CN110495825A - Across obstacle method, clean robot and the storage medium of clean robot - Google Patents

Across obstacle method, clean robot and the storage medium of clean robot Download PDF

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Publication number
CN110495825A
CN110495825A CN201910760573.7A CN201910760573A CN110495825A CN 110495825 A CN110495825 A CN 110495825A CN 201910760573 A CN201910760573 A CN 201910760573A CN 110495825 A CN110495825 A CN 110495825A
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CN
China
Prior art keywords
clean robot
barrier
robot
clean
obstacle
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Granted
Application number
CN201910760573.7A
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Chinese (zh)
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CN110495825B (en
Inventor
张峻彬
夏俊超
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Yunjing Intelligent Innovation Shenzhen Co ltd
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Cloud Whale Intelligent Technology (dongguan) Co Ltd
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Priority to CN201910760573.7A priority Critical patent/CN110495825B/en
Publication of CN110495825A publication Critical patent/CN110495825A/en
Application granted granted Critical
Publication of CN110495825B publication Critical patent/CN110495825B/en
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Classifications

    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • 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
    • A47L11/4063—Driving means; Transmission means 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
    • A47L11/4072—Arrangement of castors or wheels
    • 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

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a kind of across obstacle methods of clean robot, clean robot and storage medium, wherein, the barrier is low obstructions, the barrier that obstacle height is less than height of the clean robot chassis apart from ground is defined as low obstructions, the driving wheel that the bottom of the clean robot is provided at least two mopping parts and clean robot can be driven to advance or retreat, the across obstacle method of the clean robot includes: to be located at two mopping parts of clean robot two sides with respect to inward turning in the control mopping part and drive the driving wheel that the clean robot head is made to advance towards the barrier, across the barrier.Across obstacle method, clean robot and the storage medium of clean robot of the invention aim to solve the problem that the technical issues of can not be successfully across low obstructions of the existing wheeled clean robot with turntable.

Description

Across obstacle method, clean robot and the storage medium of clean robot
Technical field
The present invention relates to a kind of across obstacle methods of clean robot field more particularly to clean robot, cleaning Robot and storage medium.
Background technique
Clean robot can be used for carrying out ground automated cleaning, and application scenarios can be home interior cleaning, large-scale field It cleans.The type of clean robot has sweeping robot, floor-mopping robot.On clean robot, be equipped with cleaning device and Driving device.Under the drive of the drive, clean robot is carried out according to preset cleaning path from movement, and passes through cleaning Part cleans ground.For sweeping robot, cleaning device is sweep brush, dust exhaust apparatus is provided on sweeping robot, clear During clean, dust, rubbish etc. are swept to the suction inlet of dust exhaust apparatus by sweep brush, so that dust exhaust apparatus inhales dust, rubbish etc. It receives temporary.For floor-mopping robot, cleaning device is mopping part (such as mop), the mopping part and ground face contact, is being mopped floor In robot moving process, which carries out mopping to ground, realizes the cleaning to ground.
In order to facilitate the use of user, often there is the use of base station cooperation clean robot.The base station can be used for cleaning Robot charges, and during cleaning, when the electricity of clean robot is less than threshold value, clean robot is automatically moved to Base station charges.For floor-mopping robot, base station can be dragged with clean and wipe part, the mopping part of floor-mopping robot After wiping ground, mopping part often becomes dirty, needs to clean it.For this purpose, base station can be used for dragging floor-mopping robot Part is wiped to be cleaned.Specifically, floor-mopping robot can be moved on base station, so that the cleaning mechanism on base station is to the machine that mops floor The mopping part of people is cleaned automatically.
The specific structure of floor-mopping robot mainly includes ontology and the turntable and driving wheel for being set to body bottom portion at present, It can be set with mopping part on turntable, 2 turntables and 2 driving wheels are typically provided on ontology.Wherein, each turntable is independent Driving, each driving wheel is also independently to drive.
In order to make clean robot complete clean up task, the planning and control to the cleaning path of clean robot are especially heavy Want, be mainly concerned with clean robot how across obstacle, how working method etc. under barrier walking and different mode Deng.And for the clean robot of different structure, then need the peculiar structure and function for it carry out the planning of behavior and Control.And in the prior art, the wheeled clean robot with turntable does not obtain mature application also.
When clean robot with pallet encounters the low obstructions such as step during the motion, it is sometimes necessary to across leap Barrier hinders object to move on.Since tray and step frictional impact resistance are larger, if it cannot be guaranteed that robot is across leap Direction of advance is easy to cause clean robot to turn to as far as possible perpendicular to step or the extending direction of threshold during barrier hinders object It even skids, so that smoothly object cannot be hindered across across obstacle.
Summary of the invention
The main object of the present invention is to provide the across obstacle method of clean robot a kind of, clean robot and deposits Storage media, across obstacle method, clean robot and the storage medium of the clean robot aim to solve the problem that existing wheeled band The technical issues of can not be successfully across low obstructions of the clean robot of turntable.
To achieve the above object, a kind of across obstacle method of clean robot proposed by the present invention, wherein the barrier Hindering object is low obstructions, the barrier that obstacle height is less than height of the clean robot chassis apart from ground is defined as low Short barrier, the bottom of the clean robot are provided at least two mopping parts and clean robot can be driven to advance or retreat Driving wheel, the across obstacle method of the clean robot includes:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, across the barrier.
Preferably, two mopping parts of clean robot two sides are located at simultaneously with respect to inward turning in the control mopping part Drive the driving wheel that the clean robot head is made to advance towards the barrier, across the method packet of the barrier It includes:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and adjusts two in real time The output torque or output speed of driving wheel remain at the clean robot and the angle deviating of the barrier In preset range.
Preferably, the clean robot includes angular transducer, and the angular transducer is used to detect the cleaner The preset range of the angle deviating of the angle of device people and the barrier, the clean robot and the barrier is β, described Driving clean robot and the angle for adjusting the clean robot Yu the barrier in real time, by adjusting the defeated of two driving wheels Torque or output speed remain the clean robot and the angle deviating of the barrier within a preset range out Method include:
The clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception afterwards between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to cleaning machine The angular speed opposite with the clean robot offset direction of people one is inclined come the angle for adjusting the clean robot and barrier From remaining in preset range β, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t
Preferably, two mopping parts of clean robot two sides are located at simultaneously with respect to inward turning in the control mopping part Drive the driving wheel that the clean robot head is made to advance towards the barrier, across the method packet of the barrier It includes:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, when across the barrier, drives the cleaning machine People makes its speed be greater than 0.1m/s.
Preferably, two mopping parts of clean robot two sides are located at simultaneously with respect to inward turning in the control mopping part Drive the driving wheel that the clean robot head is made to advance towards the barrier, across the method packet of the barrier It includes:
During the clean robot across obstacle, detect that the clean robot skids；
The clean robot is controlled to retreat to apart from barrier certain distance and the driving wheel being driven to make the cleaning Robot head advances towards the barrier and keeps the angle deviating between the clean robot and barrier default In range, across the barrier.
Preferably, clean robot includes sension unit and rear-guard motor, and the rear-guard motor provides driving wheel movement Driving force is additionally provided with station keeping radar and mileage measurement device on the clean robot, and the station keeping radar is for determining institute The location point of clean robot is stated, the mileage measurement device is used to record the rotation odometer magnitude of the driving wheel, in institute During stating clean robot across obstacle, the method for detecting that the clean robot skids includes:
During clean robot execution is clean across the barrier, it is defeated that the sension unit receives rear-guard motor The rotation odometer magnitude that the signal or sension unit that electric current out increases receive driving wheel output increases and clean robot The constant signal of location point.
Preferably, the two mopping parts that clean robot two sides are located in the control mopping part with respect to inward turning and drive The driving wheel makes the clean robot head advance towards the barrier, across before the method and step of the barrier Further include:
Detect the position of barrier；
Adjusting the clean robot makes the head of the clean robot towards barrier direction.
Preferably, the method for the position of the detection barrier includes:
By control the clean robot along barrier edge obtain after a week the barrier location information or The location information of the barrier is read from the cartographic information obtained.
In addition, the present invention also provides a kind of clean robot, the clean robot include processor, memory and It is stored in the across obstacle program for the clean robot that can be executed on the memory and by the processor, wherein described clear When the across obstacle of clean robot is executed by the processor, the leaping over obstacles object space of clean robot as described above is realized The step of method.
In addition, the present invention also provides a kind of computer readable storage mediums, which is characterized in that the computer-readable storage The across obstacle program of clean robot is stored on medium, the across obstacle program of the clean robot is by processor The step of across obstacle method of clean robot as described above is realized when execution.
