TW202116244A - Cleaning robot and path planning method - Google Patents
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Abstract
Description
本發明是有關於一種清潔裝置,且特別是有關於一種掃地機器人。The present invention relates to a cleaning device, and particularly relates to a sweeping robot.
隨著科技的發展,掃地機器人已是各家各戶常見的家用電器之一。一般的掃地機器人用於清理地面的主要部件大致包括平面式側刷、滾刷等。然而,大多數的掃地機器人皆是將上述刷具設置於機器人本體的底部,且平面式側刷在進行刷掃時容易出現揚塵的狀況。With the development of science and technology, sweeping robots have become one of the common household appliances in every household. The main components of a general sweeping robot for cleaning the ground generally include a planar side brush, a rolling brush, and so on. However, most of the sweeping robots have the above-mentioned brush set on the bottom of the robot body, and the planar side brush is prone to dusting when sweeping.
因此,對於本領域技術人員而言,如何設計一種可降低揚塵狀況的掃地機器人實為一項重要議題。Therefore, for those skilled in the art, how to design a sweeping robot that can reduce dust is an important issue.
有鑑於此,本發明提供一種掃地機器人及路徑規劃方法,其可用於解決上述技術問題。In view of this, the present invention provides a sweeping robot and a path planning method, which can be used to solve the above technical problems.
本發明提供一種掃地機器人,包括本體組及毛刷轉盤組。本體組包括底座、凸出部及吸塵管。底座中設置有馬達。凸出部設置於底座上,並與底座協同提供一容置空間,容置空間位於本體組內,並設置有一吸引模組及一集塵件。吸塵管具有一第一端及一第二端,其中吸塵管的第一端連接於集塵件,吸引模組透過吸塵管將物體吸引至集塵件中儲存。毛刷轉盤組包括轉盤及毛刷。轉盤套設於凸出部,並受馬達驅動而沿一第一方向旋轉。毛刷自轉盤的底面朝下延伸,並因應於轉盤的旋轉將物體朝吸塵管刷掃,以供吸塵管吸引。The invention provides a sweeping robot, which includes a body group and a brush turntable group. The body set includes a base, a protruding part and a dust suction pipe. A motor is provided in the base. The protruding part is arranged on the base and cooperates with the base to provide an accommodating space. The accommodating space is located in the main body group and is provided with a suction module and a dust collecting part. The dust suction pipe has a first end and a second end, wherein the first end of the dust suction pipe is connected to the dust collecting part, and the suction module sucks the object into the dust collecting part for storage through the dust collecting pipe. The brush turntable group includes a turntable and a brush. The turntable is sleeved on the protruding part and is driven by the motor to rotate in a first direction. The brush extends downward from the bottom surface of the turntable, and in response to the rotation of the turntable, sweeps the object toward the vacuum tube for suction by the vacuum tube.
本發明更提供一種路徑規劃方法,適於掃地機器人。所述方法包括:控制掃地機器人的毛刷轉盤組旋轉,其中毛刷轉盤組包括一轉盤,且轉盤的側邊設置有一第一光發射器及一第二光發射器;控制第一光發射器向外發射一第一光束以形成一第一光點;控制第二光發射器向外發射一第二光束以形成一第二光點,其中第一光束及第二光束之間存在一固定夾角;以及基於第一光點及第二光點之間的一特定距離決定對應的一障礙物距離,並據以進行掃地機器人的一路徑規劃。The present invention further provides a path planning method, which is suitable for sweeping robots. The method includes: controlling the rotation of the brush turntable group of the sweeping robot, wherein the brush turntable group includes a turntable, and the side of the turntable is provided with a first light emitter and a second light emitter; controlling the first light emitter A first beam is emitted outward to form a first spot; the second light emitter is controlled to emit a second beam outward to form a second spot, wherein there is a fixed angle between the first beam and the second beam ; And based on a specific distance between the first light spot and the second light spot to determine a corresponding obstacle distance, and accordingly a path planning of the cleaning robot.
