WO2015074532A1 - Robot automoteur doté d'appareil de correction, et procédé de correction de celui-ci - Google Patents

Robot automoteur doté d'appareil de correction, et procédé de correction de celui-ci Download PDF

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Publication number
WO2015074532A1
WO2015074532A1 PCT/CN2014/091380 CN2014091380W WO2015074532A1 WO 2015074532 A1 WO2015074532 A1 WO 2015074532A1 CN 2014091380 W CN2014091380 W CN 2014091380W WO 2015074532 A1 WO2015074532 A1 WO 2015074532A1
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WO
WIPO (PCT)
Prior art keywords
sensor
self
main body
robot
frame
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Application number
PCT/CN2014/091380
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English (en)
Chinese (zh)
Inventor
周四海
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苏州科沃斯商用机器人有限公司
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Publication of WO2015074532A1 publication Critical patent/WO2015074532A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • the boundary detecting sensors are at least two.
  • At least one boundary detecting sensor is disposed on each of two sides of the main body.
  • 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:
  • 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 ⁇ 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;
  • the border is a horizontal border or a vertical border.
  • 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.
  • 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.
  • 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.
  • the preset walking mode is planned to be a "bow"-shaped route or a reciprocating straight-line route 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.
  • Figure 1 is a block diagram of a control structure of a self-moving robot with a correcting device
  • FIG. 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
  • FIG. 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;
  • FIG. 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;
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • the number of the boundary detecting sensors 5 may be any one or more.
  • 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.
  • the direction sensor 3 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.
  • 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 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.
  • 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;
  • 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.
  • the robot 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.
  • 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.
  • the robot 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 ⁇ ' of the direction sensor 3 is equal to ⁇ . If ⁇ ' is not equal to ⁇ , the direction sensor 3 is corrected. After the angle value reaches ⁇ , it returns to S2, otherwise it returns directly to S2.
  • the direction sensor is corrected once every predetermined time t.
  • 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.
  • 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.
  • the boundary detecting sensor 5 is a non-contact sensor, such as an infrared sensor
  • the infrared sensor includes a transmitter and a receiver.
  • 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.
  • 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.
  • 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.
  • the following method of correcting the self-moving robot with the correcting device may be employed.
  • 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;
  • the boundary detecting sensor 5 adjusts the machine to the posture A with respect to the frame, and compares whether the angle value ⁇ ' of the direction sensor 3 is equal to ⁇ at this time, and if ⁇ ' is not equal to ⁇ , After correcting the angle value of the direction sensor 3 to ⁇ , return to S2, otherwise return directly to S2.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un robot automoteur doté d'un appareil de correction et un procédé de correction de celui-ci. Le robot automoteur comporte un corps (1) principal de robot. Le corps (1) principal de robot est pourvu d'une unité de commande (2), d'un capteur (3) de direction et d'une unité de marche (4). L'unité de commande (2) commande le robot automoteur doté de l'appareil de correction permettant de marcher selon le mode prédéfini de préréglage. Le capteur de direction (3) est utilisé pour indiquer la direction de la marche du robot. Le corps (1) principal de robot est également pourvu d'un capteur (5) de détection de limite relié à l'unité de commande (2). L'unité de commande (2) définit, selon un signal de détection du capteur (5) de détection de limite, si le capteur de direction (3) présente un état de fonctionnement correct ou non, et corrige le capteur de direction (3) si ce dernier présente un état de fonctionnement incorrect. Le robot automoteur doté de l'appareil de correction dispose d'une structure simple ; lorsqu'il est utilisé dans un robot nettoyeur, le capteur (5) de détection de limite peut aider le capteur de direction (3) à fonctionner et à vérifier la précision d'un résultat de détection de celui-ci, de sorte que le robot peut toujours se déplacer horizontalement ou verticalement avec moins d'erreur.
PCT/CN2014/091380 2013-11-20 2014-11-18 Robot automoteur doté d'appareil de correction, et procédé de correction de celui-ci WO2015074532A1 (fr)

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CN201310591136.X 2013-11-20
CN201310591136.XA CN104644061B (zh) 2013-11-20 2013-11-20 带有矫正装置的自移动机器人及其矫正方法

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Cited By (3)

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CN105816106A (zh) * 2016-05-31 2016-08-03 台州市霸业智能科技有限公司 智能扫地机器人
CN106909140A (zh) * 2015-12-22 2017-06-30 苏州宝时得电动工具有限公司 路线回归方法及系统
CN113748826A (zh) * 2020-06-01 2021-12-07 上海山科机器人有限公司 自主作业设备和自主作业系统

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CN106239528B (zh) * 2016-08-30 2019-04-09 宁波菜鸟智能科技有限公司 扫地机器人的路径清扫方法
CN106325276B (zh) * 2016-09-21 2019-06-25 苏州瑞得恩光能科技有限公司 机器人在斜坡平面上直线行驶的判定方法及控制方法
CN106970623B (zh) * 2017-04-18 2021-05-25 杭州匠龙机器人科技有限公司 智能清洁装置及其网格路径作业方法
CN108646733B (zh) * 2018-04-27 2021-08-10 杭州艾豆智能科技有限公司 一种自动矫正的移动机器人的矫正方法
CN109491397B (zh) * 2019-01-14 2021-07-30 傲基科技股份有限公司 割草机器人及其割草区域划定方法
CN110162061B (zh) * 2019-06-06 2022-06-24 深圳怪虫机器人有限公司 一种光伏清洁机器人直线清洁路径的方法
CN115486765B (zh) * 2022-09-26 2023-06-27 茅台学院 一种自移动机器人及其矫正方法

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CN113748826A (zh) * 2020-06-01 2021-12-07 上海山科机器人有限公司 自主作业设备和自主作业系统

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