TW201334750A - Control method for cleaning robots - Google Patents

Abstract

An embodiment of the invention provides a control method for a cleaning robot with a quasi-omnidirectional detector and a directional light detector. The method comprises: rotating the non-omni light detector when the non-omni light detector detects a light beam; when the non-omni light detector does not detect the light beam, the non-omni light detector is stopped rotating and a rotation angle is estimated; determining a rotation direction according to the rotation angle; rotating the cleaning robot according to the rotation direction; stopping rotating the cleaning robot when the directional light detector detects the light beam.

Description

Control method of sweeping robot

The invention relates to a sweeping robot, in particular to a sweeping robot with a quasi-omnidirectional light detector and a directional light detector.

With the advancement of technology, there are more and more types of electronic products, among which robots are one of them. In many mobile robotic devices, in order to achieve the function of automatic movement, the robot usually has a driving device, a detector and a mobile controller. For example, a cleaning robot is a cleaning device that automatically moves and absorbs dust from the floor without user intervention.

An embodiment of the present invention provides a method for controlling a cleaning robot, which is suitable for a cleaning robot having a quasi-omnidirectional photodetector and a directional photodetector. The method includes rotating the quasi-omnidirectional photodetector when the quasi-omnidirectional photodetector detects a light, and stops rotating when the quasi-omnidirectional photodetector detects the light The quasi-omnidirectional photodetector estimates a rotation angle; determines a rotation direction according to the rotation angle; rotates the cleaning robot according to the rotation direction; and stops when the directional light detector detects the light Turn the sweeping robot.

Another embodiment of the present invention provides a method for controlling a cleaning robot, which is suitable for a cleaning robot having a quasi-omnidirectional photodetector and a directional photodetector. The method includes: transmitting the quasi-omnidirectional light detector Detecting a light; when the quasi-omnidirectional photodetector detects the light for the first time, the sweeping robot continues to move; when the quasi-omnidirectional photodetector detects the light, stops Rotating the quasi-omnidirectional photodetector and estimating a rotation angle; determining a rotation direction according to the rotation angle; rotating the cleaning robot according to the rotation direction; and when the directional light detector detects the light, Stop turning the sweeping robot.

Another embodiment of the present invention provides a cleaning robot. The sweeping robot includes a non-omnidirectional detector and a directional detector. Both the non-omnidirectional detector and the directional detector are used to detect a wireless signal. When the non-omnidirectional detector detects the wireless signal, the non-omnidirectional detector determines a direction of rotation. When the rotation direction is determined, the cleaning robot is rotated in the rotation direction until the directional detector detects the wireless signal, and the cleaning robot is stopped.

The above and other technical contents, features and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only directions referring to the additional drawings. Therefore, the directional terminology used is for the purpose of illustration and not limitation.

Figure 1 is a schematic illustration of an embodiment of a sweeping robot and a virtual wall in accordance with the present invention. The virtual wall 12 emits a light 15 for indicating a restricted area that the cleaning robot 11 cannot enter. The cleaning robot 11 includes a quasi-omnidirectional photodetector 13 having a rib 14. The rib 14 covers the surface of the quasi-omnidirectional photodetector 13 and forms an opaque region. The opaque region causes the quasi-omnidirectional photodetector 13 to have a predetermined angle that is incapable of receiving light, the predetermined angle being in the range of about 30 to 90 degrees.

The rib 14 may be fixed to the surface of the quasi-omnidirectional photodetector 13 or fixed to another rotatable device such that the rib 14 may be 360 along the surface of the quasi-omnidirectional photodetector 13. Degree of rotation. In the present embodiment, the non-omnidirectional is only a functional description to illustrate that the rib 14 will not detect light in the quasi-omnidirectional photodetector 13 due to the rib 14 having a certain area.

Therefore, the quasi-omnidirectional photodetector 13 may have two implementations. The first implementation of the quasi-omnidirectional photodetector 13 is to directly combine an omnidirectional photodetector with a rib 14 such that the rib 14 is fixed on the surface of the omnidirectional photodetector. Fixed position. Then, the quasi-omnidirectional photodetector 13 is designed to be directly driven by a motor drive, or the quasi-omnidirectional photodetector 13 is disposed on a platform, the platform can be A motor rotates to achieve the purpose of rotating the quasi-omnidirectional light detector 13. In this manner, when the quasi-omnidirectional photodetector 13 detects the light 15, the incident angle of the light 15 can be detected by rotating the quasi-omnidirectional photodetector 13.

A second implementation of the quasi-omnidirectional photodetector 13 is to place a mask kit on the outside of the omnidirectional photodetector, and the mask kit can be rotated, but The omnidirectional light detector cannot be rotated. The mask kit is rotatable by a motor drive. When the quasi-omnidirectional photodetector 13 detects the light 15, the incident angle of the light 15 can be detected by rotating the mask set.

For details of the quasi-omnidirectional photodetector 13, please refer to section 2a to Figure 2e.

Figure 2a is a top view of an embodiment of a quasi-omnidirectional photodetector in accordance with the present invention. The mask 22 is formed of an opaque material and adheres to a sensing surface of the omnidirectional photodetector 21. The mask 22 forms an sensing dead zone on the omnidirectional photodetector 21 at an angle θ.

Please refer to Figure 2b. Figure 2b is a plan view of an embodiment of a quasi-omnidirectional photodetector of Figure 2a. As can be seen from Fig. 2b, the omnidirectional photodetector 21 is fixed to a pedestal 23. The base 23 can be rotated by a motor or a stepper motor. The motor or stepper motor rotates the base 23 based on a control signal from a controller within the sweeping robot. Although a general omnidirectional photodetector can detect the light emitted by a virtual wall or a charging station without a dead angle, it cannot be used to determine which direction the light is transmitted at this time, and thus the virtual wall or charging station cannot be known. A relative position to the sweeping robot at this time. The angle of the detected light can be judged by the help of the mask 22.

When the omnidirectional photodetector 21 detects a light, the susceptor 23 is preset to rotate 360 degrees in a clockwise or counterclockwise direction. When the omnidirectional photodetector 21 detects no light, the controller in the cleaning robot obtains a rotation angle of the susceptor 23 when the omnidirectional photodetector 21 detects no light. The angle of rotation ranges from 0 degrees to (360-theta) degrees. Then, the controller can estimate the direction of the light according to the rotation direction of the susceptor 23, the rotation angle, and the θ angle. For detailed instructions, please refer to Figures 2c and 2d.

Figures 2c and 2d are schematic diagrams for estimating the angle of incidence of a ray using a quasi-omnidirectional photodetector of the present invention. In Figure 2c, the mask The initial position of 22 is at position P1. When the quasi-omnidirectional photodetector 25 detects the light 24, the quasi-omnidirectional photodetector 25 is rotated in a predetermined direction. In this embodiment, the predetermined direction is the counterclockwise direction. In Fig. 2d, when the quasi-omnidirectional photodetector 25 does not detect the light 24, the quasi-omnidirectional photodetector 25 stops rotating. At this time, the controller in the cleaning robot records a rotation angle Φ of the quasi-omnidirectional photodetector 25, and estimates the direction of the light 24 according to the rotation angle Φ and the initial position P1.

In one embodiment, the quasi-omnidirectional photodetector 25 is rotated by a motor and the motor transmits a rotational signal to the controller such that the controller can estimate the rotational angle Φ based on the rotational signal. In another embodiment, the quasi-omnidirectional photodetector 25 is rotated by a stepper motor. The stepping motor determines the number of rotations based on the number of pulses. Therefore, the controller can estimate the rotation angle Φ from the number of pulse signals and the angle of each rotation of the stepping motor.

In another embodiment, the quasi-omnidirectional photodetector 25 is fixed to a base, and the base is provided with a gear so that the motor can directly rotate the gear through a gear or through a transmission belt ( Timing belt) to rotate the gear.

Figure 2e is a schematic illustration of another embodiment of a quasi-omnidirectional photodetector in accordance with the present invention. The quasi-omnidirectional photodetector 26 includes an omnidirectional photodetector 27, a base 28 and a vertical extension 29. The vertical extension 29 is formed of an opaque material and forms a sensing dead zone on the sensing surface of the omnidirectional photodetector 27. The base 28 is rotatable by a motor to detect the direction of a light. In the present embodiment, the omnidirectional photodetector 26 is not connected to the base 28. That is, when the base 28 is rotated At this time, the omnidirectional light detector 26 is not rotated. For the direction of how to detect light, please refer to the 2c and 2d diagrams, and will not go into details here.

