CN110879597A - Floor sweeping robot and track detection control sweeping method using same - Google Patents
Floor sweeping robot and track detection control sweeping method using same Download PDFInfo
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- CN110879597A CN110879597A CN201911252052.7A CN201911252052A CN110879597A CN 110879597 A CN110879597 A CN 110879597A CN 201911252052 A CN201911252052 A CN 201911252052A CN 110879597 A CN110879597 A CN 110879597A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 147
- 238000001514 detection method Methods 0.000 title claims abstract description 133
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004140 cleaning Methods 0.000 claims abstract description 60
- 230000007613 environmental effect Effects 0.000 claims abstract description 25
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 description 8
- 239000000523 sample Substances 0.000 description 8
- 239000000428 dust Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
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Abstract
The utility model provides a robot of sweeping floor, includes track, detection module and drive module, and drive module drive detection module detects at the preset position range motion of track, acquires the information in order to carry out the robot work planning of sweeping floor. A track detection control cleaning method comprises the following steps: acquiring the whole environmental information around the sweeping robot; planning and selecting a cleaning direction according to the overall environment information; obtaining local environmental information around the sweeping robot; and the sweeping robot runs to the appointed working node, acquires the whole surrounding environment information of the sweeping robot again, and plans and selects the sweeping direction again. According to the invention, the rotation of the sweeping robot is not required to be relied on for detection, the detection module moves on the track, so that the detection flexibility is improved, the sweeping robot can detect the sweeping area in real time in the sweeping process, and the sweeping efficiency is improved.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot and a track detection control sweeping method using the same.
Background
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The existing sweeping robot has a scheme that a detection window is arranged on the side wall or a detection probe is arranged on the top, but the existing sweeping robot is basically fixedly arranged, and the detection direction of the detection probe is completely realized by the rotation of the sweeping robot; firstly, can't realize cleaning the in-process and to cleaning the real-time detection in region, secondly need rely on sweeping floor the robot self to rotate among the testing process, the probe removes quick flexibility inadequately, can't satisfy the needs that robot rapid detection swept floor in the removal.
Disclosure of Invention
The invention aims to provide a sweeping robot and a track detection control sweeping method using the same, detection is carried out without depending on rotation of the sweeping robot, detection flexibility is improved by the fact that a detection module moves on a track, real-time detection of a sweeping area can be carried out by the sweeping robot in a sweeping process, and sweeping efficiency is improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a robot of sweeping floor, includes track, detection module and drive module, the drive module drive detection module is in the track detects of predetermineeing the position range motion, acquires the information in order to sweep floor the robot work planning.
Further, the driving module comprises a driver, a connecting piece, a gear and a convex ring;
the convex ring is positioned on the inner side of the track, and a rack is arranged on the inner wall of the convex ring;
one end of the connecting piece is connected to the detection module, and the driver is installed at the other end of the connecting piece;
the gear is connected to an output shaft of the driver and matched with the rack on the inner wall of the convex ring.
Furthermore, a bevel wall is arranged in the track;
the bottom of detection module is equipped with inclined plane cooperation piece, inclined plane cooperation piece with the inclined plane is mutually supported.
A track detection control cleaning method comprises the following steps:
acquiring the whole environmental information around the sweeping robot;
planning and selecting a cleaning direction according to the overall environment information;
obtaining local environmental information around the sweeping robot;
the sweeping robot runs to a designated working node, acquires the peripheral overall environmental information of the sweeping robot again, and plans and selects the sweeping direction again.
Further, the process of acquiring the whole environmental information around the sweeping robot is as follows:
the detection module runs on the track by a preset angle A, and moves within the position range of the preset angle A.
Further, the preset angle A is 30-360 degrees taking the center of the floor sweeping robot as an origin.
Further, when the sweeping robot plans and selects the sweeping direction, the sweeping operation is performed by taking the long side direction of the current area as the running direction.
Further, the process of obtaining the local environmental information around the sweeping robot is as follows:
the detection module runs a preset angle C on the track, and moves within the position range of the preset angle C.