In the scheme of the application, clean robot, which can control the driving wheel and adjust the position of the clean robot, makes institute The head of clean robot is stated towards the barrier.The adjustment process of driving wheel may include retreat, turn to and pose adjustment, Barrier described in direction of advance face of the head of clean robot towards the barrier, that is, clean robot.Described in driving When driving wheel crosses over the barrier, the two mopping parts positioned at clean robot two sides make the frictional force phase being subject to respect to inward turning To outside, two mopping parts of inward turning will do it a spontaneous feedback adjustment, enable clean robot always perpendicular to low Short barrier extending direction advances.Thus, it is possible to avoid crossing over process transfer to even skidding, to keep clean robot suitable Benefit crosses over low obstructions.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the stereoscopic schematic diagram of clean robot provided in an embodiment of the present invention；
Fig. 2 is that clean robot shown in Fig. 1 removes the structural schematic diagram after partial shell；
Fig. 3 is the bottom view of clean robot shown in Fig. 1；
Fig. 4 is another structural schematic diagram of clean robot shown in Fig. 1；
Fig. 5 is a kind of front view of base station provided in an embodiment of the present invention；
Fig. 6 is that the stereoscopic schematic diagram after top cover is opened in base station shown in fig. 5；
Fig. 7 is another structural schematic diagram of base station shown in Fig. 5；
Fig. 8 is the schematic diagram that clean robot drives towards base station；
Fig. 9 is the schematic diagram that clean robot rests in the state on base station；
Figure 10 is the process refinement schematic diagram of the cleaning control method first embodiment of clean robot of the invention；
Figure 11 is clean robot of the invention across barrier process schematic；
Figure 12 is the another across barrier process schematic of clean robot of the invention；
Figure 13 is clean robot of the invention along crack approach schematic diagram；
Figure 14 is the another along crack approach schematic diagram of clean robot of the invention；
Figure 15 is the flow diagram of the cleaning control method second embodiment of clean robot of the invention；
Figure 16 is the flow diagram of the cleaning control method 3rd embodiment of clean robot of the invention；
Figure 17 is the flow diagram of the cleaning control method fourth embodiment of clean robot of the invention；
Figure 18 is the flow diagram of the 5th embodiment of cleaning control method of clean robot of the invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its His embodiment, shall fall within the protection scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of clean robot 100, which can be used for pair Ground carries out automatic floor cleaning cleaning, and the application scenarios of clean robot 100 can be home interior cleaning, large-scale place cleaning Deng.
Fig. 1 is the stereoscopic schematic diagram of clean robot 100 provided in an embodiment of the present invention, and Fig. 2 is that machine is cleaned shown in Fig. 1 People 100 removes the structural schematic diagram after partial shell, and Fig. 3 is the bottom view of clean robot 100 shown in Fig. 1, and Fig. 4 is Fig. 1 institute Show another structural schematic diagram of clean robot 100.
As shown in Figures 1 to 4, clean robot 100 includes robot body 101, driving motor 102, sensor unit 103, robot controller 104, battery 105, walking unit 106, robot memory 107, robot communication unit 108, machine Device people interactive unit 109, mopping part 110 and charging unit 111 etc..
Robot body 101 can be circular configuration, square structure etc..In embodiments of the present invention, with robot body 101 is are illustrated for D character form structure.As shown in Figure 1,101 front of robot body is the rectangular configuration of rounded corner, rear portion For semicircular structure.In embodiments of the present invention, robot body 101 is bilateral symmetry.
Mopping part 110 is used to carry out ground the cleaning that mops floor, and the quantity of mopping part 110 can be one or more.Mopping Part 110 is, for example, mop.The bottom of robot body 101, the specially bottom of robot body 101 is arranged in mopping part 110 Forward position.It is equipped with driving motor 102 inside robot body 101, stretches out two in the bottom of robot body 101 and turns Axis, mopping part 110 are socketed in shaft.Driving motor 102 can drive shaft to rotate, so that shaft drives mopping part 110 to rotate.
Walking unit 106 is component relevant to the movement of clean robot 100, and walking unit 106 includes driving wheel 1061 and universal wheel 1062.The steering and movement of clean robot 100 are realized in universal wheel 1062 and the cooperation of driving wheel 1061.In machine The position at rear portion is leaned in the bottom surface of device human agent 101, and a driving wheel 1061 is respectively arranged in the right and left.Universal wheel 1062 is arranged in machine On the center line of the bottom surface of device human agent 101, and it is located between two mopping parts 110.
Wherein, each driving wheel 1061 is equipped with driving wheel motor, under the drive of driving wheel motor, 1061 turns of driving wheel It is dynamic.After driving wheel 1061 rotates, drive clean robot 100 mobile.By controlling the rotational speed difference of left and right sidesing driving wheel 1061, controllably The steering angle of clean robot 100 processed.
Fig. 4 is another structural schematic diagram of clean robot 100 shown in Fig. 1.
Robot controller 104 is arranged inside robot body 101, and robot controller 104 is for controlling cleaner Device people 100 executes specific operation.The robot controller 104 for example can be central processing unit (Central Processing Unit, CPU) or microprocessor (Microprocessor) etc..As shown in figure 4, robot controller 104 with Battery 105, robot memory 107, driving motor 102, walking unit 106, sensor unit 103 and robot interactive The equal components electrical connection of unit 109, to control these components.
Battery 105 is arranged inside robot body 101, and battery 105 is used to provide electric power for clean robot 100.
Charging unit 111 is additionally provided on robot body 101, which is used to obtain electric power from external equipment, To charge to the battery 105 of clean robot 100.
Robot memory 107 is arranged on robot body 101, is stored with program in robot memory 107, the journey Sequence realizes corresponding operation when being executed by robot controller 104.Robot memory 107 is also used to store for clean robot 100 parameters used.Wherein, robot memory 107 includes but is not limited to magnetic disk storage, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), optical memory etc..
Robot communication unit 108 is arranged on robot body 101, and robot communication unit 108 is for allowing cleaner Device people 100 and external equipment communicate, and robot communication unit 108 includes but is not limited to Wireless Fidelity (WIreless- Fidelity, WI-FI) communication module 1081 and short-range communication module 1082 etc..Clean robot 100 can pass through WI-FI Communication module 1081 connects WI-FI router, to be communicated with terminal.Clean robot 100 passes through short haul connection mould Block 1082 is communicated with base station.Wherein, base station is the cleaning equipment for cooperating clean robot 100 to use.
The sensor unit 103 being arranged on robot body 101 includes various types of sensors, such as laser radar 1031, crash sensor 1032, range sensor 1033, fall sensor 1034, counter 1035 and gyroscope 1036 etc..
The top of robot body 101 is arranged in laser radar 1031, and at work, laser radar 1031 rotates, and leads to The transmitter transmitting laser signal on laser radar 1031 is crossed, laser signal is reflected by barrier, thus laser radar 1031 Receiver receives the laser signal that barrier is reflected back.The circuit unit of laser radar 1031 by received laser signal into Row analysis, can be obtained the environmental information of surrounding, such as the distance and angle etc. of barrier relative laser radar 1031.In addition, Camera can be used to substitute laser radar, be analyzed by the barrier in the image that is shot to camera, obstacle also can be obtained Distance, angle etc. of the object with respect to camera.
Crash sensor 1032 includes collision shell 10321 and trigger sensor 10322.Collide 10321 wrapping machine of shell Head and the robot body of robot body 101 is arranged in the head of device human agent 101, specifically, collision shell 10321 Front position is leaned in 101 left and right sides.The setting of trigger sensor 10322 is in 101 inside of robot body and is located at collision shell After 10321.Resilient snubber is equipped between collision shell 10321 and robot body 101.When clean robot 100 is logical When crossing collision shell 10321 and barrier and colliding, collision shell 10321 is to moving inside clean robot 100, and the elasticity of compression Bolster.In collision shell 10321 to after moving a certain distance inside clean robot 100, collision shell 10321 and triggering are passed Sensor 10322 contacts, and trigger sensor 10322, which is triggered, generates signal, which can be transmitted the machine in robot body 101 Device people controller 104, to be handled.After having touched barrier, clean robot 100 is far from barrier, in resilient snubber Under the action of, collision shell 10321 is moved back to original position.As it can be seen that crash sensor 1032 can detect barrier, and works as and touch After bumping against barrier, buffer function is played.
Range sensor 1033 is specifically as follows infrared detection sensor, can be used for detecting barrier to range sensor 1033 distance.The side of robot body 101 is arranged in range sensor 1033, to can be surveyed by range sensor 1033 It is located at the distance value of the barrier near 100 side of clean robot to range sensor 1033 out.Range sensor 1033 It can be ultrasonic distance-measuring sensor, laser range sensor or depth transducer etc..
Fall the bottom margin that robot body 101 is arranged in sensor 1034, quantity can be one or more.When clear When clean robot 100 is moved to the marginal position on ground, by fall sensor 1034 it is detectable go out clean robot 100 have from The risk that eminence is fallen stops mobile or falls toward separate thereby executing corresponding dropproof reaction, such as clean robot 100 Direction movement that dropping place is set etc..