Figure 3 is a schematic illustration of an embodiment of a sweeping robot in accordance with the present invention. The cleaning robot 31 includes a quasi-omnidirectional photodetector 32, a directional light detector 33, and a mask 34. The cleaning robot 31 in Fig. 3 only lists the elements related to the present invention, and the present invention is not limited thereto. The cleaning robot 31 still includes other hardware components or hardware or software for controlling the hardware, which will not be described herein.

When the quasi-omnidirectional photodetector 32 detects a light, a controller of the quasi-omnidirectional photodetector 32 or a processor of the cleaning robot 31 first determines the intensity of the light. When the intensity of the light is less than a predetermined value, the controller or the processor does not perform any processing. When the intensity of the light is greater than or equal to the predetermined value, the controller or the processor determines whether the light is emitted by a virtual wall.

If the light is emitted by the virtual wall, the quasi-omnidirectional light detector 32 is rotated to detect the direction of the light or an angle between the light and the current traveling direction of the cleaning robot 31. When the direction of the light or the angle is known, the processor of the cleaning robot 31 determines a rotation direction, clockwise rotation or counterclockwise rotation, and the cleaning robot 31 rotates in place until the directional light detector 33 When the light is detected, the cleaning robot 31 stops rotating.

In another embodiment, when the quasi-omnidirectional photodetector 32 detects the light and confirms that the light is from the virtual wall, the sweeping robot 31 and the quasi-omnidirectional photodetector 32 are Rotate clockwise or counterclockwise. When the directional light detector 33 detects the light, the The cleaning robot 31 stops rotating.

In other words, the processor of the cleaning robot 31 controls the cleaning robot 31 to rotate in a clockwise or counterclockwise direction according to the detection result of the quasi-omnidirectional photodetector 32. When the directional light detector 33 detects the light emitted by the virtual wall, the cleaning robot 31 stops rotating, and then the processor of the cleaning robot 31 controls the cleaning robot 31 to move straight toward the virtual wall.

In another embodiment, the processor of the cleaning robot 31 controls the behavior of the cleaning robot 31 according to the detection results of the quasi-omnidirectional photodetector 32 and the directional light detector 33, and the behavior includes the motion behavior. Cleaning behavior, interaction between robots and interactive devices, etc. For example, if the light is emitted by the virtual wall, the processor of the cleaning robot 31 controls the cleaning robot 31 to advance along the light and perform a cleaning operation. If it is the light emitted by the charging station, the processor of the cleaning robot 31 determines whether or not to enter the charging station for charging. If charging is to be performed, the processor of the cleaning robot 31 performs a charging procedure that controls the cleaning robot 31 to enter the charging station for charging and performs clear behavior during traveling.

In another embodiment, the light detected by the cleaning robot 31 includes information or control signals, and the processor of the cleaning robot 31 first decodes the received light and receives the information or the control signal. For example, the charging station can be connected to a handheld device of the user through a network, and the user can control the cleaning robot 31 through the handheld device. The handheld device may be a remote controller of the cleaning robot 31 or a smart phone.

Before reaching the virtual wall, the sweeping robot 31 moves along the light emitted by the virtual wall and cleans it. Sweeping robot 31 processor The directional light detector 33 is continuously monitored for continuous light reception from the virtual wall. Once the directional light detector 33 has not received the light, the cleaning robot 31 is rotated to correct a traveling direction of the cleaning robot 31.

In another embodiment, the directional light detector 33 is composed of a plurality of light detecting components, and the processor of the cleaning robot 31 can move the sweeping robot according to the sensing result of the light sensing components. Fine-tune between marches.

Fig. 4 is a view showing an embodiment of a control method of a cleaning robot according to the present invention. The virtual wall 45 emits a light to indicate a restricted area that the cleaning robot 41 cannot enter. The light has a first boundary b1 and a second boundary b2. At the time point T1, the cleaning robot 41 moves in accordance with a predetermined path. At time T2, the quasi-omnidirectional photodetector 42 detects the first boundary b2 of the light emitted by the virtual wall 45. At this time, the cleaning robot 41 stops moving, and the quasi-omnidirectional photodetector 42 rotates in a clockwise manner or a counterclockwise direction.

When the mask 44 blocks the light emitted by the virtual wall 45, the quasi-omnidirectional photodetector 42 cannot detect the light. At this time, a processor in the cleaning robot 41 records a current position of the current mask 44, and obtains a first rotation angle of the quasi-omnidirectional photodetector 42 according to the current position of the mask 44 and its initial position. . The processor of the cleaning robot 41 determines a rotational direction of the cleaning robot 41 based on the first rotation angle.

For example, when the first rotation angle is less than 180 degrees, the cleaning robot 41 rotates in a counterclockwise direction. When the first rotation angle is greater than 180 degrees, the cleaning robot 41 rotates in a clockwise direction.

Next, at the time point T3, the cleaning robot 41 rotates according to the rotation direction until the directional light detector 43 detects the light emitted from the virtual wall 45, and the cleaning robot 41 stops rotating. Generally, when the directional light detector 43 detects the light emitted by the virtual wall 45, the sensing element that is usually the edge of the directional light detector 43 detects the light emitted by the virtual wall 45. . Therefore, when the cleaning robot 41 moves, the directional light detector 43 can easily detect the light again, so that the cleaning robot 41 must stop moving again to correct the moving direction.

In order to solve this disadvantage, in another embodiment, the processor of the cleaning robot 41 estimates a delay time based on the rotational angular velocity of the cleaning robot 41 and the size of the directional light detector 43. When the directional light detector 43 detects the light emitted from the virtual wall 45, the cleaning robot 41 does not stop rotating immediately, but stops the rotation after the lapse of the delay time. Through the delay time, the light emitted from the virtual wall 45 can be aligned with the center of the directional light detector 43.

In addition, it is to be noted that the sweeping robot 41 does not move at the time point T2 and the time point T3. At the time point T2, the sweeping robot does not move or rotate, and only the quasi-omnidirectional photodetector 42 is rotated. At the time point T3, the cleaning robot 41 will rotate in place. Although in Fig. 4, the cleaning robot 41 seems to be located at a different position at the time point T2 and the time point T3, actually, at the above two time points, the position of the cleaning robot 41 is not changed.

However, in another embodiment, the actions of the cleaning robot 41 at the time point T2 and the time point T3 can be integrated into one step. At time T2, the quasi-omnidirectional photodetector 42 rotates in a predetermined direction. The sweeping robot 41 also rotates in the predetermined direction at the same time. When the directional light detector 43 detects the light emitted by the virtual wall 45, the cleaning robot 41 stops rotating. When the cleaning robot 41 stops rotating, the quasi-omnidirectional photodetector 42 can stop rotating or continue to rotate. If the quasi-omnidirectional photodetector 42 continues to rotate, the processor of the cleaning robot 41 estimates the direction of the light emitted by the virtual wall 45 and the sweeping robot 41 according to the rotation angle of the quasi-omnidirectional photodetector 42. The direction of travel is corrected.

When the cleaning robot 41 moves toward the virtual wall 45, the processor of the cleaning robot 41 records the moving path of the cleaning robot 41, marks the moving path on a map of the cleaning robot 41, and draws the restricted area. In another embodiment, when the processor of the cleaning robot 41 has confirmed the direction of the light ray emitted by the virtual wall 45, the controller may mark the location of the ray on the map and draw the restricted area. The map may be stored in a memory or a map database within the sweeping robot 41. The controller of the cleaning robot 41 can correct the map according to each movement of the cleaning robot 41, and mark the position of the obstacle on the map.

When the cleaning robot 41 approaches the virtual wall 45, and the distance between the cleaning robot 41 and the virtual wall 45 is less than a predetermined value, a collision sensor or an acoustic sensor at the front end of the cleaning robot 41 sends a stop signal to the cleaning robot 41. Controller. A collision sensor or an acoustic sensor is disposed at the front end of the cleaning robot 41 for detecting an obstacle in front of the cleaning robot 41. If the collision sensor or the acoustic sensor detects an obstacle, the cleaning robot 41 first determines whether the obstacle is the virtual wall 45. If so, the sweeping robot 41 will stop moving forward and will continue to move in the other direction. If the cleaning robot 41 determines that the obstacle is not virtual The wall 45, the sweeping robot 41 will first avoid the obstacle and then return to the original moving path.

