WO2015074532A1

WO2015074532A1 - Self-moving robot with correction apparatus, and correction method therefor

Info

Publication number: WO2015074532A1
Application number: PCT/CN2014/091380
Authority: WO
Inventors: 周四海
Original assignee: 苏州科沃斯商用机器人有限公司
Priority date: 2013-11-20
Filing date: 2014-11-18
Publication date: 2015-05-28
Also published as: CN104644061B; CN104644061A

Abstract

A self-moving robot with a correction apparatus, and a correction method therefor. The self-moving robot comprises a main robot body (1). The main robot body (1) is provided with a control unit (2), a direction sensor (3), and a walk unit (4). The control unit (2) controls the self-moving robot with the correction apparatus to walk according to a preset walk mode. The direction sensor (3) is used for indicating the walk direction of the robot. The main robot body (1) is also provided with a boundary detection sensor (5) connected to the control unit (2). The control unit (2) determines, according to a sensing signal of the boundary detection sensor (5), whether the direction sensor (3) is in a correct work state, and corrects the direction sensor (3) if the direction sensor (3) is in a wrong work state. The self-moving robot with the correction apparatus has a simple structure; when used in a cleaning robot, the boundary detection sensor (5) can assist the direction sensor (3) to work and verify the accuracy of a detection result thereof, so that the robot can always move horizontally or vertically with less error.

Description

Self-moving robot with orthodontic device and its correction method

Technical field

The invention relates to a self-moving robot with a correcting device and a correcting method thereof, and belongs to the technical field of small household appliance manufacturing.

Background technique

Existing cleaning robots rely on crawlers or wheels to move on the working surface. To improve cleaning efficiency, the trajectory of the machine is generally planned to be a "bow" shaped trajectory perpendicular to one side (as shown in Figure 7-8). ).

At present, the cleaning robot moves on the working surface according to the preset traveling trajectory, and mainly indicates the walking direction of the robot through a direction sensor such as an acceleration sensor or a gyroscope. The acceleration sensor is mounted on the cleaning robot and connected to the control unit, and the motion state of the cleaning robot is detected by the acceleration sensor, and the detection result is fed back to the control unit. If the tilting or deviation from the predetermined route occurs, the control unit issues an instruction to adjust accordingly. . However, in this solution, the traveling direction of the robot is indicated by an electronic component such as an acceleration sensor, and a certain cumulative error occurs when the electronic component is used for a long time. When there is an error in the acceleration sensor, the direction of the indication of the acceleration sensor deviates from the original planned path. The direction, so that the cleaning robot cannot walk along the planned route, has a great influence on the cleaning efficiency of the cleaning robot on the work surface.

Summary of the invention

The technical problem to be solved by the present invention is to provide a self-moving robot with a correcting device and a correcting method thereof for the deficiencies of the prior art, and the boundary detecting sensor for the cleaning robot can assist the direction sensor to work and verify the detection result. Accuracy allows the robot to always move with a small level of error or vertical.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A self-moving robot with a correcting device includes: a main body, the main body is provided with a control unit, a direction sensor and a walking unit, and the control unit controls the self-moving robot with the correcting device to follow the preset walking The mode is used to indicate the walking direction of the robot, and the main body is further provided with a boundary detecting sensor, and the boundary detecting sensor is connected to the control unit, and the control unit determines according to the sensing signal of the boundary detecting sensor. The direction sensor is in the correct working state, and the direction sensor is corrected if it is in the wrong working state.

Preferably, the boundary detecting sensors are at least two.

Preferably, at least one boundary detecting sensor is disposed on each of two sides of the main body.

More preferably, the end face is a front end face or a rear end face of the main body

The boundary detection sensor is a contact sensor or a non-contact sensor.

The direction sensor is an acceleration sensor, a gyroscope or a code wheel.

The invention also provides a method for correcting a self-mobile robot with the above-mentioned correcting device, comprising the following steps:

S1: the mobile robot is turned on near the frame, and the boundary detecting sensor adjusts the main body to the posture A relative to the frame, and records the angle value φ of the direction sensor at this time;

S2: the self-moving robot walks according to a preset walking mode, and indicates a walking direction of the main body 1 through a direction sensor;

S3: When the robot walks to the vicinity of the frame, adjust the position of the machine to the position A relative to the frame according to the boundary detection sensor, and compare whether the angle value φ' of the direction sensor is equal to φ at this time, and if φ' is not equal to φ, the correction direction is After the angle value of the sensor reaches φ, it returns to S2, otherwise it returns directly to S2.

More commonly, the border is a horizontal border or a vertical border.