Counter 1035 and gyroscope 1036 are additionally provided in the inside of robot body 101.Counter 1035 is used for drive The rotational angle sum of driving wheel 1061 is added up, to calculate the distance that driving wheel 1061 drives clean robot 100 mobile Length.Gyroscope 1036 is used to detect the angle of the rotation of clean robot 100, to can determine that the court of clean robot 100 To.
Robot interactive unit 109 is arranged on robot body 101, and user can pass through 109 He of robot interactive unit Clean robot 100 interacts.Robot interactive unit 109 is for example including the portions such as switch button 1091 and loudspeaker 1092 Part.User can be controlled clean robot 100 and be started work or stopped working by push switch button 1091.Clean robot 100 can be by loudspeaker 1092 to user's playing alert tones.
It should be understood that the clean robot 100 of description of the embodiment of the present invention is a specific example, not to the present invention The clean robot 100 of embodiment constitutes specific restriction, and the clean robot 100 of the embodiment of the present invention can also be other tools Body implementation.For example, clean robot can have more than clean robot 100 shown in FIG. 1 in other implementations More or less component.
The embodiment of the invention also provides a kind of base station 200, base station 200 is used for and clean robot 100 is used cooperatively, example Such as, base station 200 can be charged to clean robot 100, base station 200 can provide stop position to clean robot 100 Deng.Base station 200 can also clean the mopping part 110 of clean robot 100.Wherein, mopping part 110 is for mopping floor to ground Cleaning.
Fig. 5 is a kind of front view of base station 200 provided in an embodiment of the present invention.Fig. 6 is base station 200 shown in fig. 5 opening Stereoscopic schematic diagram after top cover 201.
As shown in Figure 5 and Figure 6, the base station 200 of the embodiment of the present invention includes base station body 202, rinse bath 203 and water tank 204。
Rinse bath 203 is arranged in base station body 202, and rinse bath 203 is used to clean the mopping part 110 of clean robot. The cleaning rib 2031 being arranged on rinse bath 203 can carry out scraping cleaning to mopping part 110.
It is equipped in base station body 202 into notch 205, enters notch 205 and lead to rinse bath 203.Clean robot 100 can lead to It crosses and drives into base station 200 into notch 205, so that clean robot 100 rests in the default stop position on base station 200.
Water tank 204 is arranged in base station body 202, and water tank 204 specifically includes filtered water tank and foul water tank.Filtered water tank is for depositing Store up cleaning water.It is rested on base station 200 in clean robot 100, the mopping part 110 of clean robot 100 is placed in cleaning On slot 203.Filtered water tank provides cleaning water to rinse bath 203, and cleaning water is for cleaning mopping part 110.Then, mopping is cleaned Dirty water after part 110 is collected into foul water tank.Top cover 201 is equipped in base station body 202, user is by opening top cover 201, water tank 204 can be taken out from base station body 202.
Fig. 7 is another structural schematic diagram of base station 200 shown in Fig. 5.
Refering to Fig. 7, the base station 200 of the embodiment of the present invention further includes base station controller 206, base station communication unit 207, base station Memory 208, water pump 209 and base station interactive unit 210 etc..
Base station controller 206 is arranged inside base station body 202, and base station controller 206 executes tool for control base station 200 The operation of body.Base station controller 206 for example can be central processing unit (Central Processing Unit, CPU) or micro- Processor (Microprocessor) etc..Wherein, base station controller 206 and base station communication unit 207, base station memory 208, water Pump 209 and base station interactive unit 210 are electrically connected.
Base station memory 208 is arranged in base station body 202, is stored with program on base station memory 208, the program is by base Station control 206 realizes corresponding operation when executing.Base station memory 208 is also used to store the parameter used for base station 200.Its In, base station memory 208 includes but is not limited to magnetic disk storage, CD-ROM, optical memory etc..
Water pump 209 is arranged inside base station body 202, and specifically, there are two water pumps 209, and a water pump 209 is for controlling Filtered water tank processed provides cleaning water to rinse bath 203, another water pump 209 is used to clean the dirty water receipts after mopping part 110 Collect in foul water tank.
Base station communication unit 207 is arranged in base station body 202, and base station communication unit 207 is used for and external equipment carries out Communication, base station communication unit 207 include but is not limited to Wireless Fidelity (WIreless-Fidelity, WI-FI) communication module 2071 With short-range communication module 2072 etc..Base station 200 can connect WI-FI router by WI-FI communication module 2071, thus with Terminal is communicated.Base station 200 can be communicated by short-range communication module 2072 with clean robot 100.
Base station interactive unit 210 is used for and user interacts.Base station interactive unit 210 is for example including 2101 He of display screen Control button 2102, display screen 2101 and control button 2102 are arranged in base station body 202, and display screen 2101 is used for user Show information, control button 2102 is used to carry out pressing operation for user, with the booting of control base station 200 or shutdown etc..
Power supply part is additionally provided in base station body 202, and clean robot is equipped with charging unit 111, when cleaning machine After people 100 rests in the default stop position on base station 200, the charging unit 111 of clean robot 100 and the confession of base station 200 Electrical components contact, so that base station 200 is charged to clean robot 100.Wherein, the electric energy of base station 200 can derive from alternating current.
Hereafter the process of 200 cooperating of clean robot 100 and base station is illustrated:
Clean robot 100 cleans the ground in room, when the electricity of the battery 105 on clean robot 100 is few When default power threshold, as shown in figure 8, clean robot 100 drives towards base station 200 automatically.Clean robot 100 passes through base station The notch 205 that enters on 200 enters base station 200, and rests in the default stop position on base station 200.Clean robot 100 is stopped State on base station 200 sees Fig. 9.
At this point, the power supply part contact on charging unit 111 and base station 200 on clean robot 100, base station 200 from Alternating current obtains electric power, and is charged by power supply part and charging unit 111 to the battery 105 of clean robot 100.Cleaning After robot 100 is fully charged, base station 200 is sailed out of, continues to clean room floors.
Clean robot 100 can be used for carrying out the cleaning that mops floor to ground.Clean robot 100 mops floor one section to room floors Time, after the dirty dirt of mopping part 110, clean robot 100 drives towards base station 200.Clean robot 100 passes through on base station 200 Enter notch 205 and enter base station 200, and rests in the default stop position on base station 200.Clean robot 100 rests in base station State on 200 sees Fig. 9.At this point, the mopping part 110 of clean robot 100 is accommodated on rinse bath 203, in water pump 209 Under the action of, the cleaning water of the filtered water tank in base station 200 flows to rinse bath 203, is sprayed by the feed liquor structure on rinse bath 203 The cleaning rib 2031 of protrusion on mopping part 110, while in mopping part 110 and clean tank scrapes, to realize to mopping part 110 cleaning.Dirty water after cleaning mopping part 110 flows out rinse bath 203 from the drainage structure in clean tank, in water pump 209 Under the action of, dirty water is collected into foul water tank.
It should be understood that the base station 200 of description of the embodiment of the present invention is a specific example, not to the embodiment of the present invention Base station 200 constitute specific restriction, the base station 200 of the embodiment of the present invention can also be other specific implementations, for example, this The base station 200 of inventive embodiments can not include water tank 204, and base station body 202 can connect running water pipe and drainpipe, thus Using the mopping part 110 of the tap water cleaning clean robot 100 of running water pipe, the dirty water after cleaning mopping part 110 is by clear Washing trough 203 flows out base station 200 by drainpipe.Alternatively, base station can be than base station shown in fig. 5 in other implementations 200 have more or fewer components.
In clean robot shown in Fig. 4, controller 104 can be used for calling the cleaner stored in memory 107 The obstacle detouring program of device people, and execute following operation:
Detection encounters barrier during cleaning, judges whether the obstacle information has obtained；
When judging that the obstacle information has not been obtained, control the clean robot execution makes along barrier cleaning mode The clean robot is cleaned along the barrier；
When judging that the obstacle information obtained, and judging that the barrier need to be crossed over, control clean robot is held Row across obstacle mode makes the clean robot across the barrier.
Further, controller 104 can be used for calling the obstacle detouring program of the clean robot stored in memory 107, Also execute following operation:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, across the barrier.
Further, controller 104 can be used for calling the obstacle detouring program of the clean robot stored in memory 107, Also execute following operation:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and adjusts two in real time The output torque or output speed of driving wheel remain at the clean robot and the angle deviating of the barrier In preset range.
Further, the clean robot includes angular transducer, and the angular transducer is used to detect the cleaning The preset range of the angle deviating of the angle of robot and the barrier, the clean robot and the barrier is β, control Device 104 processed can be used for calling the obstacle detouring program of the clean robot stored in memory 107, also execute following operation:
The clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception afterwards between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to cleaning machine The angular speed opposite with the clean robot offset direction of people one is inclined come the angle for adjusting the clean robot and barrier From remaining in preset range β, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t.