When the cleaning robot 41 approaches the virtual wall 45, the virtual wall 45 emits a radio frequency signal, an acoustic signal or an infrared signal, so that the cleaning robot 41 can know that the cleaning robot 41 is very close to the virtual wall 45. In another embodiment, the Near Field Communication (NFC) device can be mounted on the cleaning robot 41 and the virtual wall 45 for the same purpose. When the NFC device on the cleaning robot 41 receives the material or signal transmitted from the NFC device on the virtual wall 45, this indicates that the cleaning robot 41 is already very close to the virtual wall 45, and the cleaning robot 41 should stop moving. In general, the near field communication has a sensing distance of approximately 20 cm.

With the above-described manner, the cleaning robot 41 can clean the area near the light emitted by the virtual wall 45, and the cleaning robot 41 does not enter the restricted area. In addition, the controller in the sweeper 41 can also be used to draw a map of the cleaning area in this manner. The sweeping robot can then move according to the map of the cleaning area, and the cleaning work can be completed more efficiently and quickly.

Although the fourth illustration is exemplified by the virtual wall 45, the present invention is not limited thereto. The method illustrated in Figure 4 can also be applied to a charging station. The charging station also sends a pilot signal, such as an optical signal, for guiding the cleaning robot 41 to charge.

In addition, although FIG. 4 illustrates the quasi-omnidirectional photodetector 42 and the directional photodetector 43 as an example, the present invention is not limited thereto. The control method disclosed in this embodiment is slightly modified, and can be applied to an acoustic detector or It is another kind of detector.

Fig. 5 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention. The virtual wall 55 emits a light to indicate a restricted area that the cleaning robot 51 cannot enter. The light has a first boundary b1 and a second boundary b2. At the time point T1, the cleaning robot 51 moves in accordance with a predetermined path. At time T2, the quasi-omnidirectional photodetector 52 detects the first boundary b2 of the light emitted by the virtual wall 55. At this time, the cleaning robot 51 will continue to move in the predetermined path. At time T3, the quasi-omnidirectional photodetector 52 does not detect the light emitted by the virtual wall 55. At this time, the cleaning robot 51 stops moving, and the quasi-omnidirectional photodetector 52 will follow Rotate in clock mode or in reverse clock direction.

When the mask 54 blocks the light emitted by the virtual wall 55, the quasi-omnidirectional photodetector 52 cannot detect the light. At this time, a processor in the cleaning robot 51 records a current position of the current mask 54 and obtains a first rotation angle of the quasi-omnidirectional photodetector 52 according to the current position of the mask 54 and its initial position. . The processor of the cleaning robot 51 determines a rotation direction of the cleaning robot 51 based on the first rotation angle.

For example, when the first rotation angle is less than 180 degrees, the cleaning robot 51 rotates in a counterclockwise direction. When the first rotation angle is greater than 180 degrees, the cleaning robot 51 rotates in a clockwise direction.

Next, at the time point T4, the cleaning robot 51 rotates according to the rotation direction until the directional light detector 53 detects the light emitted from the virtual wall 55, and the cleaning robot 51 stops rotating. Generally, when the directional light detector 53 detects the light emitted by the virtual wall 55, the sensing element detection at the edge of the directional light detector 53 is usually detected at this time. Light to the virtual wall 55. Therefore, when the cleaning robot 51 moves, the directional light detector 53 can easily detect the light again, so that the cleaning robot 51 must stop moving again to correct the moving direction.

In order to solve this disadvantage, in another embodiment, the processor of the cleaning robot 51 estimates a delay time based on the rotational angular velocity of the cleaning robot 51 and the size of the directional light detector 53. When the directional light detector 53 detects the light emitted from the virtual wall 55, the cleaning robot 51 does not stop rotating immediately, but stops the rotation after the lapse of the delay time. Through the delay time, the light emitted from the virtual wall 55 can be aligned with the center of the directional light detector 53.

In addition, it is to be noted that the sweeping robot 51 does not move at the time point T3 and the time point T4. At the time point T3, the sweeping robot does not move or rotate, and only the quasi-omnidirectional photodetector 52 is rotated. At the time point T4, the cleaning robot 51 will rotate in place. Although in FIG. 5, the cleaning robot 51 seems to be located at a different position at the time point T3 and the time point T4, actually, at the above two time points, the position of the cleaning robot 51 does not change.

However, in another embodiment, the actions of the cleaning robot 51 at time point T3 and time point T4 can be integrated into one step. At the time point T3, the quasi-omnidirectional photodetector 52 rotates in a predetermined direction, and at this time, the cleaning robot 51 also rotates in the predetermined direction. When the directional light detector 53 detects the light emitted by the virtual wall 55, the cleaning robot 51 stops rotating. When the cleaning robot 51 stops rotating, the quasi-omnidirectional photodetector 52 can stop rotating or continue to rotate. If the quasi-omnidirectional photodetector 52 continues to rotate, the processor of the cleaning robot 51 will The direction of the light emitted by the virtual wall 55 is estimated based on the rotation angle of the quasi-omnidirectional light detector 52 and corrected for the traveling direction of the cleaning robot 51.

When the cleaning robot 51 moves toward the virtual wall 55, the processor of the cleaning robot 51 records the moving path of the cleaning robot 51, marks the moving path on a map of the cleaning robot 51, and draws the restricted area. In another embodiment, when the processor of the cleaning robot 51 has confirmed the direction of the light ray emitted by the virtual wall 55, the controller can mark the location of the ray on the map and draw the restricted area. The map may be stored in a memory or a map database within the cleaning robot 51. The controller of the cleaning robot 51 can correct the map according to each movement of the cleaning robot 51, and mark the position of the obstacle on the map.

When the cleaning robot 51 approaches the virtual wall 55, and the distance between the cleaning robot 51 and the virtual wall 55 is less than a predetermined value, a collision sensor or an acoustic sensor at the front end of the cleaning robot 51 sends a stop signal to the cleaning robot 51. Controller. A collision sensor or an acoustic sensor is disposed at the front end of the cleaning robot 51 for detecting an obstacle in front of the cleaning robot 51. If the collision sensor or the acoustic sensor detects an obstacle, the cleaning robot 51 first determines whether the obstacle is the virtual wall 55. If so, the sweeping robot 51 will stop moving forward and will continue to move in the other direction. If the cleaning robot 51 determines that the obstacle is not the virtual wall 55, the cleaning robot 51 will first avoid the obstacle and then return to the original moving path.

When the cleaning robot 51 approaches the virtual wall 55, the virtual wall 55 emits a radio frequency signal, an acoustic signal or an infrared signal, so that the cleaning robot 51 can know that the cleaning robot 51 is very close to the virtual wall 55. In another embodiment, the Near Field Communication (NFC) device can be mounted on the cleaning robot 51 and the virtual wall 55 for the same purpose. When the NFC device on the cleaning robot 51 receives the material or signal transmitted from the NFC device on the virtual wall 55, this indicates that the cleaning robot 51 is already very close to the virtual wall 55, and the cleaning robot 51 should stop moving. In general, the near field communication has a sensing distance of approximately 20 cm. Figure 6 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention. The virtual wall 65 emits a light to indicate a restricted area that the cleaning robot 61 cannot enter. The light has a first boundary b1 and a second boundary b2. At the time point T1, the cleaning robot 61 moves in accordance with a predetermined path. At time T2, the quasi-omnidirectional photodetector 62 detects the first boundary b2 of the light emitted by the virtual wall 65. At this time, the cleaning robot 61 stops moving, and the quasi-omnidirectional photodetector 62 rotates in a clockwise manner or a counterclockwise direction.

When the mask 64 blocks the light emitted by the virtual wall 65, the quasi-omnidirectional photodetector 62 cannot detect the light. At this time, a processor in the cleaning robot 61 records a current position of the current mask 64, and obtains a first rotation angle of the quasi-omnidirectional photodetector 62 according to the current position of the mask 64 and its initial position. . The processor of the cleaning robot 61 determines a rotation direction of the cleaning robot 61 based on the first rotation angle.

For example, when the first rotation angle is less than 180 degrees, the cleaning robot 61 rotates in a counterclockwise direction. When the first rotation angle is greater than 180 degrees, the cleaning robot 61 rotates in a clockwise direction.