基於上述,本發明的掃地機器人可透過新穎的結構而提升刷掃的面積並減緩揚塵的情形,而本發明的路徑規劃方法最少僅需兩個光發射器即可實現對障礙物的偵測,從而可降低掃地機器人的機身重量、成本及運算複雜度。Based on the above, the sweeping robot of the present invention can increase the sweeping area and reduce the dust situation through a novel structure, and the path planning method of the present invention only needs two light emitters to detect obstacles. Thereby, the body weight, cost and computational complexity of the sweeping robot can be reduced.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.
請參照圖1,其是依據本發明之一實施例繪示的掃地機器人側剖視圖。在本實施例中,掃地機器人10包括本體組110及毛刷轉盤組130。本體組110包括底座112、凸出部111及吸塵管113。底座112中設置有馬達121。凸出部111設置於底座112上,並與底座112協同提供容置空間122。容置空間122位於本體組110內,並設置有吸引模組122a及集塵件122b。吸塵管113具有第一端及第二端,其中吸塵管110的第一端連接於集塵件122b。在不同的實施例中,集塵件122b可以是集塵盒、集塵袋或其他類似物品,但不限於此。Please refer to FIG. 1, which is a side cross-sectional view of a cleaning robot according to an embodiment of the present invention. In this embodiment, the
吸引模組122a可透過吸塵管113將物體(例如地上的垃圾、灰塵等)吸引至集塵件122b中儲存。在一實施例中,吸引模組122a例如是一真空吸引裝置,其可在掃地機器人10啟動時持續提供吸力,以將位於吸塵管113附近的物體吸入集塵件122b中,但可不限於此。The
毛刷轉盤組130可包括轉盤131及毛刷132。轉盤131套設於凸出部111,並受馬達121驅動而沿第一方向D1旋轉。在一實施例中,轉盤131可具有一中央開孔,而此中央開孔可用於套設在凸出部311,使轉盤131可環繞於凸出部111。此外,如圖1所示,轉盤131的直徑可大於底座112的寬度,並可覆蓋於底座112上。The
毛刷132可自轉盤131的底面朝下延伸,並因應於轉盤131的旋轉將物體朝吸塵管113刷掃,以供吸塵管113吸引。在本實施例中,為使毛刷132可順利刷掃地上的物體,毛刷132的長度H2可設計為大於底座112的高度H1。此外,由於轉盤131套設於凸出部111,故轉盤131亦可視為以凸出部111為軸心旋轉。The
由上可知,有別於習知以平面式側刷進行刷掃的設計,本發明的掃地機器人10係採用垂直式的毛刷進行刷掃,從而可減緩揚塵的情形。並且,有別於習知皆將刷具設置於機身本體底部的設計,本發明的毛刷轉盤組係套設於凸出部上,並可以凸出部為軸心旋轉,從而實現刷掃的功能。藉此,可呈現不同於習知概念的新穎結構。It can be seen from the above that, different from the conventional design of using a planar side brush for brushing, the
此外,在圖1中,掃地機器人10還可包括處理器199(例如是微處理器或其他形式的處理器),其可用於控制掃地機器人10中的各式電子元件。舉例而言,處理器199可用於控制馬達121以驅動毛刷轉盤組130轉動,以及控制動力輪180以相應控制掃地機器人10的移動情形。In addition, in FIG. 1, the
在一實施例中,掃地機器人10還可包括第一光發射器141a、第二光發射器141b及攝影機142。在本實施例中,第一光發射器141a及第二光發射器141b可設置於毛刷轉盤組130的側邊,並可分別向外發射第一光束I1及第二光束I2,以分別形成第一光點及第二光點。在不同的實施例中,第一光束I1及第二光束I2可實現為雷射光、紅外線光或其他類似的光線,但可不限於此。In an embodiment, the
在一實施例中,第一光束I1及第二光束I2之間可存在固定夾角AN,而處理器199可基於第一光點及第二光點之間的特定距離決定對應的障礙物距離(例如第一光發射器141a及第二光發射器141b與前方障礙物之間的距離),並據以進行掃地機器人10的路徑規劃。相關細節將在之後輔以圖3A及圖3B另作詳細說明。In an embodiment, there may be a fixed included angle AN between the first light beam I1 and the second light beam I2, and the
請參照圖2A及圖2B,其中圖2A是依據圖1繪示的轉盤及底座的俯視圖,而圖2B是依據圖2A繪示的將轉盤接合於底座的示意圖。如圖2A所示,底座112的頂面上可設置有時規皮帶112a,其可受馬達121的驅動而沿第一方向D1旋轉。相應地,如圖2B所示,轉盤131的底面可設置有對應於時規皮帶112a的齒輪131a。在此情況下,當轉盤131以其中央開孔131b套設於凸出部111時,齒輪131a可接合/嚙合於時規皮帶112a,從而讓轉盤131接合於底座112。Please refer to FIGS. 2A and 2B, where FIG. 2A is a top view of the turntable and the base shown in FIG. 1, and FIG. 2B is a schematic diagram of joining the turntable to the base shown in FIG. 2A. As shown in FIG. 2A, the top surface of the
