving wheel 104
And auxiliary wheel 106 is to the distance at the edge of ontology 102.So, it can be ensured that distance measuring sensor 108 is in auxiliary wheel 106 or driving
Wheel 104 first detects obstacle before being moved to the position of obstacle.It is noted that driving wheel 104, auxiliary wheel 106 in diagram
And the number of distance measuring sensor 108 is only exemplary embodiment.
As shown in Fig. 1 and fig. 4 to fig. 6, distance measuring sensor 108 can detect between the bottom B of ontology 102 and ground G 1 away from
From or ontology 102 bottom B between barrier O at a distance from, and obtain detecting distance (such as: detecting distance D1, Fig. 4 in Fig. 1
In detecting distance D2, Fig. 5 in detecting distance D3 or Fig. 6 in detecting distance D4).At this point, driving wheel 104 is located at ground
G2.Specifically, as shown in figure 3, distance measuring sensor 108 may include optical transmitting set 302, optical sensor 304 and processing circuit
306.Processing circuit 306 couples optical transmitting set 302 and optical sensor 304.Optical transmitting set 302 has the angle of departure and to emit
Light beam.The light beam that optical transmitting set 302 is emitted can be infrared light or other black lights or visible light with different wave length.Light
Sensor 304 have acceptance angle and to sense ground G 1 reflect the light beam from optical transmitting set 302 after provided reflected light.
Processing circuit 306 can emit light beam according to optical transmitting set 302 and optical sensor 304 receives time difference and the light velocity of reflected light
It calculates at a distance between the bottom B and the bottom B and barrier O of ground G 1 or ontology 102 of ontology 102.In some embodiments,
Processing circuit 306 can be implemented with microprocessor or microcontroller.In some embodiments, processing circuit 306 and control circuit
110 can be incorporated into same chip.In some embodiments, the distance between optical transmitting set 302 and optical sensor 304 is very close.
In this way, half of the detecting distance no better than the length of entire opticpath.
In some embodiments, control circuit 110 couples driving wheel 104 and distance measuring sensor 108.Control circuit 110
Those above-mentioned detecting distances can be compared with fuselage height H, the first preset value or the second preset value, and foundation compares knot
Fruit decides whether that controlling driving wheel 104 drives autonomous actions device 100 to carry out obstacle avoidance.In some embodiments, obstacle returns
It keeps away comprising stopping or turning to.
As shown in Figure 1, when detecting distance D1 be equal to fuselage height H add error amount when (such as: ground have no difference of height or
Ground only has small pit-hole), driving wheel 104 can drive autonomous actions device 100 mobile according to original path, original
Path on cleaned.In some embodiments, fuselage height H is the distance between bottom B and ground G 2 of ontology 102.
In some embodiments, fuselage height H can be measured from advance for known or warp, and error amount can be positive number or negative.One
In a little embodiments, the absolute value of error amount is substantially set to be less than the radius R of auxiliary wheel 106, to ensure that autonomous actions fill
Setting 100 may span across barrier or avoids locking into deeper pit-hole.As shown in figure 4, when detecting distance D2 is more than or equal to first
When preset value (such as: the downward ladder in the right is very low in Fig. 4 embodiment), control circuit 110 can control the driving of driving wheel 104 certainly
Main running gear 100 carries out obstacle avoidance, falls to avoid autonomous actions device 100.In some embodiments, the first preset value
The substantially equal to fuselage height H of ontology 102 adds the radius R of auxiliary wheel 106.In above-mentioned relationship, the first preset value with
The radius R of auxiliary wheel 106 is positively correlated.That is, first preset value is also got over therewith when the radius R of auxiliary wheel 106 is bigger
Greatly.It is as also shown in fig. 5, and when detecting distance D3 is less than or equal to the second preset value (such as: the upward rank in the right in Fig. 5 embodiment
Ladder is very high), control circuit 110 also can control driving wheel 104 that autonomous actions device 100 is driven to carry out obstacle avoidance, to avoid certainly
Main running gear 100 knocks the upward ladder in the right.Since autonomous actions device 100 can not be across half greater than auxiliary wheel 106
The height of diameter R, therefore the second preset value is substantially set equal to the radius R of auxiliary wheel 106.In addition, working as detecting distance D2
Or D3, less than the first preset value and when being greater than the second preset value, control circuit 110 can be not required to control driving wheel 104 and drive autonomous row
Dynamic device 100 is avoided.That is, control circuit 110 can control autonomous actions device 100 to move according to original path
It is dynamic, and can optionally adjust the movement speed or acceleration of autonomous actions device 100.