Then, at time point T3, the sweeping robot 61 will follow the rotation The rotation direction is rotated until the directional light detector 63 detects the light emitted from the virtual wall 65, and the cleaning robot 61 stops rotating. Generally, when the directional light detector 63 detects the light emitted by the virtual wall 65, the sensing element that is usually the edge of the directional light detector 63 detects the light emitted by the virtual wall 65. . Therefore, when the cleaning robot 61 moves, the directional light detector 63 can easily detect the light again, so that the cleaning robot 61 must stop moving again to correct the moving direction.

In order to solve this disadvantage, in another embodiment, the processor of the cleaning robot 61 estimates a delay time based on the rotational angular velocity of the cleaning robot 61 and the size of the directional light detector 63. When the directional light detector 63 detects the light emitted from the virtual wall 65, the cleaning robot 61 does not stop rotating immediately, but stops the rotation after the lapse of the delay time. Through the delay time, the light emitted from the virtual wall 65 can be aligned with the center of the directional light detector 63.

In addition, it is to be noted that the sweeping robot 61 does not move at the time point T2 and the time point T3. At the time point T2, the sweeping robot does not move or rotate, and only the quasi-omnidirectional photodetector 62 is rotated. At the time point T3, the cleaning robot 61 will rotate in place. Although in Fig. 6, at the time point T2 and the time point T3, the cleaning robot 61 seems to be located at a different position, actually, at the above two time points, the position of the cleaning robot 61 does not change.

However, in another embodiment, the action of the cleaning robot 61 at time point T2 and time point T3 can be integrated into one step. At the time point T2, the quasi-omnidirectional photodetector 62 rotates in a predetermined direction, and at this time, the cleaning robot 61 also rotates in the predetermined direction. When When the directional light detector 63 detects the light emitted by the virtual wall 65, the cleaning robot 61 stops rotating. When the cleaning robot 61 stops rotating, the quasi-omnidirectional photodetector 62 can stop rotating or continue to rotate. If the quasi-omnidirectional photodetector 62 continues to rotate, the processor of the cleaning robot 61 estimates the direction of the light emitted by the virtual wall 65 according to the rotation angle of the quasi-omnidirectional photodetector 62 and to the sweeping robot 61. The direction of travel is corrected.

At the time point T4, the directional light detector 63 of the cleaning robot 61 does not detect the light emitted by the virtual wall 65, the cleaning robot 61 stops first, and simultaneously rotates the cleaning robot 61 and the quasi-omnidirectional light detection. The illuminating robot 61 and the quasi-omnidirectional photodetector 62 stop rotating until the directional light detector 63 detects the light emitted by the virtual wall 65. Next, at time point T5, the cleaning robot 61 continues to move toward the virtual wall 65.

In an embodiment, the rotational direction of the cleaning robot 61 at the time point T4 is the same as the rotational direction of the cleaning robot 61 at the time point T2.

At the time point T6, the directional light detector 63 of the cleaning robot 61 does not detect the light emitted by the virtual wall 65 again, the cleaning robot 61 stops first, and simultaneously rotates the cleaning robot 61 and the quasi-omnidirectional optical detection. The detector 62 does not stop the rotation of the sweeping robot 61 and the quasi-omnidirectional light detector 62 until the directional light detector 63 detects the light emitted by the virtual wall 65. Next, at time T7, the cleaning robot 61 continues to move toward the virtual wall 65.

When the cleaning robot 61 moves toward the virtual wall 65, the processor of the cleaning robot 61 records the moving path of the cleaning robot 61, marks the moving path on a map of the cleaning robot 61, and draws a restricted area. In another embodiment, when the processor of the cleaning robot 61 has confirmed the direction of the light ray emitted by the virtual wall 65, the controller may mark the map Show the position of the light and draw the restricted area. The map may be stored in a memory or a map database within the cleaning robot 61. The controller of the cleaning robot 61 can correct the map according to each movement of the cleaning robot 61, and mark the position of the obstacle on the map.

When the cleaning robot 61 approaches the virtual wall 65 and the distance between the cleaning robot 61 and the virtual wall 65 is less than a predetermined value, a collision sensor or an acoustic sensor at the front end of the cleaning robot 61 sends a stop signal to the cleaning robot 61. Controller. A collision sensor or an acoustic sensor is disposed at the front end of the cleaning robot 61 for detecting an obstacle in front of the cleaning robot 61. If the collision sensor or the acoustic sensor detects an obstacle, the cleaning robot 61 first determines whether the obstacle is the virtual wall 65. If so, the sweeping robot 61 will stop moving forward and will continue to move in the other direction. If the cleaning robot 61 determines that the obstacle is not the virtual wall 65, the cleaning robot 61 will first avoid the obstacle and then return to the original moving path.

When the cleaning robot 61 approaches the virtual wall 65, the virtual wall 65 emits a radio frequency signal, an acoustic signal or an infrared signal, so that the cleaning robot 61 can know that the cleaning robot 61 is very close to the virtual wall 65. In another embodiment, the Near Field Communication (NFC) device can be mounted on the cleaning robot 61 and the virtual wall 65 for the same purpose. When the NFC device on the cleaning robot 61 receives the material or signal transmitted from the NFC device on the virtual wall 65, this indicates that the cleaning robot 61 is already very close to the virtual wall 65, and the cleaning robot 61 should stop moving.

In the descriptions of Figures 4, 5, and 6, the sweeping robots are It is moving along the light to the virtual wall, but the invention is not limited thereto. The sweeping robot can also move away from the virtual wall. In addition, the virtual wall in FIGS. 4, 5, and 6 can also be replaced with a charging station, and the cleaning robot can enter the charging station according to the methods similar to those in FIG. 4, FIG. 5, and FIG.

Figure 7a is a schematic illustration of an embodiment of a directional light detector in accordance with the present invention. The directional light detector 71 includes a light detecting element 73, a first light blocking portion 72a, and a second light blocking portion 72b. The first light blocking portion 72a and the second light blocking portion 72b can prevent the light detecting element 73 from receiving lateral light. The first light blocking portion 72a and the second light blocking portion 72b are formed of an opaque material. In another embodiment, the first light shielding portion 72a and the second light shielding portion 72b may be replaced by a hollow annular light shielding portion, and the light detecting element 73 is located at a hollow portion of the annular light shielding portion.

Figure 7b is a schematic illustration of another embodiment of a directional light detector in accordance with the present invention. The directional light detector 74 includes a first light detecting element 76a, a second light detecting element 76b, a first light blocking portion 75a, and a second light blocking portion 75b. The first light blocking portion 75a and the second light blocking portion 75b can prevent the first light detecting element 76a and the second light detecting element 76b from receiving lateral light. The first light blocking portion 75a and the second light blocking portion 75b are formed of an opaque material. In another embodiment, the first light blocking portion 75a and the second light blocking portion 75b may be replaced by a hollow annular light blocking portion, and the first light detecting element 76a and the second light detecting element 76b are located in the annular light blocking portion. The hollow part of the part.

When the sweeping robot is moving, the directional light detector 74 must detect the light from the virtual wall to detect no light. Correcting the direction of travel, the first light detecting element 76a and the second light detecting element 76b can be used to determine whether the sweeping robot should rotate in a clockwise direction or a counterclockwise direction to correct the traveling direction of the sweeping robot.

For example, when the directional light detector 74 detects no light, the processor of the cleaning robot or the controller of the directional light detector 74 determines that the light detected by the virtual wall is the first. The light detecting element 76a or the second light detecting element 76b. If it is finally detected that the light emitted by the virtual wall is the first light detecting element 76a, the cleaning robot rotates in the counterclockwise direction to correct the traveling direction of the cleaning robot. If the second light detecting element 76b is finally detected by the virtual wall, the cleaning robot rotates clockwise to correct the traveling direction of the cleaning robot.

Figure 7c is a schematic illustration of another embodiment of a directional light detector in accordance with the present invention. The directional light detector 77 includes a light detecting component 79, a first emitter 710a, a second emitter 710b, a first light blocking portion 78a, and a second light blocking portion 78b. The first light blocking portion 78a and the second light blocking portion 78b can prevent the light detecting element 79 from receiving lateral light. The first light blocking portion 78a and the second light blocking portion 78b are formed of an opaque material. In another embodiment, the first light blocking portion 78a and the second light blocking portion 78b may be replaced by a hollow annular light blocking portion, and the light detecting element 79 is located at a hollow portion of the annular light blocking portion.