如此一來,當馬達121驅動時規皮帶112a沿第一方向D1旋轉時,可相應地帶動轉盤131沿第一方向D1旋轉,以實現刷掃的功能。In this way, when the
請參照圖3A,其是依據圖1繪示的偵測障礙物距離的示意圖。承先前實施例所述,本發明的第一光發射器141a及第二光發射器141b可在個別發射第一光束I1及第二光束I2之後,分別形成第一光點及第二光點。以圖3A為例,假設第一光束I1及第二光束可I2分別形成相距特定距離DI1的第一光點P1及第二光點P2,則處理器199可控制攝影機142拍攝包括第一光點P1及第二光點P2的影像(例如紅外線影像)。之後,在第一光束I1及第二光束I2之間存在固定夾角AN的情況下,處理器199即可基於特定距離DI1估計障礙物距離OD1。Please refer to FIG. 3A, which is a schematic diagram of detecting the distance of obstacles according to FIG. 1. As described in the previous embodiment, the
在一實施例中,由於固定角度AN的值為已知,因此處理器199可藉由簡易的三角函數搭配自定義當特定距離在攝影機142所拍攝的影像中對應多少像素時將等同多少高度,並且換算出水平距離,從而製作一查找表。如此一來,在處理器199取得特定距離DI1所對應的像素個數之後,即可依據查找表而估計障礙物距離OD1。In one embodiment, since the value of the fixed angle AN is known, the
舉另一例而言,假設第一光束I1及第二光束可I2分別形成相距特定距離DI2的第一光點P1’及第二光點P2’,則處理器199可控制攝影機142拍攝第一光點P1’及第二光點P2’。相應地,在處理器199取得特定距離DI2所對應的像素個數之後,即可依據查找表而估計障礙物距離OD2,但本發明可不限於此。For another example, assuming that the first light beam I1 and the second light beam I2 can respectively form a first light spot P1' and a second light spot P2' separated by a specific distance DI2, the
請參照圖3B,其是依據圖3A繪示的偵測周遭環境的示意圖。由先前實施例的教示可知,由於第一光發射器141a及第二光發射器141b係設置於毛刷轉盤組130的側邊,故亦將隨著毛刷轉盤組130的旋轉而旋轉。換言之,處理器199可透過圖3A教示的技術手段掃瞄位於掃地機器人10周遭環境中的各式障礙物距離,如圖3B所示。Please refer to FIG. 3B, which is a schematic diagram of detecting the surrounding environment according to FIG. 3A. According to the teaching of the previous embodiment, since the
請參照圖3C,其是依據本發明之一實施例繪示的基於查找表估計障礙物距離的示意圖。在本實施例中,假設查找表300記錄的內容如圖3C所示。由查找表300可知,當第一、第二光點之間的特定距離對應於10、50、100個像素時,即代表掃地機器人10與前方障礙物399之間的障礙物距離為1M、3M、5M,但可不限於此。在此情況下,當所偵測到的特定距離DIa對應10個像素時,處理器199即可判定掃地機器人10與障礙物399之間相距1M。在一實施例中,當所偵測到的特定距離DIb對應50個像素時,處理器199即可判定掃地機器人10與障礙物399之間相距3M。在另一實施例中,當所偵測到的特定距離DIc對應100個像素時,處理器199即可判定掃地機器人10與障礙物399之間相距5M,但本發明可不限於此。Please refer to FIG. 3C, which is a schematic diagram of estimating the distance of an obstacle based on a lookup table according to an embodiment of the present invention. In this embodiment, it is assumed that the content recorded in the lookup table 300 is as shown in FIG. 3C. It can be seen from the look-up table 300 that when the specific distance between the first and second light spots corresponds to 10, 50, and 100 pixels, it means that the obstacle distance between the
如此一來,掃地機器人10上即可不需如習知作法一般設置有各式感測器(例如碰撞感測器、多組距離感測器等),而只需第一光發射器141a、第二光發射器141b及攝影機142即可實現偵測障礙物的功能。藉此,可相應地減少掃地機器人10的重量、成本及相關的運算複雜度,從而優化掃地機器人10的路徑規劃。In this way, the
此外,本發明還提出可用於判斷前方通行空間的高度/寬度是否足夠掃地機器人通過的機制,詳情如下。In addition, the present invention also proposes a mechanism that can be used to determine whether the height/width of the front passage space is sufficient for the sweeping robot to pass. The details are as follows.