Further, controller 104 can be used for calling the edge barrier program of the clean robot stored in memory 107, Also execute following operation:
Judge whether the barrier is low obstructions；
When judging the barrier for low obstructions, the clean robot, which is executed, makes the cleaning along barrier mode Barrier described in Robot carries out clean method
Drive output speed of the mopping part outward turning perhaps in static driving wheel far from one side drive wheel of barrier or Output torque is greater than output speed or output torque close to one side drive wheel of barrier, makes the clean robot edge The barrier is cleaned.
Further, controller 104 can be used for calling the obstacle detouring program of the clean robot stored in memory 107, Also execute following operation:
It is continuously available to one angular speed preset value of clean robot；
When clean robot angular speed is 0, the angular speed preset value is greater than 0；
When clean robot angular speed is greater than 0, angular speed output valve is more than or equal to the angular speed preset value；Control is clear Clean robot, which constantly adjusts clean robot by the output angular speed output valve, to be made far from one side drive wheel of barrier Speed be greater than close one side drive wheel of barrier speed.
Further, the clean robot includes sension unit, and controller 104 can be used for calling in memory 107 The edge barrier program of the clean robot of storage, also executes following operation:
Judge whether the barrier is low obstructions；
When judging the barrier for low obstructions, the clean robot, which is executed, makes the cleaning along barrier mode Barrier described in Robot carries out clean method
Mopping part outward turning or static is driven, the driving force that the clean robot one advances, the sension unit are provided The clean robot is controlled by receiving the variation of perception data to deviate or make clean robot close to the barrier Always it is cleaned along barrier；The variation of the perception data be signal increase perhaps weaken or signal from without to Have or from having nothing.
Further, the clean robot includes low obstructions detection sensor, low obstructions detection sensor It is set on clean robot chassis and is set to mopping part front and clean robot both sides of the edge and clean robot front end Between corner, low obstructions detection sensor is less than cleaning machine for detecting low obstructions, by obstacle height The barrier of height of the people chassis apart from ground is defined as low obstructions, drives mopping part outward turning or static, provides described The driving force that clean robot one advances, the sension unit control the cleaning machine by receiving the variation of perception data People deviates or cleans clean robot along barrier always close to the barrier；Controller 104 can be used for adjusting With the edge barrier program of the clean robot stored in memory 107, following operation is also executed:
When the sension unit receives the first perception data of the low obstructions detection sensor output, institute is controlled It states clean robot to deviate barrier pre-determined distance and cleaned along barrier, wherein first perception data indicates institute Signal when low obstructions detection sensor detects low obstructions is stated, sension unit receives the low obstructions inspection When surveying the second perception data of sensor output, controls the clean robot and cleaned close to barrier；Wherein, the second sense Primary data indicates signal when low obstructions are not detected in the low obstructions detection sensor, until receiving described low When the first perception data of short detection of obstacles sensor output, control the clean robot deviate barrier pre-determined distance and It is cleaned along barrier, repeating this step repeatedly cleans the clean robot along barrier；Wherein, described First perception data is greater than second perception data or the second perception data is greater than the first perception data；Or first sense When primary data is 0, the second perception data is not equal to 0；Or second perception data be 0 when, first perception data is not equal to 0。
Further, the clean robot includes sension unit and cleaning motor, and controller 104, which can be used for calling, to be deposited The edge barrier program of the clean robot stored in reservoir 107, also executes following operation:
The perception data judgement that sension unit receives cleaning driving motor output during cleaning detects barrier；Its In, the perception data of cleaning driving motor motor output is that the electric current of endless screw electric motor increases and/or the revolving speed of endless screw electric motor reduces.
Further, the clean robot includes sension unit and cleaning motor, and controller 104, which can be used for calling, to be deposited The edge barrier program of the clean robot stored in reservoir 107, also executes following operation:
The perception data that sension unit receives acceleration transducer output during cleaning judges the barrier to be low Short barrier；Wherein, it is more than pre- that the perception data of acceleration transducer output, which is the acceleration value fluctuation range of clean robot, If value.
Further, the clean robot includes low obstructions detection sensor, and the low obstructions detection passes Sensor is set on clean robot chassis and is set to mopping part front and clean robot both sides of the edge and clean robot Corner between front end, low obstructions detection sensor is for detecting height value of the clean robot chassis apart from ground And/or the hardness of the detection clean robot lower section barrier, controller 104 can be used for calling to be deposited in memory 107 The edge barrier program of the clean robot of storage, also executes following operation:
The perception data that sension unit receives the output of low obstructions detection sensor during cleaning judges the barrier Hindering object is low obstructions；Wherein, the perception data of low obstructions detection sensor output is that the height value is less than cleaning The signal of height and/or low obstructions detection sensor output of the robot chassis apart from ground weakens.Short obstacle If this kind of obstacle of owner's threshold, step, carpet.
Further, controller 104 can be used for calling the edge barrier program of the clean robot stored in memory 107, Also execute following operation:
During cleaning sension unit receive the perception data that has obtained judge the barrier for low obstructions, institute Stating the perception data obtained includes obstacle information or having passed through the forward position of clean robot in the cartographic information obtained The obstacle information obtained in barrier operating process.
Further, the clean robot includes non-low obstructions detection sensor, and the non-low obstructions are used In detecting non-low obstructions, controller 104 can be used for calling the edge barrier journey of the clean robot stored in memory 107 Sequence also executes following operation:
Judge whether the barrier is low obstructions；
When judging the barrier for non-low obstructions, the clean robot execution makes described clear along barrier mode Barrier described in clean Robot carries out clean method
Mopping part outward turning or static is driven, the information for the barrier that non-low obstructions detection sensor detects is passed through Feedback makes the clean robot always apart from barrier certain predetermined distance and is cleaned along the barrier.(the biography Sensor includes infrared sensor, laser radar sensor and touch sensor) further, the clean robot controller 104 can be used for calling the edge barrier program of the clean robot stored in memory 107, also execute following operation:
When judging that the obstacle information obtained, and when judgement is not needed across the barrier, control cleaning machine People, which executes, cleans the clean robot along the barrier along barrier mode.
Further, the clean robot and a base station cooperate, and base station is used to charge to clean robot, the cleaning The operating mode of robot includes charge mode, and controller 104 can be used for calling the clean robot stored in memory 107 Obstacle detouring program, also execute following operation:
Receive low battery pre-warning signal；
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the base station, and clean robot is made to enter base station charging complete charging mould Formula.
Further, the clean robot and a base station cooperate, and base station is used to clean the mopping of the clean robot Part, the operating mode of the clean robot include clean and wipe part mode, and controller 104 can be used for calling memory 107 The obstacle detouring program of the clean robot of middle storage also executes following operation:
Receive the dirty pre-warning signal of mopping part；
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the base station, so that clean robot is entered base station cleaning support and wipes part completion clearly Clean mopping part mode.
Further, controller 104 can be used for calling the obstacle detouring program of the clean robot stored in memory 107, Also execute following operation:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and adjusts two in real time The output torque or output speed of driving wheel remain at the clean robot and the angle deviating of the barrier In preset range.
Further, the clean robot includes angular transducer, and the angular transducer is used to detect the cleaning The preset range of the angle deviating of the angle of robot and the barrier, the clean robot and the barrier is β, control Device 104 processed can be used for calling the obstacle detouring program of the clean robot stored in memory 107, also execute following operation:
The clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception afterwards between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to cleaning machine The angular speed opposite with the clean robot offset direction of people one is inclined come the angle for adjusting the clean robot and barrier From remaining in preset range β, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t.
The specific embodiment of clean robot of the invention and the across obstacle method of following clean robots are respectively implemented Example is essentially identical, and therefore not to repeat here.
Clean robot bottom of the invention is provided at least two mopping parts, the quantity of mopping part can for 2,4 or Person 6, multiple mopping parts are symmetrically distributed in the two sides of the bottom of clean robot.
Figure 10 is the flow diagram of the cleaning control method first embodiment of clean robot of the present invention, and the present embodiment mentions The cleaning control method of the clean robot of confession includes:
S10, detection encounters barrier during cleaning, judges whether the obstacle information has obtained；
When clean robot detects barrier during cleaning, first determine whether the obstacle information has obtained It takes.Obstacle information can be stored in advance by user or clean robot is obtained along barrier walking process.
S20 controls the clean robot and executes along barrier cleaning mould when judging that the obstacle information has not been obtained Formula cleans the clean robot along the barrier；
When judging that the obstacle information has not been obtained, control the clean robot execution makes along barrier cleaning mode The clean robot is cleaned along the barrier, and robot can pass through along the clean process of barrier progress The location information of the barrier is got to the record in path, and is stored in clean robot.