Further, the preset angle C is 0-360 degrees taking the center of the floor sweeping robot as an original point.
Furthermore, the sweeping robot establishes a map and carries out positioning through the detection module and a built-in sensor of the sweeping robot.
Further, the process of acquiring the whole environmental information around the sweeping robot again comprises the following steps:
the detection module runs on the arc-shaped guide rail by a preset angle B, and moves within the position range of the preset angle B.
Further, the preset angle B is 30-360 degrees taking the center of the floor sweeping robot as an original point.
Further, after the cleaning within the preset range is finished, the detection module continues to detect whether an uncleaned area exists around the finished area; when the existence of an unswept area is detected, entering the area for sweeping.
Further, after the whole area is cleaned, the sweeping robot finds the charging pile for recharging according to the detection module and a map established by a built-in sensor of the sweeping robot.
The invention provides a sweeping robot and a track detection control sweeping method using the same, wherein the driving module drives the detection module to move and detect within a preset position range of a track, so as to obtain information for carrying out work planning on the sweeping robot, and the detection module is used for constructing a map, positioning and detecting obstacles; the track can be regular circle or irregular random curve shape, and the driving module drives the detection module to move in the preset position range of the track so as to detect different directions.
Therefore, pass through earlier detection module acquires the peripheral whole environmental information of robot of sweeping the floor, is convenient for the robot of sweeping the floor plans and selects to sweep the direction, and at the in-process of cleaning, detection module acquires the peripheral local environmental information of robot of sweeping the floor, can in time detect out the rubbish volume that cleans at present, makes the robot of sweeping the floor can adjust suitable suction in real time and clean current rubbish with higher efficiency, accomplishes the real-time detection to cleaning the region, improves the effect of cleaning efficiency and cleaning.
Therefore, the rotation of the sweeping robot can be detected without depending on the rotation of the sweeping robot, the detection module moves on the track, the detection flexibility is improved, the sweeping robot can perform real-time detection on a sweeping area in the sweeping process, and the sweeping efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a top view of one embodiment of the present invention;
FIG. 3 is a partial schematic diagram of one embodiment of the present invention;
fig. 4 is a partially enlarged view of fig. 3 at D.
Wherein: the sweeping robot comprises a sweeping robot 1, a track 11, a slope wall 111, a detection module 12, a slope matching block 121, a driver 13, a connecting piece 14, a gear 15, a convex ring 16 and a rack 161.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1-4, a robot 1 of sweeping floor, includes track 11, detection module 12 and drive module, track 11 locates robot 1's outer wall of sweeping floor, detection module 12 set up in track 11, the drive module drive detection module 12 is in the motion of track 11 predetermined position scope, acquisition information is in order to carry out robot work planning of sweeping floor.
The track 11 is arranged on the outer wall of the sweeping robot 1, so that the overall height of the sweeping robot 1 can be reduced, and the working flexibility of the sweeping robot is improved. The curvature of the track 11 is of uniform (circular) or non-uniform design (arbitrary curve shape, for example elliptical).
The detection module 12 is used for constructing a map, positioning and detecting obstacles, the detection module 12 may be an infrared detection module, an ultrasonic detection module, a laser detection module, a visual detection module and the like, and the built-in sensor of the sweeping robot 1 may be an inertial measurement unit such as a gyroscope, an acceleration sensor and the like.
Because the detection module 12 is mounted on the track 11, the detection module 12 can move within a preset position range of the track 11, so that the detection module 12 can perform environment detection within the whole range without depending on the rotation of the sweeping robot 1 during the detection process, and the detection module has higher flexibility, lower power consumption and higher detection efficiency; moreover, the detection module 12 can detect the cleaning area in real time in the cleaning process, for example, the cleaning robot 1 moves forward to clean, the detection module 12 can move straight in the track 11 and move to the back of the cleaning robot 1, and the detection module 12 detects the area already cleaned at the back of the cleaning robot 1 without the rotation of the cleaning robot 1.