Similarly, in the embodiment in fig 6, when detecting distance D4 be less than or equal to the second preset value when (such as: Fig. 6 implement
The height of barrier O is very high in example), control circuit 110 also can control driving wheel 104 that autonomous actions device 100 is driven to be hindered
Hinder avoidance, knocks barrier O to avoid autonomous actions device 100.In addition, when detecting distance D4 less than the first preset value and is greater than
When the second preset value, control circuit 110 can also be not required to control driving wheel 104 and autonomous actions device 100 is driven to be avoided.Also
It is to say, it is mobile according to original path that control circuit 110 can control autonomous actions device 100, and can optionally adjust autonomous row
The movement speed or acceleration of dynamic device 100.
Driving wheel 104 is so controlled according to the relationship of detecting distance and the radius R of auxiliary wheel 106 drives autonomous actions dress
Set 100 carry out obstacle avoidances, rather than if whether the prior art only detect floor to determine whether being avoided, it can be more effective
Ground carries out obstacle avoidance.Under normal circumstances, the radius R of auxiliary wheel 106 is less than the radius of driving wheel 104, therefore, is somebody's turn to do according to above-mentioned
The relationship of the radius R of a little detecting distances and auxiliary wheel 106 decides whether to carry out obstacle avoidance, rather than use driving wheel 104 partly
Diameter determines, may make for deciding whether that the condition for carrying out obstacle avoidance is more accurate, with take into account cleaning task and protection from
Main running gear 100.Furthermore the steep cliff sensing apparatus that the distance measuring sensor 108 of above-described embodiment uses compared to the prior art
There is lesser volume, and the miniaturization of autonomous actions device 100 can be conducive to.
As mentioned by aforementioned paragraphs, in some embodiments, when detecting distance less than the first preset value and is greater than second in advance
If value, control circuit 110 can according to detecting distance control driving wheel 104 adjust autonomous actions device 100 movement speed or
Acceleration.For example, control circuit 110 can correspond to the increase of detecting distance and reduce autonomous actions device 100 movement speed or
Acceleration.For example, when the detecting distance D2 of Fig. 4 is bigger, it is lower to represent in Fig. 4 embodiment the downward ladder in the right, this
When the speed of autonomous actions device 100 need to be made slow, generated when moving through ladder to avoid autonomous actions device 100 excessive
Vibration and cause to work as machine.Or when the detecting distance D3 of Fig. 5 is bigger or the detecting distance D4 of Fig. 6 is bigger, Fig. 5 reality is represented
Apply in example that the upward ladder in the right is lower or the height of the barrier O of Fig. 6 is lower, control circuit 110 can be not required to significantly at this time
The movement speed or acceleration for improving autonomous actions device 100, can make the leaping over obstacles easily of autonomous actions device 100.
In some other embodiments, autonomous actions device 100 can also include the photographic device of coupling control circuit 110
109.Control circuit 110 can determine the movement speed of autonomous actions device 100 according to image captured by photographic device 109.
For example, in the case of autonomous actions device 100 is applied to sweeping robot, control circuit 110 can be according to photographic device
Image captured by 109 judges state of ground, and adjusts the movement speed of autonomous actions device 100 accordingly.State of ground can
The for example, material of ground G 1 and dirty situation.It is relatively difficult to clean or dirty situation is more serious when the material of ground G1 belongs to
When, control circuit 110 can control driving wheel 104 to drive autonomous actions device 100 mobile with slower speed, to reinforce to ground
The cleaning of G1.
For ease of the purpose of understanding, following paragraphs is illustrated by taking autonomous actions device 100 as an example, but not as
Limit.Fig. 7 is to please refer to Fig. 7 according to a kind of flow chart of the avoidance method of autonomous actions device 100 of one embodiment of the invention.