S30, when judging that the obstacle information obtained, and judging that the barrier need to be crossed over, control cleaning machine People, which executes across obstacle mode, makes the clean robot across the barrier.
When judging that the obstacle information obtained, and judging that the barrier need to be crossed over, control clean robot is held Row across obstacle mode makes the clean robot across the barrier.Wherein, judge whether that the barrier need to be crossed over It is determined by the mission planning of clean robot at this time, if clean robot need to enter another region at this time or room progress is clear It is clean, then judge that the barrier need to be crossed over.
In the scheme of the application, when clean robot detects barrier during cleaning, the obstacle is first determined whether Whether object information has obtained.Obstacle information can be stored in advance by user or clean robot is along barrier walking process Middle acquisition.When judging that the obstacle information has not been obtained, control the clean robot execution makes along barrier cleaning mode The clean robot is cleaned along the barrier, and robot can pass through along the clean process of barrier progress The location information of the barrier is got to the record in path, and is stored in clean robot.When judging barrier letter When ceasing and obtained, and judging that the barrier need to be crossed over, control clean robot, which executes across obstacle mode, makes the cleaning The barrier is crossed over by robot.When judging that the obstacle information obtained, and when judgement is not required to across the barrier, control Clean robot processed, which is executed, cleans the clean robot along the barrier along barrier mode.The cleaning of the application Robot can recline always barrier walking during along barrier, will be clean beside barrier, or across barrier Object is hindered to clear up other regions.Root when the existing wheeled clean robot with turntable being enabled to encounter barrier during the work time It smoothly completes according to actual conditions across barrier or along barrier work.
As a specific embodiment of the invention, the control clean robot execution across obstacle mode makes described clear Clean robot includes: across the method for the barrier
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, across the barrier.
In present embodiment, clean robot can control the driving wheel adjust the clean robot position make it is described The head of clean robot is towards the barrier.The adjustment process of driving wheel may include retreat, turn to and pose adjustment, clearly Barrier described in direction of advance face of the head of clean robot towards the barrier, that is, clean robot.Driving the drive When driving wheel crosses over the barrier, the two mopping parts positioned at clean robot two sides make the frictional force being subject to opposite with respect to inward turning Outward, two mopping parts of inward turning will do it a spontaneous feedback adjustment, enable clean robot always perpendicular to short Barrier extending direction advances.Thus, it is possible to avoid crossing over process transfer to even skidding, to keep clean robot smooth Across low obstructions.
Specifically, for incorporated by reference to structure shown in attached drawing 11 and attached drawing 12, when clean robot is carried out across short obstacle After the preparation of object, make the opposite inward turning of two mopping part 110, it is possible to understand that, inside soon turntable is rotated towards inside.When vertical view ground On robot when, the right mopping part 110 rotates clockwise at this time, and the right mopping part 110 rotates counterclockwise, two mopping parts 110 Opposite inward turning makes the frictional force being subject to outside.As shown in Fig. 10, closer with barrier when the right side of robot, and machine The left side of people and barrier farther out when (direction of advance of robot is not exactly perpendicularly to barrier), the right rotated counterclockwise is dragged Barrier can first be contacted by wiping part 110, barrier to the right mopping part 110 frictional force F1 towards robot the right mopping part 110 side generates a clockwise angular acceleration to robot, so that the left side of robot is closer to barrier, The direction of advance of robot is perpendicular to barrier.When the direction of advance of robot is perpendicular to barrier, the right mopping part 110 by To the frictional force F2 that is just subject to left side mopping part 110 of frictional force F1 cancel out each other.It, may in the preparation of robot The direction of advance that not can guarantee clean robot accurately makes extending direction perpendicular to barrier, but is driving the driving wheel When the 1061 leap barrier, two mopping parts 110 of inward turning will do it a spontaneous feedback adjustment, so that clean robot It can be as far as possible perpendicular to before low obstructions and then smoothly across low obstructions.
As further embodiment of the invention, clean robot two sides are located in the control mopping part Two mopping parts with respect to inward turning and drive the driving wheel that the clean robot head is made to advance towards the barrier, cross over The method of the barrier includes:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and adjusts two in real time The output torque or output speed of driving wheel remain at the clean robot and the angle deviating of the barrier In preset range.
In the present embodiment, clean robot it is across barrier during, determine the clean robot and the obstacle in real time The angle of object, the angle information between the head direction and the extending direction of the barrier of the specially described clean robot, Angle information can be obtained by gyro sensor or laser radar.Angle information is illustrated for 90 degree, when angle is in At 90 degree, then the advance side of clean robot perpendicular to step extending direction, by adjusting two driving wheels output torque or Person's output speed makes the clean robot carry out the adjustment in angle, guarantees that the angle of clean robot and the barrier is inclined From remaining within a preset range, so as to smooth obstacle detouring.Specially make speed on the left of clean robot and right side Speed generate speed difference, thus make clean robot generate an angular acceleration, this angular acceleration make clean robot with The angle deviating of the barrier remains that within a preset range the angle information is not construed as limiting, and can be any angle.
In order to carry out a feedback, cleaning to the left and right sides velocity amplitude for adjusting the driving mechanism according to the angle information Angular acceleration transducer is also provided in robot, the left and right sides speed difference of driving wheel can make clean robot generate one A angular acceleration, the information for the angular acceleration that angular acceleration transducer obtains.The angle obtained based on angular acceleration transducer The information of acceleration, the left and right sides velocity amplitude of feedback adjustment driving wheel, achievees the purpose that closed-loop control.Wherein, angular acceleration passes Sensor can be gyroscope, and gyroscope detects the circumferential angular acceleration of clean robot.
Further, the clean robot includes angular transducer, and the angular transducer is used to detect the cleaning The preset range of the angle deviating of the angle of robot and the barrier, the clean robot and the barrier is β, institute It states driving clean robot and adjusts the angle of the clean robot Yu the barrier in real time, by adjusting two driving wheels Output torque or output speed make the clean robot and the angle deviating of the barrier remain at preset range Interior method includes:
The clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception afterwards between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to cleaning machine The angular speed opposite with the clean robot offset direction of people one is inclined come the angle for adjusting the clean robot and barrier From remaining in preset range β, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t.
Angular transducer is provided in the present embodiment, on clean robot to be used to detect the clean robot and the barrier Hinder the angle of object, and the range of the angle deviating of booking cleaning robot and the barrier is β, when clean robot is being crossed over When detecting deviation angle α > β in obstructive process, then clean robot one and the clean robot offset direction phase are supplied to Anti- angular speed remains in preset range β to adjust the angle deviating of the clean robot and barrier.Wherein, angle The size of speed can be determined by default adjustment time, it is assumed that the permission maximum time of adjustment angle is t, then angular velocity omega is big It is small are as follows: ω=(alpha-beta)/t.
As a specific embodiment of the invention, clean robot two sides are located in the control mopping part Two mopping parts are with respect to inward turning and drive the driving wheel that the clean robot head is made to advance towards the barrier, across institute The method for stating barrier includes:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, when across the barrier, drives the cleaning machine People makes its speed be greater than 0.1m/s.
Further, before starting to cross over further include:
Detect the position of barrier；
Adjusting the clean robot makes the head of the clean robot towards barrier direction.
In present embodiment, after the position of barrier has been determined, controls the driving wheel and adjust the clean robot Position make the head of the clean robot towards the barrier.The adjustment process of driving wheel may include retreating, turning to And pose adjustment, in preferred embodiment, the direction of advance of the head of clean robot towards the barrier, that is, clean robot Barrier described in face is currently to enable the direction of advance of clean robot to be as far as possible perpendicular to the extending direction of barrier Across obstacle is prepared, and the angle between the head and barrier extending direction of clean robot can also be any angle.
Further, the method for the position of the detection barrier includes:
By control the clean robot along barrier edge obtain after a week the barrier location information or The location information of the barrier is read from the cartographic information obtained.
In present embodiment, cartographic information is previously entered in clean robot, in cartographic information, that is, working region Information or room cartographic information, clean robot is according to the position that can read the barrier in the cartographic information obtained Confidence breath.Certainly, clean robot is not necessarily very accurate according to the location information read in the cartographic information obtained.In order to The position for detecting barrier, can also allow the clean robot to obtain the position of the barrier after a week along barrier edge Information, clean robot will record location information of the routing information generation about barrier.
As optional embodiment of the invention, clean robot two sides are located in the control mopping part Two mopping parts are with respect to inward turning and drive the driving wheel that the clean robot head is made to advance towards the barrier, across institute The method for stating barrier includes:
During the clean robot across obstacle, detect that the clean robot skids；
The clean robot is controlled to retreat to apart from barrier certain distance and the driving wheel being driven to make the cleaning Robot head advances towards the barrier and keeps the angle deviating between the clean robot and barrier default In range, across the barrier.