Further, the driving module comprises a driver 13, a connecting piece 14, a gear 15 and a convex ring 16;
the convex ring 16 is positioned on the inner side of the track 11, and a rack 161 is arranged on the inner wall of the convex ring 16;
one end of the connecting piece 14 is connected to the detection module 12, and the driver 13 is installed at the other end of the connecting piece 14;
the gear 15 is connected to the output shaft of the driver 13, and the gear 15 is engaged with the rack 161 on the inner wall of the convex ring 16.
In this embodiment, the driver 13 is a motor. The driver 13 drives the gear 15 to rotate, the gear 15 moves along the rack 161 located on the inner wall of the convex ring 16, so as to drive the connecting piece 14 to move, and then the connecting piece 14 drives the detection module 12 to move along the track 11, so that the detection work can be performed quickly and efficiently.
Further, a slope wall 111 is arranged in the track 11;
the bottom of the detection module 12 is provided with an inclined surface matching block 121, and the inclined surface matching block 121 is matched with the inclined surface wall 111.
Since the top and bottom of the rail 11 are through, it is convenient for one end of the connecting member 14 to be connected to the bottom of the detecting module 12; through the cooperation of the inclined plane matching block 121 and the inclined plane wall 111, the detection module 12 can be more stable in the movement process, and the situation that the detection module 12 is derailed in the movement process is avoided.
A track detection control cleaning method comprises the following steps:
the detection module 12 acquires the whole environmental information around the sweeping robot 1;
the sweeping robot 1 plans and selects a sweeping direction according to the overall environment information;
in the cleaning process, the detection module 12 acquires local environmental information around the cleaning robot;
the sweeping robot 1 runs to a designated working node, the detection module 12 acquires the peripheral overall environmental information of the sweeping robot again, and plans and selects the sweeping direction again.
The overall environment information refers to the information of the overall range in the area needing to be cleaned by the sweeping robot, and generally can be acquired through the overall rotation detection of the sweeping robot.
The local environment information refers to environment information acquired by the detection module 12 moving in a movable range.
The working node, namely the sweeping robot 1, needs to execute the operation of obtaining the peripheral overall environmental information of the sweeping robot in the sweeping process, the working node can be a turning position on a sweeping path, and can also be a set time point, and the working node can be set according to the actual use condition.
The detection probes in the existing sweeping robot 1 are basically fixedly arranged, and the detection direction of the detection probes is completely realized by the rotation of the sweeping robot 1; firstly, can't realize cleaning the in-process and to cleaning the real-time detection in region, secondly can't real-time more accurate detection the robot surrounding environment of sweeping the floor, especially the barrier of 1 people top of the robot of sweeping the floor can't accomplish accurate real-time detection.
The detection probes in the existing sweeping robot 1 are basically fixedly arranged, and the detection direction of the detection probes is completely realized by the rotation of the sweeping robot 1; firstly, can't realize cleaning the in-process and to cleaning regional real-time detection, secondly need rely on 1 self rotation of robot of sweeping the floor in the testing process, the probe removes quick flexibility inadequately, can't satisfy the needs that robot 1 rapid detection swept the floor in removing.
The side wall of the sweeping robot 1 is provided with the track 11, the detection module 12 is installed on the track 11, and the detection module 12 is used for constructing a map, positioning and detecting obstacles; the track 11 may be a regular circle or an irregular curve, and the driving module 13 drives the detecting module 12 to move within a preset position range of the track to detect different directions.
Therefore, pass through earlier detection module 12 acquires the peripheral whole environmental information of robot 1 of sweeping the floor, is convenient for the robot planning of sweeping the floor cleans the direction with the selection, and at the in-process of cleaning, detection module 12 acquires the peripheral local environmental information of robot of sweeping the floor, can in time detect out the rubbish volume that cleans at present, makes robot 1 of sweeping the floor can adjust suitable suction in real time and clean current rubbish with higher efficiency, accomplishes the real-time detection to cleaning the region, improves and cleans efficiency and the effect of cleaning.