As can be seen from the above embodiments, the step of avoidance method of autonomous actions device 100 can include at least the following steps.Firstly, in step
In rapid S702, the bottom B of detection body 102 between ground G 1 at a distance from or ontology 102 bottom B between barrier O at a distance from,
And obtain detecting distance (such as: the detecting distance D3 or figure in detecting distance D2, Fig. 5 in detecting distance D1, Fig. 4 in Fig. 1
Detecting distance D4 in 6).Then, in step S704, judge whether detecting distance is equal to fuselage height H plus error amount.So
Afterwards, in step S706, judge whether detecting distance is more than or equal to the first preset value.If it is default that detecting distance is more than or equal to first
Value, then enter step S708.In step S708, control driving wheel 104 drives autonomous actions device 100 to carry out obstacle avoidance.
In some embodiments, the radius R of the first preset value and auxiliary wheel 106 is positively correlated.First preset value can be substantially equal to this
The fuselage height H of body 102 adds the radius R of auxiliary wheel 106.On the contrary, if detecting distance is not more than or equal to the first preset value,
Enter step S710.In step S710, judge whether detecting distance is less than or equal to the second preset value.In some embodiments,
Second preset value is substantially equal to the radius R of auxiliary wheel 106.If detecting distance is less than or equal to the second preset value, enter step
S708.In step S708, control driving wheel 104 drives autonomous actions device 100 to carry out obstacle avoidance.And if detecting distance is situated between
Between the first preset value and the second preset value, then step S702 is returned to.That is, control driving wheel 104 can be not required at this time
Driving autonomous actions device 100 is avoided, and continue to test the bottom B of ontology 102 between ground G 1 at a distance from.
Fig. 8 please be joined according to a kind of flow chart of the avoidance method of autonomous actions device 100 of another embodiment of the present invention
According to Fig. 8.The avoidance method of the autonomous actions device 100 of the present embodiment and Fig. 6 embodiment the difference is that, the present embodiment
The avoidance method of autonomous actions device 100 further includes step S802.When being judged as NO, then being entered step in step S710
S802.That is, when detecting distance is between the first preset value and the second preset value, driving wheel can be controlled according to detecting distance
The movement speed or acceleration of 104 adjustment autonomous actions devices 100.For example, corresponding to the increase of detecting distance and reducing autonomous row
, there is abnormal case to avoid autonomous actions device 100, or fill autonomous actions in the movement speed or acceleration of dynamic device 100
Setting 100 can leaping over obstacles more easily.Then, step S702 is returned to continue to test between the bottom B of ontology 102 and ground G 1
Distance.In addition, implementing in benefit in part, the movement speed or acceleration of autonomous actions device 100 can also be according to states of ground
Adjustment.State of ground can shoot ground G 1 using photographic device 109 and obtain, and state of ground may include the material of ground G 1 with
And dirty situation.
In conclusion the present invention, which controls drive wheel autonomous actions device according to detecting distance, carries out obstacle avoidance,
Rather than if whether the prior art is only to detect floor to determine whether being avoided, therefore autonomous actions can be more effectively controlled
Device carries out obstacle avoidance.The shifting of driving wheel adjustment autonomous actions device can be also controlled according to detecting distance in some embodiments
, there is abnormal case to avoid autonomous actions device, or autonomous actions device is enable to cross over more easily in dynamic speed or acceleration
Obstacle.
Although the present invention is disclosed as above with embodiment, however, it is not to limit the invention, any technical field
Middle technical staff, without departing from the spirit and scope of the present invention, when can make a little change and retouching, therefore protection of the invention
Range is subject to view as defined in claim.
Claims (13)
1. a kind of autonomous actions device characterized by comprising
Ontology；
Driving wheel is set to the bottom of the ontology；
Auxiliary wheel is set to the bottom of the ontology；
Distance measuring sensor, is set to the bottom of the ontology, and the distance measuring sensor detects between the bottom and ground of the ontology
Distance or the ontology bottom between barrier at a distance from, and obtain detecting distance；And
Control circuit, couples the driving wheel and the distance measuring sensor, the control circuit detecting distance with
First preset value, when the detecting distance is more than or equal to first preset value, the control circuit controls the driving wheel
Obstacle avoidance is carried out, wherein the radius of first preset value and the auxiliary wheel is positively correlated.
2. autonomous actions device according to claim 1, wherein first preset value is substantially equal to the ontology
Fuselage height adds the radius of the auxiliary wheel.