In present embodiment, clean robot, may not due to barrier is shorter after touching barrier Clean robot can be rushed open, clean robot directly skids on barrier.Therefore, the mistake of clean robot across obstacle Whether Cheng Zhong, also detecting the clean robot has there is a situation where skidding, when detecting that the clean robot skids When, control the clean robot retreat to apart from barrier certain distance to release slipping state.Hereafter the driving is driven Wheel makes the clean robot head advance towards the barrier and keep the angle between the clean robot and barrier Degree deviates within a preset range, across the barrier.
Further, clean robot includes sension unit and rear-guard motor, and the rear-guard motor provides driving wheel movement Driving force, station keeping radar and mileage measurement device are additionally provided on the clean robot, the station keeping radar is for determining The location point of the clean robot, the mileage measurement device are used to record the rotation odometer magnitude of the driving wheel, In During the clean robot across obstacle, the method for detecting that the clean robot skids includes:
During clean robot execution is clean across the barrier, it is defeated that the sension unit receives rear-guard motor The rotation odometer magnitude that the signal or sension unit that electric current out increases receive driving wheel output increases and clean robot The constant signal of location point.
In present embodiment, although driving wheel is in rotation status, the position of clean robot can not be changed, and The electric current for also resulting in the output of rear-guard motor increases.In addition, being existed by the variable that mileage measurement device obtains clean robot It changes, but the location point of clean robot is obtained without changing by station keeping radar.Therefore, perception can be passed through Unit receive rear-guard motor output electric current increase signal or receive driving wheel output rotation odometer magnitude increase and The constant signal of the location point of driving wheel is judged as that clean robot is in slipping state, and controls the driving wheel and retreat in advance If apart from backward deviation barrier direction rotation predetermined angle and advancing, work on to release slipping state.
Figure 15 is the flow diagram of the cleaning control method second embodiment of clean robot of the present invention, step S20 tool Body includes:
S21 judges whether the barrier is low obstructions when judging that the obstacle information has not been obtained；
S22 when judging the barrier for low obstructions, drives mopping part outward turning or static, separate in driving wheel The output speed or output torque of one side drive wheel of barrier are greater than the output close to one side drive wheel of barrier Speed or output torque clean the clean robot along the barrier.
In present embodiment, low obstructions are then the barrier on the chassis that height is less than clean robot, can be set The mopping part 110 being placed on the chassis of clean robot is cleaned.When judging the barrier for low obstructions, driving is dragged Wipe part 110 outward turning or static.Wherein, when mopping 110 outward turning of part, frictional force can be generated to barrier, barrier is to cleaning Robot generates one opposite reaction force, and the direction of reaction force and the direction of advance of clean robot are in the same direction, so that The head of robot is closer to barrier, while driving wheel provides forward force, the advance that reaction force and driving wheel provide Power collectively forms the power of clean robot advance, and clean robot is promoted to be cleaned along barrier edge.In addition, also controlling Output speed or output torque in driving wheel far from one side drive wheel of barrier are greater than close to the barrier side The output speed or output torque of driving wheel, clean the clean robot along the barrier.
Please specifically in conjunction with attached drawing 13 and attached drawing 14, in present embodiment, since driving wheel 1061 is far from the barrier The speed or output torque of side are greater than speed or output torque close to the barrier side, can be to clean robot Generating one offsets clean robot to the reaction force F1 of clean robot close to the power F4, F4 and barrier of barrier. When clean robot is far from barrier, F1 can become smaller until disappearing, and the F4 that driving wheel 1061 generates will allow clean robot It is again adjacent to barrier.When Robot barrier drives to corner, clean robot is disengaged with barrier, cleaning Robot is only driven the power F3 and F4 that wheel 1061 generates, and F4 makes clean robot towards the directional steering close to barrier, Continue after steering close to and along barrier work.
In addition, clean robot includes sension unit, clean mistake is carried out along barrier edge in control clean robot Cheng Zhong, can provide the driving force that the clean robot one advances, the sension unit by receive the variation of perception data come Controlling cleans clean robot along barrier always described in the clean robot deviation or the close barrier； The variation of the perception data be signal increase perhaps weaken or signal from scratch or from having nothing.This implementation In mode, sension unit can by judging the parameters such as the distance between clean robot and barrier, angle, to driving wheel into Row feedback regulation, perception data change with the variation of relative positional relationship between clean robot and barrier, perceive number According to variation can cash the increase for signal perhaps weaken or signal from scratch or from having to nothing, thus to clear Clean robot is adjusted in real time, is always maintained at clean robot along barrier walking.
As the preferred embodiment of the present invention, the clean robot includes low obstructions detection sensor, short Detection of obstacles sensor is set on clean robot chassis and is set to mopping part front and clean robot both sides of the edge With the corner between clean robot front end, low obstructions detection sensor is for detecting low obstructions, by barrier The barrier that height is less than height of the clean robot chassis apart from ground is defined as low obstructions, described to provide the cleaning The driving force that robot one advances, the sension unit are inclined to control the clean robot by the variation for receiving perception data Make clean robot carry out clean method along barrier always from or close to the barrier to include:
When the sension unit receives the first perception data of the low obstructions detection sensor output, institute is controlled Clean robot is stated to deviate barrier pre-determined distance and cleaned along barrier,
Wherein, first perception data indicates when the low obstructions detection sensor detects low obstructions Signal controls the cleaning when sension unit receives the second perception data of the low obstructions detection sensor output Robot is cleaned close to barrier；
Wherein, the second perception data indicates letter when low obstructions are not detected in the low obstructions detection sensor Number, until controlling the clean robot when receiving the first perception data of the low obstructions detection sensor output Deviate barrier pre-determined distance and cleaned along barrier, repeating this step repeatedly makes the clean robot along obstacle Object is cleaned；Wherein, first perception data is greater than second perception data or the second perception data is greater than first Perception data；Or first perception data be 0 when, the second perception data be not equal to 0；Or second perception data be 0 when, it is described First perception data is not equal to 0.
In present embodiment, clean robot, which controls the clean robot by sension unit, to be deviateed or close to institute State barrier.When clean robot touches barrier, the first perception data can be obtained；When clean robot deviates the barrier When hindering object, the second perception data can be obtained.Wherein, low obstructions detection sensor is set on clean robot chassis and sets It is placed in mopping part front and the corner between clean robot both sides of the edge and clean robot front end, so that low obstructions Detection sensor can be in contact with low obstructions and the first perception data occurs to sension unit.Clean robot passes through First perception data determines the position of barrier, and when receiving the first perception data, it is inclined to control the clean robot It is cleaned from barrier pre-determined distance and along barrier.
Wherein, the barrier that the obstacle height is less than height of the clean robot chassis apart from ground is defined as low Short barrier.When sension unit reception perception data judges the barrier for short obstacle to clean robot during cleaning Object controls the speed in the driving wheel far from one side drive wheel of barrier and is greater than close to one side drive wheel of barrier Speed, clean the clean robot along the barrier.Low obstructions may include carpet, short step, The barriers such as doorframe chimb.
As the preferred embodiment of the present invention, the clean robot includes cleaning driving motor, cleans driving motor There is provided the power of mopping part movement, sension unit during cleaning receives perception data and judges the barrier to be short The method of barrier includes:
The perception data that sension unit receives cleaning driving motor output during cleaning judges the barrier to be low Short barrier；Wherein, the perception data of cleaning driving motor output is the electric current increase of endless screw electric motor and/or turning for endless screw electric motor Speed reduces.
In present embodiment, since clean robot may touch barrier during detecting barrier, It will lead to the variation of cleaning driving motor output data when mopping part and barrier are touched, sension unit receives cleaning and drives The perception data of dynamic motor output judges the barrier for low obstructions.Wherein, cleaning driving motor is preferably worm screw electricity Machine, the perception data of cleaning driving motor output are that the electric current of endless screw electric motor increases and/or the revolving speed of endless screw electric motor reduces.
As a kind of optional embodiment of the invention, the clean robot includes acceleration transducer, described clear Sension unit reception perception data judges that the barrier includes: for the method for low obstructions during clean
The perception data that sension unit receives acceleration transducer output during cleaning judges the barrier to be low Short barrier；Wherein, it is more than pre- that the perception data of acceleration transducer output, which is the acceleration value fluctuation range of clean robot, If value.
In present embodiment, clean robot barrier when with barrier impacts can give cleaning one reaction of people Power makes the acceleration of clean robot send variation, this acceleration can both be obtained by measuring the revolving speed of mopping part, It can be obtained by measuring the movement of entire clean robot.If the perception data of acceleration transducer output is cleaning machine The acceleration value fluctuation range of people is more than preset value, and sension unit receives described in the perception data judgement of acceleration transducer output Barrier is low obstructions.Further, the shape of mopping part can be triangle, and acceleration transducer is being dragged by setting It wipes on part and measures acceleration change.The mopping part and barrier of triangle hit when can generate bigger obstruction so that Acceleration value fluctuation range is more than preset value, and the perception data for allowing sension unit to receive acceleration transducer output judges the barrier Hindering object is low obstructions.