Finally, by the track detection control cleaning method, the cleaning area can be detected in real time by the cleaning robot 1 in the cleaning process, and the cleaning efficiency is improved; meanwhile, the detection module 12 moves on the track 11, so that the detection range is expanded, and the detection efficiency is improved.
Further, the process of acquiring the whole environmental information around the sweeping robot 1 by the detection module 12 is as follows: the detection module runs on the track by a preset angle A, and moves within the position range of the preset angle A.
Further, the preset angle A is 30-360 degrees taking the center of the floor sweeping robot as an origin.
But preferably at a maximum angle, i.e. one revolution, the track 11 of the present embodiment is circular. The detection module 12 is in the angle a is predetermine in operation on the track 11, on the one hand, compare in prior art's detection method, the efficiency of the detection method of this embodiment can be higher, because the volume of detection module 12 is comparatively little for sweeping floor robot 1 whole volume, consequently, this embodiment only needs drive detection module 12 to move on track 11 and can carry out whole scope environment detection, compare and need whole rotation to sweep floor robot 1 among the prior art and just can carry out whole scope and carry out environment detection, the detection efficiency of this embodiment can be higher. On the other hand, compared with the detection method in the prior art, the detection module 12 of the present embodiment has lower power consumption during detection, because the detection module 12 with smaller volume only needs to be driven to move on the track 11.
Further, when the sweeping robot 1 selects the running direction to perform cleaning, the cleaning operation is performed with the long side direction of the current area as the running direction.
The long side direction of the current area is selected as the running direction to carry out cleaning work, the number of times of turning when the sweeping robot 1 is used for cleaning can be reduced, and the cleaning efficiency is improved.
Further, the process of acquiring the local environmental information around the cleaning robot 1 by the detection module 12 is as follows: the detection module runs a preset angle C on the track, and moves within the position range of the preset angle C.
Further, the preset angle C is 0-360 degrees taking the center of the floor sweeping robot as an original point, the preferred running direction is the range of 90 degrees on the left side and the right side right in front of the floor sweeping robot 1,
further, the sweeping robot 1 establishes a map and performs positioning through the detection module 12 and a built-in sensor of the sweeping robot 1.
In the cleaning process, the detection module 12 simultaneously carries out continuous local range environment detection, can establish a more accurate three-dimensional map, and after the completion of the whole area cleaning, the robot 1 of sweeping the floor searches for the charging pile according to the established map to carry out recharging.
Meanwhile, in the cleaning process, the detection module 12 simultaneously performs continuous local range environment detection, so that the current garbage amount can be detected in time, and the sweeping robot 1 can adjust appropriate suction in real time to clean the current garbage more quickly and efficiently.
In addition, the detection module 12 can also be used for detecting the cleaning area of the sweeping robot 1 in real time during the cleaning process.
Further, the process of the detecting module 12 obtaining the whole environmental information around the sweeping robot again is as follows: the detection module runs on the arc-shaped guide rail by a preset angle B, and moves within the position range of the preset angle B.
Further, the preset angle B is 30-360 degrees with the center of the floor sweeping robot 1 as an origin.
The optimal maximum angle is the maximum angle, namely, the robot 1 rotates for a circle, when the robot runs to a working node at a certain position, the detection module 12 carries out the environment detection within the whole range again, and the detection module 12 runs on the arc-shaped guide rail by a preset angle B, so that the running direction of the next step can be effectively determined.
Further, after the cleaning within the preset range is completed, the detection module 12 continues to detect whether an uncleaned area exists around the completed area; when the existence of an unswept area is detected, entering the area for sweeping.
Ensure that every environment is cleaned by the sweeping robot 1.
Further, after the whole area is cleaned, the sweeping robot 1 finds the charging pile according to the detection module 12 and a map established by built-in sensors of the sweeping robot 1 to carry out recharging.