請參照圖4A,其是依據本發明之一實施例繪示的判定通行空間高度/寬度的示意圖。在本實施例中,假設掃地機器人10具有機身寬度W及機身高度H,且轉盤131係以一固定角速度旋轉。並且,假設通行空間499具有高度Z、寬度X,且與掃地機器人10之間具有距離r。在一實施例中,高度Z及距離r皆可基於先前實施例的教示而求得,故其細節於此不另贅述。Please refer to FIG. 4A, which is a schematic diagram of determining the height/width of the passage space according to an embodiment of the present invention. In this embodiment, it is assumed that the
針對寬度X,本發明特提出相關的機制來判定寬度X是否足夠掃地機器人10通過,以下將作進一步說明。Regarding the width X, the present invention proposes a related mechanism to determine whether the width X is sufficient for the
請參照圖4B,其是依據圖4A繪示的判定通行空間寬度的示意圖。在本實施例中,影像IM0~IM3例如是攝影機142分別在時間點T0~T3所拍攝到的紅外線影像,但可不限於此。Please refer to FIG. 4B, which is a schematic diagram of determining the width of the passage space according to FIG. 4A. In this embodiment, the images IM0 to IM3 are, for example, infrared images captured by the
由圖4B可看出,在時間點T0時,處理器199可基於第一光點P1及第二光點P2之間的特定距離判定不可通行。在時間點T1時,處理器199可基於第一光點P1及第二光點P2之間的特定距離所呈現的第一距離值決定通行空間高度Z的第一高度值。在時間點T2時,處理器199同樣可基於第一光點P1及第二光點P2之間的特定距離所呈現的第二距離值決定通行空間高度Z的第二高度值,其中時間點T1與T2之間存在預設時間差。It can be seen from FIG. 4B that, at the time point T0, the
接著,反應於第一高度值及第二高度值皆高於機身高度H,處理器199可基於障礙物距離r、固定角速度及預設時間差決定一通行空間寬度X,例如X =ω∙r∙Δt,但本發明可不限於此。之後,反應於判定通行空間寬度X大於機身寬度W,處理器199可允許掃地機器人10通過通行空間寬度X。Then, in response to the first height value and the second height value being higher than the fuselage height H, the
藉此,只要掃地機器人10在某個特定位置/角度判定通行空間寬度X足以通行,即可對於是否進入障礙物做出正確判斷。In this way, as long as the
請參照圖4C,其是依據本發明之一實施例繪示的判定是否進入障礙物的示意圖。如圖4C所示,掃地機器人10在位置POS1時可能判定不能進入障礙物下的通行空間499,但在位置POS2時卻可依先前的教示而正確判定可以進入障礙物下的通行空間499,從而優化掃地機器人10的路徑規劃。Please refer to FIG. 4C, which is a schematic diagram of determining whether to enter an obstacle according to an embodiment of the present invention. As shown in FIG. 4C, when the
請參照圖5A,其是習知的路徑規劃示意圖。在本實施例中,若掃地機器人505不具有本發明提出的判定通行空間高度/寬度的能力,則其在場域500中所呈現的路徑511將可能如圖5A所示。由圖5A可看出,當掃地機器人500接近障礙物599時,將可能因無法正確判斷是否穿過障礙物599下的通行空間,從而可能令掃地機器人505的路徑規劃出現盲區520。Please refer to FIG. 5A, which is a schematic diagram of conventional path planning. In this embodiment, if the