3. autonomous actions device according to claim 2, wherein the control circuit detecting distance and second
Preset value, when the detecting distance is less than or equal to second preset value, the control circuit controls the driving wheel and carries out
Obstacle avoidance, wherein second preset value is substantially equal to the radius of the auxiliary wheel.
4. autonomous actions device according to claim 3, wherein when the detecting distance be less than first preset value and
When greater than second preset value, the control circuit controls the driving wheel according to the detecting distance and adjusts the autonomous row
The movement speed or acceleration of dynamic device.
5. autonomous actions device according to claim 4, wherein the control circuit corresponds to the increase of the detecting distance
And reduce the movement speed or acceleration of the autonomous actions device.
6. autonomous actions device according to claim 1, further includes:
Photographic device couples the control circuit, and the control circuit is according to the ground taken by the photographic device
Image judges state of ground, and the movement speed of the autonomous actions device is adjusted according to the state of ground, wherein describedly
Planar condition includes the material and dirty situation on the ground.
7. autonomous actions device according to claim 1, wherein the distance measuring sensor includes:
Optical transmitting set emits light beam；
Optical sensor senses the reflected light provided after light beam described in the ground receiver；And
Processing circuit couples the optical transmitting set, the optical sensor and the control circuit, and the processing circuit is according to institute
State the time difference calculating detecting distance that optical transmitting set emits the light beam and the optical sensor receives the reflected light.
8. a kind of avoidance method of autonomous actions device, which is characterized in that the autonomous actions device include ontology, driving wheel with
And auxiliary wheel, the driving wheel and the auxiliary wheel are set to the bottom of the ontology, the avoidance of the autonomous actions device
Method includes:
Detect the bottom of the ontology between ground at a distance from or the ontology bottom between barrier at a distance from, and examined
Ranging from；And
Compare the detecting distance and the first preset value, when the detecting distance is more than or equal to first preset value, control
The driving wheel carries out obstacle avoidance, wherein the radius of first preset value and the auxiliary wheel is positively correlated.
9. the avoidance method of autonomous actions device according to claim 8, wherein first preset value is substantially equal to
The fuselage height of the ontology adds the radius of the auxiliary wheel.
10. the avoidance method of autonomous actions device according to claim 9, further includes:
Compare the detecting distance and the second preset value, when the detecting distance is less than or equal to second preset value, control
The driving wheel carries out obstacle avoidance, wherein second preset value is substantially equal to the radius of the auxiliary wheel.
11. the avoidance method of autonomous actions device according to claim 10, wherein described in being less than when the detecting distance
First preset value and when being greater than second preset value, controls the driving wheel according to the detecting distance and adjusts the autonomous row
The movement speed or acceleration of dynamic device.
12. the avoidance method of autonomous actions device according to claim 11, comprising:
The increase of the corresponding detecting distance and the movement speed or acceleration for reducing the autonomous actions device.
13. the avoidance method of autonomous actions device according to claim 8, further includes:
Shoot the image on the ground；
Image according to the taken ground judges state of ground；And
The movement speed of the autonomous actions device is adjusted according to the state of ground,
Wherein the state of ground includes the material and dirty situation on the ground.
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| CN111067431A (en) * | 2019-12-31 | 2020-04-28 | 佛山市云米电器科技有限公司 | Sweeper and method for detecting and controlling sweeping |
| CN112057004A (en) * | 2020-09-16 | 2020-12-11 | 中原动力智能机器人有限公司 | Curtain wall cleaning robot obstacle identification method and control system |
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| CN104412191A (en) * | 2012-06-29 | 2015-03-11 | 株式会社安川电机 | Moving body and moving body system |
| CN104228915A (en) * | 2014-10-11 | 2014-12-24 | 江苏天绘智能科技有限公司 | Vehicle having stair climbing function |
| CN105818130A (en) * | 2014-12-04 | 2016-08-03 | 恩斯迈电子(深圳)有限公司 | State detection method, robot and mobile device |
| CN107405037A (en) * | 2016-02-16 | 2017-11-28 | 东芝生活电器株式会社 | Self-discipline moving body |
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| CN111067431A (en) * | 2019-12-31 | 2020-04-28 | 佛山市云米电器科技有限公司 | Sweeper and method for detecting and controlling sweeping |
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