Further, the clean robot includes low obstructions detection sensor, and the low obstructions detection passes Sensor is set on clean robot chassis and is set to mopping part front and clean robot both sides of the edge and clean robot Corner between front end, low obstructions detection sensor is for detecting height value of the clean robot chassis apart from ground And/or the hardness of the detection clean robot lower section barrier, sension unit during cleaning receive perception number It is judged that the method that the barrier is low obstructions includes:
The perception data that sension unit receives the output of low obstructions detection sensor during cleaning judges the barrier Hindering object is low obstructions；Wherein, the perception data of low obstructions detection sensor output is that the height value is less than cleaning The signal of height and/or low obstructions detection sensor output of the robot chassis apart from ground weakens.
In present embodiment, clean robot includes low obstructions detection sensor, low obstructions detection sensor It is set on clean robot chassis and is set to mopping part front and clean robot both sides of the edge and clean robot front end Between corner, height value of the clean robot chassis apart from ground can detecte by low obstructions detection sensor And/or the hardness of the detection clean robot lower section barrier.Wherein, low obstructions detection sensor can be ultrasound Wave detector, supersonic detector the case where detecting barrier, are weakened by transmitting sound wave when perception data shows as signal When, then it is judged as low obstructions.Low obstructions detection sensor may be infrared detector, can by infrared detector To measure the height of barrier, when detect height value be less than height of the clean robot chassis apart from ground, then be judged as low Short barrier.
As the specific embodiment of the embodiment of the present invention, the driving mopping part outward turning or static is remote in driving wheel Output speed or output torque from one side drive wheel of barrier are greater than close to the defeated of one side drive wheel of barrier Speed or output torque out, make the clean robot carry out clean method along the barrier to include:
It is continuously available to one angular speed preset value of clean robot；
When clean robot angular speed is 0, the angular speed preset value is greater than 0；
When clean robot angular speed is greater than 0, angular speed output valve is more than or equal to the angular speed preset value；Control is clear Clean robot, which constantly adjusts clean robot by the output angular speed output valve, to be made far from one side drive wheel of barrier Speed be greater than close one side drive wheel of barrier speed.
In present embodiment, in order to enable clean robot can recline, (edge) barrier is walked, and is continuously available to clean One angular speed preset value of robot, when clean robot angular speed is 0, the angular speed preset value is greater than 0；So that cleaner Head can be towards barrier to gradually close to barrier in the walking process of device people.When clean robot angular speed is greater than 0, Angular speed output valve is more than or equal to the angular speed preset value；Clean robot is controlled by exporting the angular speed output valve not Disconnected adjustment clean robot makes the speed far from one side drive wheel of barrier be greater than the close barrier side drive The speed of driving wheel.Make clean robot close to the power F4, F4 and barrier of barrier to clear so that clean robot generates one The reaction force F1 of clean robot is offset.When clean robot is far from barrier, F1 can become smaller until disappearing, and driving wheel generates F4 clean robot will be allowed to be again adjacent to barrier.When Robot barrier drives to corner, clean robot Disengaged with barrier, clean robot is only driven the power F3 and F4 that wheel generates, F4 make clean robot towards close to The directional steering of barrier continues after steering close to and along barrier work.
Further, the clean robot includes sension unit and rear-guard motor, and the rear-guard motor provides driving wheel The driving force of movement controls the speed in the driving wheel far from one side drive wheel of barrier and is greater than close to the barrier The speed of one side drive wheel, makes the clean robot carry out clean method along the barrier to include:
When clean robot execute along the barrier it is clean during, the sension unit receives the output of rear-guard motor Electric current increase signal after or sension unit receive driving wheel output rotation odometer magnitude increase and driving wheel position After setting a little constant signal, control the driving wheel retreat after pre-determined distance to deviate barrier direction rotation predetermined angle and before Into.
In present embodiment, clean robot includes sension unit and rear-guard motor, and provides driving by rear-guard motor Take turns the driving force of movement.During cleaning, the mopping part of clean robot is possible to hang on barrier, cause driving wheel without The case where method moves on.Although driving wheel is in rotation status, the position of clean robot, Er Qiehui can not be changed The electric current for causing rear-guard motor to export increases.Therefore, the electric current increase of rear-guard motor output can be received by sension unit Signal or the signal that the rotation odometer magnitude for receiving driving wheel output increases and the location point of driving wheel is constant, are judged as clear Clean robot is in slipping state, and controls the driving wheel and retreat after pre-determined distance to deviateing barrier direction rotation preset angle It spends and advances, work on to release slipping state.
Further, the control clean robot includes: after the clean method and step of barrier edge progress
Detecting it and executing to clean along side terminates, and control clean robot executes other cleanings strategies.
In present embodiment, clean robot, which can detect it during the work time and execute to clean along side, to be terminated, clear along side Other cleaning strategies are executed after clean.Such as across obstacle, the charging of return base station etc..
Further, it is described detection its execute along side cleaning terminate method include:
The clean robot is at least enclosed along the barrier one, and executing the cleaning along side terminates.
In present embodiment, clean robot is at least enclosed along the barrier one to guarantee that the edge to barrier has cleaned Completely, then executing the cleaning along side terminates, and starts other cleaning strategies.
As a specific embodiment of the invention, the motion mode of mopping part can there are many, it is rotation, static or opposite Ground level moves back and forth.When mopping part is in rotation status, the rotation speed of mopping part is less than 100r/min, so as to It avoids rotation speed too fast, causes mopping part and barrier to collide fierce.
Further, for clean robot during cleaning along side, direction of rotation meets mopping part close to barrier side The direction of motion advance with clean robot it is contrary.
Figure 16 is the flow diagram of the cleaning control method 3rd embodiment of clean robot of the present invention, step S20 tool Body includes:
S21 judges whether the barrier is low obstructions when judging that the obstacle information has not been obtained；
S23 when judging the barrier for non-low obstructions, drives mopping part outward turning or static, by non-short The information feedback for the barrier that detection of obstacles sensor detects keeps the clean robot centainly pre- apart from barrier always If distance and being cleaned along the barrier.
In the present embodiment, non-low obstructions are then the barrier on the chassis that height is greater than clean robot.When judging State barrier be non-low obstructions when, drive mopping part outward turning or static.It wherein, can be to obstacle when mopping part outward turning Object generates frictional force, and barrier generates one opposite reaction force, the direction of reaction force and cleaning to clean robot The direction of advance of robot is in the same direction, so that the head of robot is closer to barrier, while driving wheel provides forward force, instead The forward force that active force and driving wheel provide collectively forms the power of clean robot advance, promotes clean robot along barrier It is cleaned at edge.Meanwhile the information feedback of the barrier detected by non-low obstructions detection sensor make it is described clear Clean robot is cleaned apart from barrier certain predetermined distance and along the barrier always.Non- low obstructions detection sensing Device includes infrared sensor, laser radar sensor and touch sensor
Figure 17 is the flow diagram of the cleaning control method fourth embodiment of clean robot of the present invention, the cleaner Device people and a base station cooperate, and base station is used to charge to clean robot, and the operating mode of the clean robot includes charging mould Formula, the cleaning control method of the clean robot further include:
S40 receives low battery pre-warning signal；
S50 controls the two mopping parts for being located at clean robot two sides in the mopping part with respect to inward turning and drives institute Stating driving wheel makes the clean robot head advance towards the base station, and clean robot is made to enter base station charging complete charging Mode.
In the present embodiment, clean robot is used to charge to clean robot equipped with base station, and clean robot is working The electricity of itself can be detected in the process, when receiving low battery pre-warning signal, control and be located in the mopping part Two mopping parts of clean robot two sides are with respect to inward turning and the driving wheel is driven to make the clean robot head described in Base station is advanced, and clean robot is made to enter base station charging complete charge mode.
Figure 18 is the flow diagram of the 5th embodiment of cleaning control method of clean robot of the present invention, and base station is also used to The mopping part of the clean robot is cleaned, the operating mode of the clean robot includes clean and wipe part mode, described clear The cleaning control method of clean robot further include:
S60 receives the dirty pre-warning signal of mopping part；
S70 controls the two mopping parts for being located at clean robot two sides in the mopping part with respect to inward turning and drives institute Stating driving wheel makes the clean robot head advance towards the base station, so that clean robot is entered base station cleaning support wiping part complete At clean and wipe part mode.