請再參照圖5B,其是依據本發明之一實施例繪示的路徑規劃示意圖。在本實施例中,由於掃地機器人10具有本發明提出的判定通行空間高度/寬度的能力,故其在場域500中所呈現的路徑512將可能如圖5B所示。由圖5B可看出,當掃地機器人500接近障礙物599時,可正確地判斷障礙物599下方的通行空間可通過,並相應地穿過障礙物599下的通行空間,從而可避免出現如圖5A所示的盲區520。由此可知,相較於習知的做法,本發明的掃地機器人10可具有較佳的路徑規劃能力。Please refer to FIG. 5B again, which is a schematic diagram of path planning according to an embodiment of the present invention. In this embodiment, since the
此外,本發明的掃地機器人還可基於第一光點及第二光點之間特定距離的變化而提供防止掉落的功能,以下輔以圖6A及圖6B詳述。In addition, the sweeping robot of the present invention can also provide the function of preventing falling based on the change of the specific distance between the first light spot and the second light spot, which will be described in detail below with the help of FIGS. 6A and 6B.
請參照圖6A,其是依據本發明之一實施例繪示的掃地機器人在平面移動的示意圖。在圖6A中,假設影像IM為攝影機142對第一光點P1及第二光點P2所拍攝的紅外線影像。在本實施例中,由於掃地機器人10係在平面上移動,故第一光點P1及第二光點P2之間的特定距離DI將保持不變。Please refer to FIG. 6A, which is a schematic diagram of a cleaning robot moving on a plane according to an embodiment of the present invention. In FIG. 6A, it is assumed that the image IM is an infrared image captured by the
另一方面,請參照圖6B,其是依據圖6A繪示的掃地機器人接近掉落邊緣的示意圖。如圖6B所示,在掃地機器人10接近掉落邊緣600時,在攝影機142所拍攝的影像IM’中,第一光點P1及第二光點P2之間特定距離DI’將突然增加。在此情況下,處理器199即可判定掃地機器人10已接近掉落邊緣600,從而進行閃避或繞道等操作以避免掃地機器人10掉落。在一實施例中,處理器199可判斷第一光點P1及第二光點P2之間的特定距離的一瞬時變化量是否大於一變化量門限值。若是,則處理器199可判定掃地機器人已接近掉落邊緣,但本發明可不限於此。在不同的實施例中,上述變化量門限值可依據一般樓梯的高度、掃地機器人10的移動速度等參數而定為適當的數值。On the other hand, please refer to FIG. 6B, which is a schematic diagram of the sweeping robot approaching the falling edge shown in FIG. 6A. As shown in FIG. 6B, when the cleaning
由上可知,透過圖6B所示的機制,本發明的掃地機器人10即可實現防止掉落的功能,因而可不需另外配置防摔感測器。藉此,可進一步降低掃地機器人10的機身重量及成本。It can be seen from the above that through the mechanism shown in FIG. 6B, the
在其他實施例中,本發明進一步提供可增加集塵效果的其他吸塵管態樣,以下將作進一步說明。In other embodiments, the present invention further provides other dust suction tube aspects that can increase the dust collection effect, which will be further described below.
