WO2019104733A1

WO2019104733A1 - Sweeping robot and obstacle avoidance method and device for sweeping robot

Info

Publication number: WO2019104733A1
Application number: PCT/CN2017/114324
Authority: WO
Inventors: 郑勇; 张立新
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-12-01
Filing date: 2017-12-01
Publication date: 2019-06-06

Abstract

Provided in the present invention are a sweeping robot and an obstacle avoidance method and device for a sweeping robot, the sweeping robot comprising a control module and a distance detection module; the distance detection module is disposed at a region near a front edge at a top portion of a panel of the sweeping robot, and the control module is provided within the sweeping robot. The sweeping robot and obstacle avoidance method and device for a sweeping robot as provided by the present invention are used to prevent the sweeping robot from being clamped at a bottom surface of an object.

Description

\¥0 2019/104733 卩(:17 称17/114324

Method and device for obstacle avoidance of sweeping robot and sweeping robot

[0001] The present invention relates to the field of smart device technologies, and in particular, to a method and apparatus for obstacle avoidance of a cleaning robot and a cleaning robot.

Background technique

[0002] With the advent of the era of intelligence, the generation of various smart devices has brought great convenience to people. As a self-cleaning intelligent robot, the sweeper can alleviate people's burden of housework. However, the area covered by furniture in the home environment has become a difficult point for sweeping robots. For example, beds, sofas and other furniture have a height difference of 1 (^111), and this height is very close to the overall height of the current sweeper. Some of the shovel's panels are generally raised in the middle, which causes the sweeper to get stuck under the sofa and jam in some cases.

[0003] The prior art generally adopts a method of increasing the front edge of the cleaning robot to solve the problem of the robot stuck, but the method has two shortcomings: On the one hand, the increase of the front edge makes the sweeping robot visually abrupt, affecting On the other hand, many of the furniture's bottom surface adopts a curved gradual design, and its height gradually decreases from the outside to the inside, causing the sweeping robot to directly accumulate in the furniture underground when moving faster.

technical problem

[0004] A main object of the present invention is to provide a method and apparatus for obstacle avoidance of a cleaning robot and a cleaning robot, which are intended to prevent a cleaning robot from being caught at the bottom surface of an object.

Problem solution

Technical solution

[0005] A method for obstacle avoidance of a cleaning robot proposed by the present invention includes:

Receiving a second distance detection signal; the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is transmitted from a panel of the cleaning robot; [0007] Calculating a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detecting signal;

[0008] determining whether the distance between the currently calculated panel and the bottom surface of the object is calculated from the previous calculation \¥0 2019/104733 卩(:17 \2017/114324 The distance between the panel and the bottom surface of the object is small, and if so, the sweeping robot is controlled to decelerate.

[0009] The obstacle avoidance device of the cleaning robot proposed by the present invention includes:

[0010] a first acquiring unit, configured to receive a second distance detecting signal; the second distance detecting signal is a signal that is reflected by the first distance detecting signal after the bottom surface of the object, and the first distance detecting signal is from the sweeping robot Launch at the panel;

[0011] a calculating unit, configured to calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detecting signal;

[0012] a first determining unit, configured to determine whether a distance between the currently calculated panel and the bottom surface of the object is smaller than a distance between the panel calculated by the previous calculation and the bottom surface of the object;

[0013] The first determining unit is configured to control the deceleration movement of the cleaning robot when the determination result of the first determining unit is YES.

[0014] The cleaning robot of the present invention includes a control module and a distance detecting module. The distance detecting module is disposed in an area near the front edge of the top of the cleaning robot panel, and the control module is disposed in the cleaning robot. The control module and the distance detecting module are electrically connected;

[0015] the distance detecting module is configured to detect a distance detecting signal of the cleaning robot panel and the bottom surface of the object, and send a distance detecting signal of the panel and the bottom surface of the object to the control module;

[0016] The control module receives the distance detection signal of the distance detecting module to calculate the distance between the panel and the bottom surface of the object, and controls the cleaning robot to decelerate or return in place according to the distance between the panel and the bottom surface of the object.