The first transmitter 710a and the second transmitter 710b may be a light emitter or an acoustic signal transmitter. The virtual wall also has a corresponding receiver for receiving the output signals of the first transmitter 710a and/or the second transmitter 710b. When the receiver on the virtual wall receives the output signal of the first transmitter 710a and/or the second transmitter 710b, a response signal is sent to the sweeping machine. people. In this embodiment, the response signal is transmitted to the cleaning robot through the light in an encoded manner or in a modulated manner.

The first emitter 710a and the second emitter 710b can ensure that the sweeping robot moves in the direction of the virtual wall, and the sweeping robot can transmit the data to the virtual wall through the first emitter 710a or the second emitter 710b, and the virtual wall can The data is transmitted to the sweeping robot through the emitted light to achieve the purpose of communication.

Figure 7d is a schematic view of an embodiment of a sweeping robot in accordance with the present invention. The cleaning robot 711 includes a quasi-omnidirectional light detector 712, a directional light detector 713, a transmitter 714, a collision sensor 715, and a mobile device 716. The mobile device 716 moves the cleaning robot 711 according to the detection result of the quasi-omnidirectional light detector 712 and the directional light detector 713. When the quasi-omnidirectional photodetector 712 detects light, the quasi-omnidirectional photodetector 712 is rotated to know the direction of the light. For the structure of the quasi-omnidirectional photodetector 712, reference may be made to Figs. 2a to 2e. For the operation or function of the quasi-omnidirectional photodetector 712, reference may be made to the description of FIGS. 3 to 6.

The directional light detector 713 is used to allow the cleaning robot 711 to move linearly toward the virtual wall. Regarding the structure of the directional light detector 713, reference can be made to Figs. 7a to 7c. Regarding the operation or function of the directional light detector 713, reference may be made to the description of FIGS. 3 to 6. The collision sensor 715 may be a mechanical sensing device or an acoustic sensing device. When the collision sensor 715 touches an obstacle, a sensing signal is sent to the processor of the cleaning robot 711. When the processor receives the sensing signal, the processor executes a corresponding avoidance procedure.

Figure 8 is a view showing another method of controlling the cleaning robot according to the present invention. A flow chart of an embodiment. In step S81, the cleaning robot moves according to a predetermined path. Generally speaking, when the cleaning robot starts working, it may move in a random movement first, or the user may set the movement mode of the cleaning robot at the beginning. If the sweeping robot moves in a random manner, it can assist the controller in the sweeping robot to draw a plane map of an indoor space. When the sweeping robot is started next time, it can be moved according to the information on the plane map.

In step S82, it is determined whether a photodetector of the cleaning robot detects the light emitted by the virtual wall. If not, the sweeping robot continues to move in a predetermined path. If the photodetector detects the light emitted by the virtual wall, step S83 is performed. In this embodiment, the photodetector is a quasi-omnidirectional photodetector. The light emitted by the virtual wall carries a coded message or a modulated data. When the light detector detects light, it decodes the information carried in the light or demodulates the light to confirm whether the light is emitted by the virtual wall.

In step S83, the controller of the cleaning robot determines whether to perform an action corresponding to the event that the photodetector detects the light emitted by the virtual wall, such as leaving the area covered by the light. If the controller decides to respond, step S84 is performed. If the controller decides not to respond, step S89 is performed and the sweeping robot continues to move.

In step S89, the controller of the cleaning robot determines whether the light detector of the cleaning robot still detects the light emitted by the virtual wall. If so, the sweeping robot continues to move and proceeds to step S89. When the light detector of the cleaning robot does not detect the light emitted by the virtual wall, step S84 is performed. In step S89, the light detector of the sweeping robot detects The situation of the light emitted by the virtual wall indicates that the sweeping machine may have entered the restricted area at this time, and the sweeping robot must leave immediately.

In step S83, when the photodetector detects the light emitted by the virtual wall, the photodetector transmits a first trigger signal to the controller, and the controller determines according to the setting of the cleaning robot and the first trigger signal. Step S84 or S89 is to be performed. In an embodiment, the first trigger signal is transmitted to a general purpose input/output pin (GPIO) of the controller, and the logic state of the GPIO pin is changed. For example, the first trigger signal may be an upper edge trigger signal, and the preset logic state of the GPIO pin is a logic low level. Therefore, when the GPIO pin receives the upper edge trigger signal, the logic state of the GPIO pin is changed to a logic high level. The logic state change of the GPIO pin triggers an interrupt event, and the controller can also know that the photodetector has detected the light emitted by the virtual wall according to the interrupt event.

In step S84, the cleaning robot stops moving, and the photodetector is rotated in a clockwise direction or a counterclockwise direction. For the structure or operation mode of the photodetector in this embodiment, reference may be made to the figures 2a to 2e, and corresponding descriptions. When the photodetector changes from the light detecting the virtual wall to the non-detection of the virtual wall light, the controller obtains a rotation angle of the photodetector. Then the controller determines a rotation direction of the cleaning robot according to the rotation angle.

In step S85, the cleaning robot is rotated in the rotation direction. In step S86, the controller determines whether a directional light detector of the cleaning robot detects the light emitted by the virtual wall. If not, continue to rotate the sweeping robot. If yes, go to step S87. In step S87, The sweeping robot stops rotating.

In step S88, the cleaning robot moves toward the virtual wall. During the movement of the sweeping robot, if the directional light detector does not detect the light from the virtual wall, the sweeping robot stops moving and rotates the sweeping robot clockwise or counterclockwise to move the sweeping robot. Make corrections.

When the sweeping robot approaches the virtual wall and the distance between the sweeping robot and the virtual wall is less than a predetermined value, a collision sensor at the front end of the sweeping robot sends a stop signal to the controller of the sweeping robot. The collision sensor is disposed at the front end of the cleaning robot to detect whether there is an obstacle in front of the cleaning robot. If the collision sensor detects an obstacle, the sweeping robot first determines whether the obstacle is a virtual wall. If so, the sweeping robot will stop moving forward and will continue to move in the other direction. If the sweeping robot determines that the obstacle is not a virtual wall, the sweeping robot will first avoid the obstacle and then return to the original moving path.

When the sweeping robot approaches the virtual wall, the virtual wall emits an RF signal or an infrared signal, so that the sweeping robot can know that the sweeping robot is very close to the virtual wall. In another embodiment, a Near Field Communication (NFC) device can be installed on the sweeping robot and the virtual wall to achieve the same purpose. When the NFC device on the cleaning robot receives the data or signal transmitted from the NFC device on the virtual wall, this means that the cleaning robot is already very close to the virtual wall, and the cleaning robot should stop moving.

Figure 9 is a flow chart showing another embodiment of a control method of a cleaning robot according to the present invention. In step S901, the cleaning robot will be based on one The scheduled path moves. In step S902, the controller of the cleaning robot determines whether a light detector of the cleaning robot detects light. If not, the sweeping robot continues to move in a predetermined path. If the photodetector detects the light, step S903 is performed to determine whether the light is emitted by the virtual wall. Because the light emitted by the virtual wall carries a coded information or a modulated data, when the light detector detects the light, it will decode the information carried in the light or perform the light. Demodulate to confirm whether the light is emitted by the virtual wall. In this embodiment, the photodetector is a quasi-omnidirectional photodetector.

In step S904, the controller of the cleaning robot determines whether to perform an action corresponding to the event that the photodetector detects the light emitted by the virtual wall, such as leaving the area covered by the light. If the controller decides to respond, step S902 is performed. If the controller decides not to respond, step S910 is performed and the sweeping robot continues to move.

In step S910, the controller of the cleaning robot determines whether the light detector of the cleaning robot still detects the light emitted by the virtual wall. If so, the sweeping robot continues to move and proceeds to step S910. When the light detector of the cleaning robot does not detect the light emitted by the virtual wall, step S905 is performed. In step S910, the light detector of the cleaning robot does not detect the light emitted by the virtual wall, indicating that the sweeping machine may have entered the restricted area at this time, and the sweeping robot must leave immediately.

In step S903, when the photodetector detects the light emitted by the virtual wall, the photodetector transmits a first trigger signal to the controller, and the controller determines according to the setting of the cleaning robot and the first trigger signal. Step S904 or S910 is to be performed. In an embodiment, the first trigger signal is transmitted A general purpose input/output pin (GPIO) is sent to the controller, and the logic state of the GPIO pin is changed. For example, the first trigger signal may be an upper edge trigger signal, and the preset logic state of the GPIO pin is a logic low level. Therefore, when the GPIO pin receives the upper edge trigger signal, the logic state of the GPIO pin is changed to a logic high level. The logic state change of the GPIO pin triggers an interrupt event, and the controller can also know that the photodetector has detected the light emitted by the virtual wall according to the interrupt event.