After the robot 1 of sweeping the floor in a certain range can receive the locating signal that fills electric pile and send, combine locating signal to fix a position, improve and return and fill position control accuracy, the robot 1 of sweeping the floor returns the stake and charges the back, guarantees that the robot 1 of sweeping the floor next time runs and has sufficient electric quantity when sweeping the floor.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (14)
1. The utility model provides a robot of sweeping floor which characterized in that: the sweeping robot comprises a track, a detection module and a driving module, wherein the driving module drives the detection module to detect the motion of a preset position range of the track and acquire information to carry out work planning of the sweeping robot.
2. The sweeping robot according to claim 1, characterized in that: the driving module comprises a driver, a connecting piece, a gear and a convex ring;
the convex ring is positioned on the inner side of the track, and a rack is arranged on the inner wall of the convex ring;
one end of the connecting piece is connected to the detection module, and the driver is installed at the other end of the connecting piece;
the gear is connected to an output shaft of the driver and matched with the rack on the inner wall of the convex ring.
3. The sweeping robot of claim 1, wherein: a bevel wall is arranged in the track;
the bottom of detection module is equipped with inclined plane cooperation piece, inclined plane cooperation piece with the inclined plane is mutually supported.
4. A track detection control cleaning method is characterized in that: the method comprises the following steps:
acquiring the whole environmental information around the sweeping robot;
planning and selecting a cleaning direction according to the overall environment information;
obtaining local environmental information around the sweeping robot;
the sweeping robot runs to a designated working node, acquires the peripheral overall environmental information of the sweeping robot again, and plans and selects the sweeping direction again.
5. The track detection control cleaning method according to claim 4, characterized in that: the process of acquiring the peripheral overall environmental information of the sweeping robot comprises the following steps:
the detection module runs on the track by a preset angle A, and moves within the position range of the preset angle A.
6. The track detection control cleaning method according to claim 5, characterized in that: the preset angle A is 30-360 degrees taking the center of the floor sweeping robot as an original point.
7. The track detection control cleaning method according to claim 4, characterized in that: when the sweeping robot plans and selects the sweeping direction, the sweeping robot carries out sweeping work by taking the long side direction of the current area as the running direction.
8. The track detection control cleaning method according to claim 4, characterized in that: the process of acquiring the local environmental information around the sweeping robot comprises the following steps:
the detection module runs a preset angle C on the track, and moves within the position range of the preset angle C.
9. The track detection control cleaning method according to claim 8, characterized in that: the preset angle C is 0-360 degrees taking the center of the floor sweeping robot as an original point.
10. The track detection control cleaning method according to claim 4, characterized in that: the sweeping robot establishes a map and carries out positioning through the detection module and a built-in sensor of the sweeping robot.
11. The track detection control cleaning method according to claim 4, characterized in that: the process of obtaining the whole environmental information around the sweeping robot again comprises the following steps:
the detection module runs on the arc-shaped guide rail by a preset angle B, and moves within the position range of the preset angle B.
12. The track inspection control sweeping method according to claim 11, wherein: the preset angle B is 30-360 degrees taking the center of the floor sweeping robot as an original point.
13. The track detection control cleaning method according to claim 4, characterized in that: after cleaning within a preset range is finished, the detection module continues to detect whether an uncleaned area exists around the finished area; when the existence of an unswept area is detected, entering the area for sweeping.
14. The track detection control cleaning method according to claim 4, characterized in that: and after the whole area is cleaned, the sweeping robot finds the charging pile according to the map established by the detection module and the built-in sensor of the sweeping robot and recharges the charging pile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911252052.7A CN110879597A (en) | 2019-12-09 | 2019-12-09 | Floor sweeping robot and track detection control sweeping method using same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911252052.7A CN110879597A (en) | 2019-12-09 | 2019-12-09 | Floor sweeping robot and track detection control sweeping method using same |
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| CN110879597A true CN110879597A (en) | 2020-03-13 |
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| CN201911252052.7A Pending CN110879597A (en) | 2019-12-09 | 2019-12-09 | Floor sweeping robot and track detection control sweeping method using same |
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Application publication date: 20200313 |