請參照圖7A及圖7B,其中圖7A是依據本發明另一實施例繪示的掃地機器人側剖面圖,而圖7B是依據圖7A繪示的吸塵管俯視圖。在本實施例中,掃地機器人700的結構大致相同於圖1的掃地機器人10,惟掃地機器人700的吸塵管710具有不同於吸塵管113的結構。具體而言,吸塵管710的第一端仍連接至掃地機器人700的集塵件122b,但吸塵管710的第二端朝底座112的徑向延伸。吸塵管710的第二端設置有第一勾部711,其朝向第二方向D2延伸,其中第二方向D2相反於第一方向D1(即,轉盤131的旋轉方向)。Please refer to FIGS. 7A and 7B, where FIG. 7A is a side sectional view of a cleaning robot according to another embodiment of the present invention, and FIG. 7B is a top view of a dust suction pipe according to FIG. 7A. In this embodiment, the structure of the
請參照圖7C,其是依據圖7A及圖7B繪示的刷掃物體示意圖。在圖7C中,假設毛刷710隨著轉盤131的旋轉而在時間點T1~T6呈現不同的位置(以星號標示)。由圖7C可看出,當轉盤131沿第一方向D1轉動時,即可將物體799(例如位於掃地機器人10路徑上的灰塵、垃圾等)刷掃至第一勾部711內。在此情況下,吸塵管710即可透過吸入口712將物體799吸入至集塵件122b中儲存,但本發明可不限於此。藉此,可提升掃地機器人700的集塵效果。Please refer to FIG. 7C, which is a schematic diagram of brushing objects according to FIGS. 7A and 7B. In FIG. 7C, it is assumed that the
請參照圖8A及圖8B,其中圖8A是依據圖7A繪示的另一掃地機器人側剖視圖,而圖8B是圖8A的另一視圖。在本實施例中,掃地機器人800的結構大致相同於圖7A的掃地機器人700,惟掃地機器人800更包括一導塵板810。具體而言,導塵板810設置於吸塵管710的側邊,並朝吸塵管710的下方傾斜延伸,用以將地面899上的物體799導引至吸塵管710,以供吸塵管710透過吸入口712將物體799吸引至集塵件122b中儲存。藉此,可進一步提升掃地機器人800的集塵效果。Please refer to FIG. 8A and FIG. 8B, where FIG. 8A is a side sectional view of another cleaning robot shown in FIG. 7A, and FIG. 8B is another view of FIG. 8A. In this embodiment, the structure of the
請參照圖9A,其是依據圖7B繪示的另一吸塵管俯視圖。在本實施例中,吸塵管910的第一端可連接至集塵件122b,而吸塵管910的第二端可朝底座112的徑向延伸。吸塵管910的第二端設置有第一勾部911及第二勾部912,其中第一勾部911朝向第二方向D2延伸,而第二勾部912朝向第一方向D1。在此配置下,可令集塵效果進一步提升。Please refer to FIG. 9A, which is a top view of another dust suction pipe shown in FIG. 7B. In this embodiment, the first end of the
具體而言,請參照圖9B,其是依據圖9A繪示的刷掃物體示意圖。在本實施例的時間點T1~T6中,轉盤131可往復地沿第一方向D1及第二方向D2旋轉,從而帶動(以星號標示的)毛刷920往復地沿第一方向D1及第二方向D2將物體朝第一勾部911及第二勾部912刷掃。如此一來,第一勾部911及第二勾部912皆可用於集塵,進而可令集塵效果進一步提升。Specifically, please refer to FIG. 9B, which is a schematic diagram of brushing the object according to FIG. 9A. At the time points T1 to T6 in this embodiment, the
請參照圖10,其是依據圖9A及圖9B繪示的另一吸塵管俯視圖。在本實施例中,不同位置的吸塵管可具有不同的長度。藉此,當轉盤131帶動毛刷往復地刷掃時,可增加刷掃時的變化性,從而能更為完整地刷掃到位於不同位置的垃圾、灰塵等物體。Please refer to FIG. 10, which is a top view of another dust suction pipe shown in FIGS. 9A and 9B. In this embodiment, the suction pipes at different positions may have different lengths. In this way, when the
請參照圖11,其是依據本發明之一實施例繪示的路徑規劃方法流程圖。本實施例的方法可由掃地機器人10(或是掃地機器人700及800)執行,以下即搭配圖1所示的元件說明圖11的各步驟。首先,在步驟S1110中,處理器199可控制掃地機器人10的毛刷轉盤組130旋轉。在步驟S1120中,處理器199可控制第一光發射器141a向外發射第一光束I1以形成第一光點。在步驟S1130中,處理器199可控制第二光發射器141b向外發射第二光束I2以形成第二光點。在步驟S1140中,處理器199可基於第一光點及第二光點之間的特定距離決定對應的障礙物距離,並據以進行掃地機器人10的路徑規劃。以上各步驟的細節可參照先前實施例中的說明,於此不另贅述。Please refer to FIG. 11, which is a flowchart of a path planning method according to an embodiment of the present invention. The method of this embodiment can be executed by the cleaning robot 10 (or the cleaning
綜上所述,本發明的掃地機器人具有可以凸出部為軸心進行旋轉的毛刷轉盤組,從而可達到更大的刷掃範圍,並且可減緩揚塵的情形。另外,透過設置有勾部的吸塵管,本發明的掃地機器人可讓灰塵、垃圾等物體更容易被吸入集塵件中,從而提供更佳的集塵效果。In summary, the sweeping robot of the present invention has a brush turntable group that can rotate with the protruding part as an axis, so that a larger sweeping range can be achieved, and the situation of raising dust can be reduced. In addition, through the dust collection pipe provided with the hook portion, the sweeping robot of the present invention can make dust, garbage and other objects more easily sucked into the dust collection piece, thereby providing a better dust collection effect.