In step S905, the cleaning robot stops moving, and the photodetector is rotated in a clockwise direction or a counterclockwise direction. For the structure or operation mode of the photodetector in this embodiment, reference may be made to the figures 2a to 2e, and corresponding descriptions. When the photodetector changes from the light detecting the virtual wall to the non-detection of the virtual wall light, the controller obtains a rotation angle of the photodetector. Then the controller determines a rotation direction of the cleaning robot according to the rotation angle.

In step S906, the cleaning robot is rotated in the rotation direction. In step S907, the controller determines whether a directional light detector of the cleaning robot detects the light emitted by the virtual wall. If not, continue to rotate the sweeping robot. If yes, step S908 is performed. In step S90, the cleaning robot stops rotating.

In step S909, the cleaning robot moves toward the virtual wall. During the movement of the sweeping robot, if the directional light detector does not detect the light from the virtual wall, the sweeping robot stops moving and rotates the sweeping robot clockwise or counterclockwise to move the sweeping robot. Make corrections.

When the sweeping robot approaches the virtual wall and the distance between the sweeping robot and the virtual wall is less than a predetermined value, a collision sensor at the front end of the sweeping robot sends a stop signal to the controller of the sweeping robot. The collision sensor is disposed at the front end of the cleaning robot to detect whether there is an obstacle in front of the cleaning robot. If the collision sensor detects an obstacle, the sweeping robot first determines whether the obstacle is a virtual wall. If so, the sweeping robot will stop moving forward and will continue to move in the other direction. If the sweeping robot determines that the obstacle is not a virtual wall, the sweeping robot will first avoid the obstacle and then return to the original moving path.

When the sweeping robot approaches the virtual wall, the virtual wall emits an RF signal or an infrared signal, so that the sweeping robot can know that the sweeping robot is very close to the virtual wall. In another embodiment, a Near Field Communication (NFC) device can be installed on the sweeping robot and the virtual wall to achieve the same purpose. When the NFC device on the cleaning robot receives the data or signal transmitted from the NFC device on the virtual wall, this means that the cleaning robot is already very close to the virtual wall, and the cleaning robot should stop moving.

Figure 10 is a functional block diagram of a cleaning robot according to the present invention. The processor 1001 controls the cleaning robot according to the control program 1006. The cleaning robot includes a first photodetector 1002 and a second photodetector 1003. The first photodetector 1002 is a quasi-omnidirectional photodetector that is rotatable by the first rotary motor 1007. When the first photodetector detects light and the light is emitted by the virtual wall, the processor 1001 controls the first rotating motor 1007 to rotate the first photodetector 1002. When the first photodetector 1002 does not detect the light emitted by the virtual wall, the first photodetector is stopped. The processor 1001 determines a rotation direction of the cleaning robot according to a rotation angle of the first photodetector 1002.

The processor 1001 controls the second rotation motor 1004 to rotate the cleaning robot according to the rotation direction. When the second photodetector 1003 detects the light emitted by the virtual wall, the cleaning robot is stopped, and the processor 1001 controls the moving motor 1005 to move the cleaning robot toward the virtual wall. The moving motor 1005 is used to advance or retreat the cleaning robot.

Figure 11 is a schematic view showing another embodiment of the control method of the cleaning robot according to the present invention. The virtual wall 1105 emits a light to indicate a restricted area that the cleaning robot 1101 cannot enter. The light has a first boundary b1 and a second boundary b2. At the time point T1, the cleaning robot 1101 moves in accordance with a predetermined path. At time T2, the quasi-omnidirectional photodetector 1102 detects the first boundary b2 of the light emitted by the virtual wall 1105. At this time, the cleaning robot 1101 stops moving, and the quasi-omnidirectional photodetector 1102 rotates in a clockwise manner or a counterclockwise direction.

When the mask 1104 blocks the light emitted by the virtual wall 1105, the quasi-omnidirectional photodetector 1102 cannot detect the light. At this time, a processor in the cleaning robot 1101 records a current position of the current mask 1104, and obtains a first rotation angle of the quasi-omnidirectional photodetector 1102 according to the current position of the mask 1104 and its initial position. . The processor of the cleaning robot 1101 determines a rotation direction of the cleaning robot 1101 according to the first rotation angle.

For example, when the first rotation angle is less than 180 degrees, the cleaning robot 1101 rotates in a counterclockwise direction. When the first rotation angle is greater than 180 degrees, the cleaning robot 1101 rotates in a clockwise direction.

Next, at time T3, the cleaning robot 1101 rotates according to the rotation direction until the directional light detector 1103 detects the light emitted by the virtual wall 1105, and the cleaning robot 1101 stops rotating. Generally, when the directional light detector 1103 detects the light emitted by the virtual wall 1105, the sensing element that is usually the edge of the directional light detector 1103 detects the light emitted by the virtual wall 1105. . Therefore, when the cleaning robot 1101 moves, the directional light detector 1103 can easily detect no light again, so that the cleaning robot 1101 must stop moving again to correct the moving direction.

In order to solve this disadvantage, in another embodiment, the processor of the cleaning robot 1101 estimates a delay time based on the rotational angular velocity of the cleaning robot 1101 and the size of the directional light detector 1103. When the directional light detector 1103 detects the light emitted by the virtual wall 1105, the cleaning robot 1101 does not stop rotating immediately, but stops rotating after the delay time elapses. Through the delay time, the light emitted by the virtual wall 1105 can be aligned with the center of the directional light detector 1103.

In addition, it is to be noted that the sweeping robot 1101 does not move at the time point T2 and the time point T3. At the time point T2, the sweeping robot does not move or rotate, and only the quasi-omnidirectional photodetector 1102 is rotated. At time T3, the cleaning robot 1101 will rotate in place. Although in FIG. 4, the cleaning robot 1101 seems to be located at a different position at the time point T2 and the time point T3, actually, at the above two time points, the position of the cleaning robot 1101 does not change.

In addition, at time T3, the first transmitter 1107a and/or the second transmitter 1107b on the cleaning robot will transmit a signal 1108 to the virtual A receiver 1106 on the wall 1105 is intended. The first transmitter 1107a and the second transmitter 1107b may be an optical signal transmitter or an acoustic signal transmitter. Signal 1108 may be an optical signal or an acoustic signal. When the receiver 1106 receives the signal from the first transmitter 1107a and/or the second transmitter 1107b, it indicates that the cleaning robot 1101 is facing the virtual wall 1105. The virtual wall 1105 transmits a confirmation message to the directional light detector 1103 or the quasi-omnidirectional photodetector 1102 of the cleaning robot through the light emitted by the virtual wall 1105 to inform the controller in the cleaning robot 1101, the cleaning robot 1101. The current direction of travel is correct.

However, in another embodiment, the actions of the cleaning robot 1101 at time point T2 and time point T3 may be integrated into one step. At the time point T2, the quasi-omnidirectional photodetector 1102 rotates in a predetermined direction, and at this time, the cleaning robot 1101 also rotates in the predetermined direction. When the directional light detector 1103 detects the light emitted by the virtual wall 1105, the cleaning robot 1101 stops rotating. When the cleaning robot 1101 stops rotating, the quasi-omnidirectional photodetector 1102 can stop rotating or continue to rotate. If the quasi-omnidirectional photodetector 1102 continues to rotate, the processor of the cleaning robot 1101 will estimate the direction of the light emitted by the virtual wall 1105 according to the rotation angle of the quasi-omnidirectional photodetector 1102 and to the sweeping robot 1101. The direction of travel is corrected. In another embodiment, when the directional light detector 1103 detects the light emitted by the virtual wall 1105, the quasi-omnidirectional photodetector 1102 continues to rotate and the cleaning robot 1101 stops rotating. The processor of the cleaning robot 1101 obtains an angle of rotation of the quasi-omnidirectional photodetector 1102 after the cleaning robot 1101 stops rotating, and estimates a rotation angle of the cleaning robot 1101 according to the angle to correct the sweeping machine. The direction of travel of the person 1101.

When the cleaning robot 1101 moves toward the virtual wall 1105, the processor of the cleaning robot 1101 records the moving path of the cleaning robot 1101, marks the moving path on a map of the cleaning robot 1101, and draws the restricted area. In another embodiment, when the processor of the cleaning robot 1101 has confirmed the direction of the light ray emitted by the virtual wall 1105, the controller may mark the location of the ray on the map and draw the restricted area. The map may be stored in a memory or a map database within the cleaning robot 1101. The controller of the cleaning robot 1101 can correct the map according to each movement of the cleaning robot 1101, and mark the position of the obstacle on the map.