In order to facilitate the self-moving robot to accurately and quickly find the pose A relative to the frame, the boundary detecting sensor is disposed on both sides of the front end surface of the main body, and the posture A is the front end of the main body parallel to the frame. Of course, the boundary detecting sensor is also It can be placed on both sides of the rear end surface of the main body, and the posture A is the rear end of the main body parallel to the frame.

Preferably, the boundary detecting sensor adjusts the main body to the posture A by the boundary detecting sensor 5 disposed on both sides or the rear end surface of the front end surface of the main body 1 to sense different boundary signals or only one side detecting device detects the boundary signal.

In order to improve the working efficiency of the self-mobile robot, the preset walking mode is planned to be a "bow"-shaped route or a reciprocating straight-line route perpendicular to the frame.

Preferably, when the robot walks along the "bow"-shaped mode or the reciprocating linear mode perpendicular to the frame, the control unit controls the main body to walk to the boundary in the direction of the frame on the working surface according to the feedback signal of the direction sensor, and is disposed on the front end surface of the main body Or the boundary detection sensor of the rear end face detects the error of the direction sensor when detecting the tilt of the main body posture.

The self-moving robot with the correcting device of the invention has a simple structure, and the boundary detecting sensor is used for the cleaning robot to assist the direction sensor to work, and the accuracy of the detection result is verified, so that the robot can always move with a small error.

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

Figure 1 is a block diagram of a control structure of a self-moving robot with a correcting device;

2 is a schematic view showing the boundary detecting sensor disposed on both sides of the front end of the main body;

3 is a schematic view showing the boundary detecting sensor disposed on both sides of the rear end of the main body;

Figure 4 is a step-by-step diagram of a method of correcting a self-moving robot with a correcting device;

5 is a schematic diagram of a correction process of the boundary detecting sensor disposed on both sides of the front end of the main body;

6 is a schematic diagram of a correction process of the boundary detecting sensor disposed on both sides of the rear end of the main body;

7 is a schematic diagram of a conventional path planning (horizontal direction) of a prior art wiping cleaning robot;

FIG. 8 is a schematic diagram of a conventional path planning (vertical direction) of a prior art wiping cleaning robot.

detailed description

1 is a block diagram of a control structure of a self-moving robot with an orthodontic device; and FIG. 2 is a schematic structural view of a first embodiment of a cleaning robot with a correcting device. As shown in FIG. 2 and with reference to FIG. 1 , a self-moving robot with a correcting device includes: a main body 1 , the main body 1 is provided with a control unit 2 , a direction sensor 3 and a walking unit 4 , and the control unit 2 controlling the self-mobile robot to walk according to a preset walking mode, such as walking in a "bow" shape perpendicular to the frame or walking in a reciprocating straight line, the direction sensor 3 is used to indicate the walking direction of the robot, and the direction sensor 3 may be an acceleration Sensor, gyroscope or code wheel. As shown in FIG. 5, the direction indicated by the arrow is the forward direction of the mobile robot, and a boundary detecting sensor 5 is disposed on each of the front ends of the main body 1. As shown in FIG. 2, the boundary detecting sensor 5 and the The control unit 2 is connected. According to the sensing signal of the boundary detecting sensor 5, the control unit 2 determines whether the direction sensor is in the correct working state. If the direction sensor 3 is in the wrong working state, it corrects it. It should be noted that in the main body 1 The boundary detecting sensor 5 is disposed on the front and rear sides of the main body 1. The boundary detecting sensor can also be disposed on the left and right sides of the main body 1 or the rear end of the main body 1 (see FIG. 3). As shown in the figure, the number of the boundary detecting sensors 5 may be any one or more.

Referring to FIG. 5 again, specifically, the main body 1 is provided with a gravitational acceleration sensor or a gyroscope as the direction sensor 3, and the boundary detecting sensor 5 is disposed on the left and right sides of the front end of the main body 1 as an example for explanation. When the self-moving robot adopts the "bow" shape as shown in FIG. 8 to walk vertically, the direction sensor 3 always takes the direction of gravity as the reference direction, and controls the robot to repeatedly walk up vertically and touch the frame to turn and then walk vertically downward. process. When the direction sensor 3 is working normally, the robot can accurately recognize the vertical direction; but as the robot continues to walk and the direction sensor 3 has an error, the direction in which the robot walks will deviate from the vertical direction. The person himself still thinks that walking in the vertical direction causes a large deviation of the walking result and reduces the cleaning efficiency of the robot. When the robot walks up or down to the frame, the boundary detecting sensor 5 of the front end detects the posture of the robot in real time to determine whether the direction sensor 3 is in the correct working state. For example, when the robot touches the frame upward according to the direction of the direction sensor 3, the boundary detecting sensor 5 of the left and right sides of the front end of the robot simultaneously senses the signal, and then determines that the direction sensor 3 is in the correct working state; When the boundary detecting sensor 5 on the left side or the boundary detecting sensor 5 on the right senses the signal, it is judged that the body is tilted, the robot is deviated from the vertical direction, and the direction sensor 3 is in an erroneous working state, which needs to be corrected. Of course, if an ultrasonic sensor or an infrared sensor is used, if the robot walks to the frame, the left and right boundary detecting sensors 5 will not receive the signal at the same time or the strength of the received signal is different, the robot determines that the body is tilted, the direction Sensor 3 is in the wrong working condition and needs to be corrected.