In the present embodiment, base station is also used to clean the mopping part of the clean robot, drags when clean robot receives After wiping the dirty pre-warning signal of part, base station can be returned to, mopping part is cleaned, specially controlled and be located in the mopping part clearly Two mopping parts of clean robot two sides are with respect to inward turning and the driving wheel is driven to make the clean robot head towards the base It stands advance, so that clean robot is entered base station cleaning support and is wiped part and complete clean and wipe part mode.Wherein, the dirty early warning of mopping part Signal can be determined according to the working time of clean robot, for example think that mopping part is dirty after every work preset time period It needs to clean.
Further, it during clean robot returns to base station, is located in the control mopping part clear Two mopping parts of clean robot two sides are with respect to inward turning and the driving wheel is driven to make the clean robot head towards the base Stand advance method include:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and adjusts two in real time The output torque or output speed of driving wheel remain at the clean robot and the angle deviating of the barrier In preset range.
In the present embodiment, it may need to cross over low obstructions or base station during returning to base station due to clean robot Bottom plate, the angle of clean robot and the barrier described in clean robot real-time detection, and two driving wheels of adjustment in real time Output torque or output speed so that the clean robot and the angle deviating of the barrier is remained at default model In enclosing.The angle of clean robot and the barrier is the head of clean robot as far as possible perpendicular to barrier, to carry out Across barrier.The clean robot is set to carry out the adjustment in angle by adjusting the output torque or output speed of two driving wheels, Guarantee that the angle deviating of clean robot and the barrier remains within a preset range, so as to smooth obstacle detouring.Tool Body is that the speed of speed and right side on the left of clean robot is made to generate speed difference, is added so that clean robot be made to generate an angle Speed, this angular acceleration remain clean robot and the angle deviating of the barrier within a preset range.
Further, the clean robot includes angular transducer, and the angular transducer is used to detect the cleaning The preset range of the angle deviating of the angle of robot and the barrier, the clean robot and the barrier is β, institute It states driving clean robot and adjusts the angle of the clean robot Yu the barrier in real time, by adjusting two driving wheels Output torque or output speed make the clean robot and the angle deviating of the barrier remain at preset range Interior method includes:
The clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception afterwards between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to cleaning machine The angular speed opposite with the clean robot offset direction of people one is inclined come the angle for adjusting the clean robot and barrier From remaining in preset range β, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t.
Angular transducer is provided in the present embodiment, on clean robot to be used to detect the clean robot and the barrier Hinder the angle of object, and the range of the angle deviating of booking cleaning robot and the barrier is β, when clean robot is being crossed over When detecting deviation angle α > β in obstructive process, then clean robot one and the clean robot offset direction phase are supplied to Anti- angular speed remains in preset range β to adjust the angle deviating of the clean robot and barrier.Wherein, angle The size of speed can be determined by default adjustment time, it is assumed that the permission maximum time of adjustment angle is t, then angular velocity omega is big It is small are as follows: ω=(alpha-beta)/t.
As a specific embodiment of the invention, clean robot two sides are located in the control mopping part Two mopping parts are with respect to inward turning and drive the driving wheel that the clean robot head is made to advance towards the barrier, across institute The method for stating barrier includes:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the drive Driving wheel makes the clean robot head advance towards the barrier, when across the barrier, drives the cleaning machine People makes its speed be greater than 0.1m/s.
The cleaning control method sixth embodiment of clean robot of the present invention, the cleaning control method of the clean robot Further include:
When judging that the obstacle information obtained, and when judgement is not required to across the barrier, clean robot is controlled Executing cleans the clean robot along the barrier along barrier mode, and the clean robot is executed along obstacle Object mode makes the clean robot carry out clean specific implementation such as first embodiment to the 5th implementation along the barrier Described in example, therefore not to repeat here.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium On be stored with the cleaning control program of clean robot, such as above-mentioned cleaning is realized when the cleaning control program is executed by processor The step of each embodiment of the cleaning control method of robot.
The specific embodiment of computer readable storage medium of the present invention and the cleaning control method of above-mentioned clean robot are each Embodiment is essentially identical, and therefore not to repeat here.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art The part contributed out can be embodied in the form of software products, which is stored in one as described above In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a robot execution present invention is each Method described in embodiment.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills Art field, is included within the scope of the present invention.

Claims (10)

1. a kind of across obstacle method of clean robot, which is characterized in that the barrier is low obstructions, by obstacle The barrier that object height is less than height of the clean robot chassis apart from ground is defined as low obstructions, the clean robot Bottom be provided at least two mopping parts and can drive clean robot advance or retreat driving wheel, the clean robot Across obstacle method include:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the driving wheel The clean robot head is set to advance towards the barrier, across the barrier.
2. the across obstacle method of described in any item clean robots according to claim 1, which is characterized in that the control It is located at two mopping parts of clean robot two sides in the mopping part with respect to inward turning and to drive the driving wheel to make described clear Clean robot head advances towards the barrier, and the method across the barrier includes:
The angle of clean robot and the barrier described in clean robot and real-time detection is driven, and two driving of adjustment in real time It is default that the output torque or output speed of wheel remain at the angle deviating of the clean robot and the barrier In range.
3. the across obstacle method of clean robot according to claim 2, which is characterized in that the clean robot Including angular transducer, the angular transducer is used to detect the angle of the clean robot Yu the barrier, described clear The preset range of the angle deviating of clean robot and the barrier is β, the driving clean robot and described in adjusting in real time The angle of clean robot and the barrier makes the cleaning by adjusting the output torque or output speed of two driving wheels The angle deviating of robot and the barrier remains that method within a preset range includes:
After the clean robot head forms angle towards barrier and with barrier after angular transducer record adjustment Angle change described in initial position and real-time reception between clean robot and barrier；
Deviate inceptive direction angle [alpha], and α > β when angular transducer feeds back the clean robot, is supplied to clean robot one The angular speed opposite with the clean robot offset direction begins to adjust the angle deviating of the clean robot and barrier It is maintained in preset range β eventually, it is assumed that the permission maximum time of adjustment angle is t, angular velocity omega are as follows: ω=(alpha-beta)/t.
4. the across obstacle method of clean robot according to claim 1-3, which is characterized in that the control It makes and is located at two mopping parts of clean robot two sides in the mopping part with respect to inward turning and to drive the driving wheel to make described Clean robot head is advanced towards the barrier, and the method across the barrier includes:
The two mopping parts for being located at clean robot two sides in the mopping part are controlled with respect to inward turning and drive the driving wheel So that the clean robot head is advanced towards the barrier, when across the barrier, the clean robot is driven to make Its speed is greater than 0.1m/s.
5. the across obstacle method of clean robot according to claim 1-3, which is characterized in that the control It makes and is located at two mopping parts of clean robot two sides in the mopping part with respect to inward turning and to drive the driving wheel to make described Clean robot head is advanced towards the barrier, and the method across the barrier includes:
During the clean robot across obstacle, detect that the clean robot skids；
The clean robot is controlled to retreat to apart from barrier certain distance and the driving wheel being driven to make the cleaning machine Head part advances towards the barrier and keeps the angle deviating between the clean robot and barrier in preset range It is interior, across the barrier.
6. the across obstacle method of clean robot according to claim 5, which is characterized in that clean robot includes Sension unit and rear-guard motor, the rear-guard motor provide the driving force of driving wheel movement, also set up on the clean robot There are station keeping radar and mileage measurement device, the station keeping radar is used to determine the location point of the clean robot, the mileage Metering device is used to record the rotation odometer magnitude of the driving wheel, in the process of the clean robot across obstacle In, the method for detecting that the clean robot skids includes:
During clean robot execution is clean across the barrier, the sension unit receives the output of rear-guard motor The rotation odometer magnitude that the signal or sension unit that electric current increases receive driving wheel output increases and the position of clean robot Set a little constant signal.
7. the across obstacle method of clean robot according to claim 1 to 3, which is characterized in that described in the control Two mopping parts in mopping part positioned at clean robot two sides with respect to inward turning and drive the driving wheel to make the clean robot Head is advanced towards the barrier, across before the method and step of the barrier further include:
Detect the position of barrier；
Adjusting the clean robot makes the head of the clean robot towards barrier direction.
8. the across obstacle method of clean robot according to claim 7, which is characterized in that the detection barrier The method of position include:
By controlling the clean robot along barrier edge the location information of the barrier is obtained after a week or from The location information of the barrier is read in the cartographic information of acquisition.
9. a kind of clean robot, which is characterized in that the clean robot includes processor, memory and is stored in institute The across obstacle method program for stating the clean robot that can be executed on memory and by the processor, wherein the cleaner When the across obstacle method program of device people is executed by the processor, realize clear as claimed in any one of claims 1-9 wherein The step of across obstacle method of clean robot.
10. a kind of computer readable storage medium, which is characterized in that be stored with cleaner on the computer readable storage medium The across obstacle method program of device people, realization when the across obstacle method program of the clean robot is executed by processor The step of across obstacle method of clean robot as claimed in any one of claims 1-9 wherein.
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