When the cleaning robot 1101 approaches the virtual wall 1105, and the distance between the cleaning robot 1101 and the virtual wall 1105 is less than a predetermined value, a collision sensor or an acoustic sensor at the front end of the cleaning robot 1101 sends a stop signal to the cleaning robot 1101. Controller. A collision sensor or an acoustic sensor is disposed at the front end of the cleaning robot 1101 for detecting an obstacle in front of the cleaning robot 1101. If the collision sensor or the acoustic sensor detects an obstacle, the cleaning robot 1101 first determines whether the obstacle is the virtual wall 1105. If so, the sweeping robot 1101 will stop moving forward and will continue to move in the other direction. If the cleaning robot 1101 determines that the obstacle is not the virtual wall 1105, the cleaning robot 1101 will first avoid the obstacle and then return to the original moving path.

When the cleaning robot 1101 approaches the virtual wall 1105, the virtual wall 1105 emits an RF signal, an acoustic signal or an infrared signal, so that the cleaning robot 1101 can know that the cleaning robot 1101 is very close. Virtual wall 1105. In another embodiment, the Near Field Communication (NFC) device can be installed on the cleaning robot 1101 and the virtual wall 1105 to achieve the same purpose. When the NFC device on the cleaning robot 1101 receives the data or signal transmitted from the NFC device on the virtual wall 1105, this indicates that the cleaning robot 1101 is already in close proximity to the virtual wall 1105, and the cleaning robot 1101 should stop moving.

With the above manner, the cleaning robot 1101 can be cleaned of the area near the light emitted by the virtual wall 1105, and the cleaning robot 1101 does not enter the restricted area. In addition, the controller in the sweeper 1101 can also be used to draw a map of the cleaning area in this manner. The sweeping robot can then move according to the map of the cleaning area, and the cleaning work can be completed more efficiently and quickly.

Figure 12 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention. The virtual wall 1205 emits a light to indicate a restricted area that the cleaning robot 1201 cannot enter. The light has a first boundary b1 and a second boundary b2. At the time point T1, the cleaning robot 1201 moves in accordance with a predetermined path. At time T2, the quasi-omnidirectional photodetector 1202 detects the first boundary b2 of the light emitted by the virtual wall 1205. At this time, the cleaning robot 1201 will continue to move in the predetermined path. At time T3, the quasi-omnidirectional photodetector 1202 does not detect the light emitted by the virtual wall 1205. At this time, the cleaning robot 1201 stops moving, and the quasi-omnidirectional photodetector 1202 will follow Rotate in clock mode or in reverse clock direction.

When the mask 1204 blocks the light emitted by the virtual wall 1205, the quasi-omnidirectional photodetector 1202 cannot detect the light. At this time, the sweeping robot A processor in 1201 records a current position of the current mask 1204 and determines a first angle of rotation of the quasi-omnidirectional photodetector 1202 based on the current position of the mask 1204 and its initial position. The processor of the cleaning robot 1201 determines a rotation direction of the cleaning robot 1201 according to the first rotation angle.

For example, when the first rotation angle is less than 180 degrees, the cleaning robot 1201 rotates in a counterclockwise direction. When the first rotation angle is greater than 180 degrees, the cleaning robot 1201 rotates in a clockwise direction.

Next, at the time point T4, the cleaning robot 1201 rotates according to the rotation direction, until the directional light detector 1203 detects the light emitted by the virtual wall 1205, the cleaning robot 1201 stops rotating. Generally, when the directional light detector 1203 detects the light emitted by the virtual wall 1205, the sensing element that is usually the edge of the directional light detector 1203 detects the light emitted by the virtual wall 1205. . Therefore, when the cleaning robot 1201 moves, the directional light detector 1203 can easily detect the light again, so that the cleaning robot 1201 must stop moving again to correct the moving direction.

In order to solve this disadvantage, in another embodiment, the processor of the cleaning robot 1201 estimates a delay time according to the rotational angular velocity of the cleaning robot 1201 and the size of the directional light detector 1203. When the directional light detector 1203 detects the light emitted by the virtual wall 1205, the cleaning robot 1201 does not stop rotating immediately, but stops rotating after the delay time elapses. Through the delay time, the light emitted by the virtual wall 1205 can be aligned with the center of the directional light detector 1203.

In addition, it should be noted that at time point T3 and time point T4, The sweeping robot 1201 does not move. At the time point T3, the sweeping robot does not move or rotate, and only the quasi-omnidirectional photodetector 1202 is rotated. At the time point T4, the cleaning robot 1201 will rotate in place. Although in FIG. 5, at the time point T3 and the time point T4, the cleaning robot 1201 seems to be located at a different position, in fact, at the above two time points, the position of the cleaning robot 1201 does not change.

In addition, at time T4, the first transmitter 1207a and/or the second transmitter 1207b on the cleaning robot will transmit a signal to a receiver 1206 on the virtual wall 1205. The first transmitter 1207a and the second transmitter 1207b may be an optical signal transmitter or an acoustic signal transmitter. When the receiver 1206 receives the signal from the first transmitter 1207a and/or the second transmitter 1207b, it indicates that the cleaning robot 1201 is facing the virtual wall 1205. The virtual wall 1205 transmits a confirmation message to the directional light detector 1203 or the quasi-omnidirectional light detector 1202 of the cleaning robot through the light emitted by the virtual wall 1205 to inform the controller in the cleaning robot 1201, the cleaning robot 1201. The current direction of travel is correct.

However, in another embodiment, the actions of the cleaning robot 1201 at time point T3 and time point T4 may be integrated into one step. At the time point T3, the quasi-omnidirectional photodetector 1202 rotates in a predetermined direction, and at this time, the cleaning robot 1201 also rotates in the predetermined direction. When the directional light detector 1203 detects the light emitted by the virtual wall 1205, the cleaning robot 1201 stops rotating. When the cleaning robot 1201 stops rotating, the quasi-omnidirectional photodetector 1202 can stop rotating or continue to rotate. If the quasi-omnidirectional photodetector 1202 continues to rotate, the processor of the cleaning robot 1201 will rotate according to the quasi-omnidirectional photodetector 1202. The angle of rotation is used to estimate the direction of the light emitted by the virtual wall 1205 and to correct the direction of travel of the cleaning robot 1201.

When the cleaning robot 1201 moves toward the virtual wall 1205, the processor of the cleaning robot 1201 records the moving path of the cleaning robot 1201, marks the moving path on a map of the cleaning robot 1201, and draws the restricted area. In another embodiment, when the processor of the cleaning robot 1201 has confirmed the direction of the light ray emitted by the virtual wall 1205, the controller may mark the location of the ray on the map and draw the restricted area. The map may be stored in a memory or a map database within the sweeping robot 1201. The controller of the cleaning robot 1201 can correct the map according to each movement of the cleaning robot 1201 and mark the position of the obstacle on the map.

When the cleaning robot 1201 approaches the virtual wall 1205, and the distance between the cleaning robot 1201 and the virtual wall 1205 is less than a predetermined value, a collision sensor or an acoustic sensor at the front end of the cleaning robot 1201 sends a stop signal to the cleaning robot 1201. Controller. A collision sensor or an acoustic sensor is disposed at the front end of the cleaning robot 1201 to detect whether there is an obstacle in front of the cleaning robot 1201. If the collision sensor or the acoustic sensor detects an obstacle, the cleaning robot 1201 first determines whether the obstacle is the virtual wall 1205. If so, the sweeping robot 1201 will stop moving forward and will continue to move in the other direction. If the cleaning robot 1201 determines that the obstacle is not the virtual wall 1205, the cleaning robot 1201 will first avoid the obstacle and then return to the original moving path.

When the cleaning robot 1201 approaches the virtual wall 1205, the virtual wall 1205 emits a radio frequency signal, an acoustic signal or an infrared signal, so that The sweeping robot 1201 can know that the sweeping robot 1201 is already very close to the virtual wall 1205. In another embodiment, the Near Field Communication (NFC) device can be installed on the cleaning robot 1201 and the virtual wall 1205 to achieve the same purpose. When the NFC device on the cleaning robot 1201 receives the data or signal transmitted from the NFC device on the virtual wall 1205, this indicates that the cleaning robot 1201 is already very close to the virtual wall 1205, and the cleaning robot 1201 should stop moving.