In the above implementation, the glass bezel itself is horizontally disposed. If the glass frame is inclined, when the robot walks up or down, the robot cannot judge the machine only according to whether a sensing signal of the boundary detecting sensor 5 is received or a sensing signal of two different boundary detecting sensors 5 is received. Whether the body deviates from the vertical direction, and thus it is impossible to judge whether the direction sensor 3 has an error or not, and is in a correct or wrong working state. At this time, it is necessary to first place the self-moving robot near the frame, and adjust the position of the main body 1 to the frame A according to the boundary detecting sensor 5 (the signal is sensed or the same intensity is sensed simultaneously on the left and right sides of the front end of the main body 1. ), the angle value φ of the direction sensor 3 at this time is recorded (if the frame is 45 degrees from the horizontal direction, φ is 45 degrees, that is, the body is deviated from the vertical direction by 45 degrees).

When the robot walks in the arcuate mode in the vertical direction, if the robot walks up to the frame according to the direction sensor indication, it is necessary to adjust the machine to the posture A relative to the frame according to the boundary detecting sensor 5 (ie, adjust the body The position is such that the left and right sides of the front end of the body sense signals or sense the same intensity signal. The angle value φ' of the direction sensor 3 is equal to φ. If φ' is not equal to φ, the direction sensor 3 is corrected. After the angle value reaches φ, it returns to S2, otherwise it returns directly to S2. Preferably, the direction sensor is corrected once every predetermined time t.

In the above embodiment, a boundary detecting sensor is disposed on each side of the front end of the main body 1 to determine whether the body is tilted when the robot walks to the frame, and it is also possible to use only one boundary detecting sensor for the same purpose. Next, a boundary detecting sensor 5 is disposed in the middle of the front end of the robot for explanation. If the boundary detecting sensor 5 is a contact type sensor, such as a travel switch, when the robot walks to the frame (if the frame cannot be stopped by the frame), if the control unit does not sense the stroke switch collision signal, it is determined that the body is tilted. Correct the direction sensor; if the control unit can sense the stroke switch collision signal, it is judged that the direction sensor is in the correct working state. If the boundary detecting sensor 5 is a non-contact sensor, such as an infrared sensor, the infrared sensor includes a transmitter and a receiver. When the robot walks to the frame, if the receiver does not receive an infrared signal or receives a letter If the intensity of the number is less than the preset value, it is judged that the body is tilted, and the direction sensor needs to be corrected; if the receiver receives the infrared signal, it is judged that the direction sensor is in the correct working state.

When the robot walks along the "bow"-shaped mode or the reciprocating linear mode perpendicular to the frame, the control unit 2 controls the main body 1 to travel to the boundary in the direction of the frame on the working surface according to the feedback signal of the direction sensor 3, and is disposed at the front end of the main body 1. When the boundary detecting sensor 5 of the front or rear end surface detects the tilt of the main body 1 posture, the error of the direction sensor is corrected.

For example, when the robot is walking in a "bow" shape or a reciprocating straight line mode at a certain angle from the frame, referring to FIG. 4, the following method of correcting the self-moving robot with the correcting device may be employed.

Specifically, the following steps are included:

S1: the moving robot is placed near the frame, and the boundary detecting sensor 5 adjusts the main body 1 to the posture A with respect to the frame, and records the angle value φ of the direction sensor at this time;

S2: the self-moving robot walks according to a preset walking mode, and indicates a walking direction of the main body 1 by the direction sensor 3, wherein the preset walking mode is a “bow”-shaped route or a reciprocating straight line perpendicular to the frame;

S3: When the robot walks to the vicinity of the frame, the boundary detecting sensor 5 adjusts the machine to the posture A with respect to the frame, and compares whether the angle value φ' of the direction sensor 3 is equal to φ at this time, and if φ' is not equal to φ, After correcting the angle value of the direction sensor 3 to φ, return to S2, otherwise return directly to S2.