另外,透過在吸塵管的側面設置導塵板的方式,可令灰塵、垃圾等物體更容易被刷掃至吸塵管的吸入口,因而可進一步改善集塵效果。此外,吸塵管的一端上還可設置有朝不同方向延伸的勾部,並可配合往復刷掃的毛刷達到更佳的刷掃效果。In addition, by installing a dust guide plate on the side of the dust suction pipe, dust, garbage and other objects can be more easily swept to the suction port of the dust suction pipe, thereby further improving the dust collection effect. In addition, one end of the dust suction pipe can also be provided with hooks extending in different directions, and can cooperate with the reciprocating brush to achieve a better sweeping effect.
再者,透過本發明提出的路徑規劃方法,可讓掃地機器人準確地依據第一、第二光點之間特定距離的變化偵測與障礙物之間的距離、通行空間的高度/寬度、掉落邊緣等,進而優化掃地機器人的移動路線。並且,由於本發明的方法最少只需一組光發射器及攝影機即可實現上述偵測,故可降低掃地機器人的機身重量、運算複雜度及成本。Furthermore, through the path planning method proposed in the present invention, the sweeping robot can accurately detect the distance to obstacles, the height/width of the passage space, and the distance between the first and second light spots according to the specific distance changes between the first and second light spots. Falling off the edge, etc., to optimize the moving route of the sweeping robot. Moreover, since the method of the present invention requires at least a set of light emitters and cameras to achieve the above detection, the weight, computational complexity and cost of the sweeping robot can be reduced.
雖然本發明已以實施例揭露如上,然其並非用以限定本發明,任何所屬技術領域中具有通常知識者,在不脫離本發明的精神和範圍內,當可作些許的更動與潤飾,故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the relevant technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The protection scope of the present invention shall be subject to those defined by the attached patent application scope.
10、505、700、800:掃地機器人
110:本體組
111:凸出部
112:底座
112a:時規皮帶
113、710、910:吸塵管
121:馬達
122a:吸引模組
122b:集塵件
122:容置空間
130:毛刷轉盤組
131:轉盤
131a:齒輪
132、710:毛刷
141a:第一光發射器
141b:第二光發射器
142:攝影機
180:動力輪
199:處理器
300:查找表
399、599:障礙物
499:通行空間
500:場域
511、512:路徑
520:盲區
711、911:第一勾部
712:吸入口
799:物體
810:導塵板
912:第二勾部
AN:固定夾角
D1:第一方向
D2:第二方向
DI1、DI2、DIa、DIb、DIc、DI、DI’:特定距離
H:機身高度
H1、Z:高度
H2:長度
I1:第一光束
I2:第二光束
IM0~IM3、IM、IM’:影像
OD1、OD2:障礙物距離
P1、P1’:第一光點
P2、P2’:第二光點
POS1、POS2:位置
r:距離
S1110~S1140:步驟
T0~T6:時間點
W:機身寬度
X:寬度:固定角速度
∆t:預設時間差10, 505, 700, 800: sweeping robot 110: body group 111: protrusion 112:
圖1是依據本發明之一實施例繪示的掃地機器人側剖視圖。 圖2A是依據圖1繪示的轉盤及底座的俯視圖。 圖2B是依據圖2A繪示的將轉盤接合於底座的示意圖。 圖3A是依據圖1繪示的偵測障礙物距離的示意圖。 圖3B是依據圖3A繪示的偵測周遭環境的示意圖。 圖3C是依據本發明之一實施例繪示的基於查找表估計障礙物距離的示意圖。 圖4A是依據本發明之一實施例繪示的判定通行空間高度/寬度的示意圖。 圖4B是依據圖4A繪示的判定通行空間寬度的示意圖。 圖4C是依據本發明之一實施例繪示的判定是否進入障礙物的示意圖。 圖5A是習知的路徑規劃示意圖。 圖5B是依據本發明之一實施例繪示的路徑規劃示意圖。 圖6A是依據本發明之一實施例繪示的掃地機器人在平面移動的示意圖。 圖6B是依據圖6A繪示的掃地機器人接近掉落邊緣的示意圖。 圖7A是依據本發明另一實施例繪示的掃地機器人側剖面圖。 圖7B是依據圖7A繪示的吸塵管俯視圖。 圖7C是依據圖7A及圖7B繪示的刷掃物體示意圖。 圖8A是依據圖7A繪示的另一掃地機器人側剖視圖。 圖8B是圖8A的另一視圖。 圖9A是依據圖7B繪示的另一吸塵管俯視圖。 圖9B是依據圖9A繪示的刷掃物體示意圖。 圖10是依據圖9A及圖9B繪示的另一吸塵管俯視圖。 