However, the above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the present invention and the description of the present invention. All remain within the scope of the invention patent. In addition, any of the objects or advantages or features of the present invention are not required to be achieved by any embodiment or application of the invention. In addition, the abstract sections and headings are only used to assist in the search of patent documents and are not intended to limit the scope of the invention.

11, 31, 41, 51, 61, 711, 1101, 1201‧‧‧ sweeping robot

12, 45, 55, 65, 1105, 1205‧‧‧ virtual wall

13, 32, 42, 52, 62, 712, 1102, 1202‧‧ ‧ quasi-omnidirectional photodetectors

14‧‧‧ rib

15, 24‧‧‧ rays

21, 27‧‧‧ Omnidirectional light detector

22, 34, 44, 54, 64, 1104, 1204‧‧ ‧ mask

23, 28‧‧‧ Pedestal

29‧‧‧ Vertical extension

33, 43, 53, 63, 71, 74, 77, 713, 1103, 1203‧‧ Directional light detector

72a, 75a, 78a‧‧‧ first shade

72b, 75b, 78b‧‧‧ second shade

73, 79‧‧‧Light detecting components

76a‧‧‧First light detecting element

76b‧‧‧Second light detecting element

710a‧‧‧First launcher

710b‧‧‧second launcher

714‧‧‧transmitter

715‧‧‧ collision sensor

716‧‧‧Mobile devices

1001‧‧‧ processor

1002‧‧‧First detector

1003‧‧‧Second detector

1004‧‧‧Second rotary motor

1005‧‧‧Moving motor

1006‧‧‧Program

1007‧‧‧First rotating motor

1106, 1206‧‧‧ Receiver

1107a, 1207a‧‧‧ first launcher

1107b, 1207b‧‧‧ second transmitter

1108, 1208‧‧‧ signals

Figure 1 is a schematic illustration of an embodiment of a sweeping robot and a virtual wall in accordance with the present invention.

Figure 2a is a top view of an embodiment of a quasi-omnidirectional photodetector in accordance with the present invention.

Figure 2b is a plan view of an embodiment of a quasi-omnidirectional photodetector of Figure 2a.

Figures 2c and 2d are schematic diagrams for estimating the angle of incidence of a ray using a quasi-omnidirectional photodetector of the present invention.

Figure 2e is a schematic illustration of another embodiment of a quasi-omnidirectional photodetector in accordance with the present invention.

Figure 3 is a schematic illustration of an embodiment of a sweeping robot in accordance with the present invention.

Fig. 4 is a view showing an embodiment of a control method of a cleaning robot according to the present invention.

Fig. 5 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention.

Figure 6 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention.

Figure 7a is a schematic illustration of an embodiment of a directional light detector in accordance with the present invention.

Figure 7b is a schematic illustration of another embodiment of a directional light detector in accordance with the present invention.

Figure 7c is a schematic illustration of another embodiment of a directional light detector in accordance with the present invention.

Figure 7d is a schematic view of an embodiment of a sweeping robot in accordance with the present invention.

Figure 8 is a flow chart showing another embodiment of a control method of a cleaning robot according to the present invention.

Figure 9 is a flow chart showing another embodiment of a control method of a cleaning robot according to the present invention.

Figure 10 is a functional block diagram of a cleaning robot according to the present invention.

Figure 11 is a schematic view showing another embodiment of the control method of the cleaning robot according to the present invention.

Figure 12 is a schematic view showing another embodiment of a control method of a cleaning robot according to the present invention.

31‧‧‧Sweeping robot

32‧‧‧Quasi-omnidirectional light detector

33‧‧‧Directive Light Detector

34‧‧‧ mask

Claims (18)

A method for controlling a sweeping robot is applicable to a sweeping robot having a quasi-omnidirectional photodetector and a directional light detector, comprising: when the quasi-omnidirectional photodetector detects a light, Rotating the quasi-omnidirectional light detector; when the quasi-omnidirectional photodetector detects the light, stopping rotating the quasi-omnidirectional photodetector and estimating a rotation angle; according to the rotation angle Determining a rotation direction; rotating the cleaning robot according to the rotation direction; and stopping the rotation of the cleaning robot when the directional light detector detects the light. The method for controlling a cleaning robot according to claim 1, further comprising: determining whether the light is emitted by a virtual wall when the light is detected. The control method of the cleaning robot according to claim 1, wherein when the rotation angle is less than 180 degrees, the rotation direction is a counterclockwise direction, and when the rotation angle is greater than 180 degrees, the rotation direction is one Clockwise direction. The method for controlling a cleaning robot according to claim 1, further comprising: when the directional light detector detects the light, fixing a mask of the quasi-omnidirectional photodetector The rear of the quasi-omnidirectional photodetector. For example, the control method of the cleaning robot described in claim 1 of the patent scope further includes: The sweeping robot moves along the light toward a virtual wall. The control method of the cleaning robot according to claim 5, wherein when the cleaning robot moves along the light to the virtual wall, if the directional light detector does not receive the light, The rotating robot is rotated in the rotation direction, and the cleaning robot is stopped when the directional light detector detects the light. The control method of the cleaning robot according to claim 5, further comprising: when the cleaning robot moves along the light to the virtual wall, if the directional light detector does not receive the light, stop moving a sweeping robot; rotating the quasi-omnidirectional light detector to determine a first direction of rotation; rotating the sweeping robot according to the first direction of rotation; and stopping when the directional light detector detects the light The sweeping robot is rotated and the sweeping robot moves straight ahead. The method for controlling a cleaning robot according to claim 1, wherein the quasi-omnidirectional photodetector comprises a photodetector and a rib, the rib preventing the detector from receiving or transmitting in a specific direction. Signal. A method for controlling a sweeping robot is applicable to a sweeping robot having a quasi-omnidirectional light detector and a directional light detector, comprising: detecting a light through the quasi-omnidirectional light detector; When the quasi-omnidirectional photodetector detects the light for the first time, the sweeping robot continues to move; when the quasi-omnidirectional photodetector detects the light, the quasi-omnidirectional stop is stopped. a photodetector and estimating a rotation angle; Determining a rotation direction according to the rotation angle; rotating the cleaning robot according to the rotation direction; and stopping the rotation of the cleaning robot when the directional light detector detects the light. The method for controlling a cleaning robot according to claim 9, further comprising: determining whether the light is emitted by a virtual wall when the light is detected. The control method of the cleaning robot according to claim 9, wherein when the rotation angle is less than 180 degrees, the rotation direction is a counterclockwise direction, and when the rotation angle is greater than 180 degrees, the rotation direction is one Clockwise direction. The method for controlling a cleaning robot according to claim 11, further comprising: when the directional light detector detects the light, fixing a mask of the quasi-omnidirectional photodetector The rear of the quasi-omnidirectional photodetector. The control method of the cleaning robot according to claim 9, further comprising: the cleaning robot moving along the light to a virtual wall. The control method of the cleaning robot according to claim 13, wherein when the cleaning robot moves along the light to the virtual wall, if the directional light detector does not receive the light, The rotating robot is rotated in the rotation direction, and the cleaning robot is stopped when the directional light detector detects the light. Control of the sweeping robot as described in item 13 of the patent application scope The method further includes: when the cleaning robot moves along the light to the virtual wall, if the directional light detector does not receive the light, stop moving the cleaning robot; and rotate the quasi-omnidirectional light detector Determining a first rotation direction; rotating the cleaning robot according to the first rotation direction; and when the directional light detector detects the light, stopping rotating the cleaning robot and moving the cleaning robot forward. A sweeping robot includes: a non-omnidirectional detector for detecting a wireless signal; and a directional detector for detecting the wireless signal, wherein: the non-omnidirectional detector detects When the wireless signal is detected, the non-omnidirectional detector determines a direction of rotation; when the direction of rotation is determined, the sweeping robot is rotated in the direction of rotation until the directional detector detects the direction The sweeping robot is stopped when the wireless signal is applied. The cleaning robot of claim 16, further comprising: a controller for receiving a first detection result of the non-omnidirectional detector and a second detection of the directivity detector Result: a first rotary motor controlled by the controller for rotating the non-omnidirectional detector; and a second rotary motor controlled by the controller for rotating the cleaning robot. The cleaning robot according to claim 17, further comprising a moving motor controlled by the controller for controlling the cleaning robot Move forward or backward.