It should be noted that the pose relationship between the main body and the frame needs to be determined according to the boundary detection sensor setting manner. In this embodiment, a boundary detecting sensor 5 is disposed on each of the front ends of the main body 1. The posture A is that the front end of the main body 1 is parallel to the frame. Of course, if the boundary detecting sensor 5 is disposed on the main body 1, On both sides, the pose A is the rear end of the main body 1 parallel to the frame (as shown in FIG. 6). It should be pointed out that this correction method can also be used when the robot walks in a "bow" pattern or a reciprocating straight line pattern perpendicular to the frame.

In summary, the self-moving robot with the correcting device has a simple structure, and the boundary detecting sensor is used for the cleaning robot to assist the direction sensor to verify the accuracy of the detection result, so that the robot can always move with a small error.

Claims

A self-moving robot with an orthodontic device, comprising: a main body (1), the main body (1) is provided with a control unit (2), a direction sensor (3) and a walking unit (4), the control unit (2) controlling the self-moving robot with the correcting device to follow the preset walking mode, the direction sensor is for indicating the walking direction of the robot, characterized in that the host body (1) is further provided with boundary detection a sensor (5), the boundary detecting sensor (5) is connected to the control unit (2), and according to the sensing signal of the boundary detecting sensor (5), the control unit (2) determines whether the direction sensor is in a correct working state, if The direction sensor is corrected for its wrong working condition.
A self-propelled robot with orthodontic device according to claim 1, characterized in that said boundary detecting sensors (5) are at least two.
A self-moving robot with a correcting device according to claim 2, wherein at least one boundary detecting sensor (5) is provided on each of both sides of the main body (1).
The self-moving robot with a correcting device according to claim 3, wherein the end surface is a front end surface or a rear end surface of the main body.
A self-propelled robot with orthodontic device according to claim 1, characterized in that the boundary detection sensor (5) is a contact sensor or a non-contact sensor.
A self-propelled robot with orthodontic device according to claim 1, characterized in that the direction sensor (3) is an acceleration sensor, a gyroscope or a code wheel.
A method for correcting a self-moving robot with a correcting device according to any one of claims 1 to 6, characterized in that it comprises the following steps:

S1: the mobile robot is turned on near the frame, and the boundary detecting sensor (5) adjusts the main body (1) to the posture A relative to the frame, and records the angle value φ of the direction sensor at this time;

S2: the self-moving robot walks according to a preset walking mode, and indicates a walking direction of the main body (1) through a direction sensor (3);

S3: When the robot walks to the vicinity of the frame, adjust the machine to the opposite side according to the boundary detecting sensor (5) The pose A of the frame compares whether the angle value φ' of the direction sensor (3) is equal to φ. If φ' is not equal to φ, the angle value of the direction sensor (3) is corrected to φ, and then S2 is returned. Otherwise, Return to S2.
The method for correcting a self-moving robot with an orthodontic device according to claim 7, wherein the frame is a horizontal frame or a vertical frame.
The method for correcting a self-moving robot with a correcting device according to claim 7, wherein if the boundary detecting sensor (5) is disposed on both sides of the front end surface of the main body (1), the posture A is a main body ( 1) The front end is parallel to the border.
The method for correcting a self-moving robot with a correcting device according to claim 7, wherein if the boundary detecting sensor (5) is disposed on both sides of the rear end surface of the main body (1), the posture A is a main body ( 1) The back end is parallel to the border.
The method for correcting a self-moving robot with a correcting device according to claim 9 or 10, wherein the boundary detecting sensor (5) adjusts the main body to the posture A by being disposed on both sides of the front end surface of the main body (1) The boundary detection sensor (5) on either side of the rear end face senses a different boundary signal or only one side correction device detects the boundary signal.
The method for correcting a self-moving robot with a correcting device according to claim 9 or 10, wherein in S2, the predetermined walking mode is a "bow"-shaped path or a reciprocating straight line perpendicular to the frame.
A method for correcting a self-moving robot with a correcting device according to any one of claims 1 to 6, wherein the predetermined walking mode is a "bow"-shaped path or a reciprocating straight line perpendicular to the frame. Route, when the control unit (2) controls the main body (1) to travel to the boundary in the direction of the frame according to the feedback signal of the direction sensor (3), the boundary detecting sensor disposed on the front end surface or the rear end surface of the main body (1) (5) When the main body (1) is tilted, the error of the direction sensor is corrected.