圖11是依據本發明之一實施例繪示的路徑規劃方法流程圖。Fig. 1 is a side cross-sectional view of a cleaning robot according to an embodiment of the present invention. FIG. 2A is a top view of the turntable and the base shown in FIG. 1. FIG. 2B is a schematic diagram of joining the turntable to the base according to FIG. 2A. FIG. 3A is a schematic diagram of detecting the distance of an obstacle according to FIG. 1. FIG. 3B is a schematic diagram of detecting the surrounding environment according to FIG. 3A. FIG. 3C is a schematic diagram of estimating the distance of an obstacle based on a look-up table according to an embodiment of the present invention. FIG. 4A is a schematic diagram of determining the height/width of the passage space according to an embodiment of the present invention. FIG. 4B is a schematic diagram of determining the width of the passage space according to FIG. 4A. FIG. 4C is a schematic diagram of determining whether to enter an obstacle according to an embodiment of the present invention. Fig. 5A is a schematic diagram of conventional path planning. FIG. 5B is a schematic diagram of path planning drawn according to an embodiment of the present invention. Fig. 6A is a schematic diagram of a cleaning robot moving on a plane according to an embodiment of the present invention. Fig. 6B is a schematic diagram of the sweeping robot approaching the falling edge according to Fig. 6A. Fig. 7A is a side sectional view of a cleaning robot according to another embodiment of the present invention. Fig. 7B is a top view of the dust suction pipe shown in Fig. 7A. Fig. 7C is a schematic diagram of brushing an object according to Figs. 7A and 7B. FIG. 8A is a side cross-sectional view of another cleaning robot according to FIG. 7A. Fig. 8B is another view of Fig. 8A. Fig. 9A is a top view of another dust suction pipe according to Fig. 7B. FIG. 9B is a schematic diagram of brushing an object according to FIG. 9A. Fig. 10 is a top view of another dust suction pipe shown in Figs. 9A and 9B. Fig. 11 is a flowchart of a path planning method according to an embodiment of the present invention.
10:掃地機器人10: Sweeping robot
110:本體組110: ontology group
111:凸出部111: protruding part
112:底座112: Base
113:吸塵管113: Vacuum tube
121:馬達121: Motor
122a:吸引模組122a: Attraction module
122b:集塵件122b: Dust collector
122:容置空間122: accommodating space
130:毛刷轉盤組130: Brush turntable group
131:轉盤131: Turntable
132:毛刷132: Brush
141a:第一光發射器141a: first light emitter
141b:第二光發射器141b: second light emitter
142:攝影機142: Camera
180:動力輪180: power wheel
199:處理器199: processor
AN:特定夾角AN: specific included angle
D1:第一方向D1: First direction
I1:第一光束I1: First beam
I2:第二光束I2: second beam
H1:高度H1: height
H2:長度H2: length
Claims (11)
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