Advantageous effects of the invention

Beneficial effect

[0017] The beneficial effects of the present invention are: when the cleaning robot is in the process of advancement, the distance detecting module sends the distance detecting signal to the control module, and the control module receives the distance detecting of the distance detecting module The signal can be obtained by calculating the distance between the panel of the sweeping robot and the bottom surface of the object. When the distance between the panel of the sweeping robot and the bottom of the object is smaller, the sweeping robot is controlled to decelerate, so that the speed of the sweeping robot is slower and slower. If the distance between the panel and the bottom surface of the object does not change, the sweeping robot is controlled to drive at a constant speed at the current speed after deceleration. When the distance between the sweeping robot panel and the bottom surface of the object is less than a certain threshold, the sweeping robot is controlled to return in place, and the sweeping robot is performing. \¥0 2019/104733 卩(:17 \2017/114324 During the cleaning process, the bottom surface of the object whose height is gradually lowered from the outside to the inside can effectively prevent the sweeping robot from being stuck at the bottom of the object; the original return can be in place When the head is turned, the components of the sweeping robot are provided with buttons, lasers, and cameras, so that the component is higher than the area where the distance sensor is disposed on the panel of the cleaning robot, so the threshold value can be the highest point and the lowest on the panel. The difference in the distance of the points is twice, which further prevents the cleaning robot from being caught at the bottom surface of the object.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a sweeping robot according to an embodiment of the present invention;

2 is a schematic diagram showing the steps of an obstacle avoidance method of a cleaning robot according to an embodiment of the present invention;

3 is a schematic diagram showing steps of an obstacle avoidance method of a cleaning robot according to another embodiment of the present invention;

4 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention;

[0022] FIG. 5 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to another embodiment of the present invention;

6 is a structural block diagram of an obstacle avoidance device of a cleaning robot according to still another embodiment of the present invention;

7 is a block diagram showing a second execution unit of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention;

8 is a structural block diagram of a calculation unit of an obstacle avoidance device of a cleaning robot according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

[0027] It is to be understood that the specific embodiments described herein are merely illustrative of the invention.

[0028] Referring to FIG. 1 , the cleaning robot 1 of the present invention includes a control module and a distance detecting module. The control module is disposed in the panel of the cleaning robot 1 , and may specifically be a microprocessor. The distance detecting module is disposed on the sweeping ground. The area near the front edge of the top of the robot 1 panel, the front edge of which is the edge of the panel in the forward direction of the cleaning robot 1. The control module is electrically connected to the distance detecting module, and the distance detecting module is configured to detect a distance detecting signal of the panel of the cleaning robot 1 and the bottom surface of the object, and specifically the sensor or the module capable of detecting the second distance detecting signal, wherein the object is generally Sofas in the family or furniture such as beds. The distance detecting module sets the distance detecting signal when the cleaning robot 1 is in the forward process \¥0 2019/104733 卩(:17 \2017/114324 sent to the above control module, the above control module receives the distance detection signal of the above distance detecting module, and can obtain the distance value between the panel of the cleaning robot 1 and the bottom surface of the object by calculation; The smaller the distance between the panel of the sweeping robot 1 and the bottom surface of the object, the more the deceleration robot 1 is controlled to decelerate, so that the speed of the sweeping robot 1 is slower and slower. When the distance between the panel of the sweeping robot 1 and the bottom surface of the object is constant, the sweeping robot is controlled. 1 is driven at a constant speed at a current speed after deceleration. When the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a certain threshold value, the cleaning robot 1 is controlled to return to the original position, and the cleaning robot 1 is in the process of cleaning, for the height The bottom surface of the object gradually decreasing in the outward direction can effectively prevent the cleaning robot 1 from being stuck on the bottom surface of the object; the original return can be turned in place, and the panel of the cleaning robot 1 is provided with buttons, a laser, a camera, and the like, thereby Making the component higher than the distance sensor on the panel of the cleaning robot 1 Field, the size of the threshold value can be the difference between the specific distance highest and lowest points on the panel twice, can be further prevented at the bottom surface of the cleaning robot 1 in the card object.

[0029] The cleaning robot 1 in this embodiment, the distance detecting module includes a first distance detector 2, a second distance detector 3, and a third distance detector 4, wherein the first distance detector 2 is disposed in the area a front end edge, the second distance detector 3 and the third distance detector 4 are disposed in the above region, and are located on both sides of the first distance detector 2; the first distance detector 2, the second distance detector 3, and The connection of the third distance detector 4 is triangular, and by setting three distance detectors, the cleaning robot 1 during the forward cleaning process, when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not vertical, It can also quickly detect the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object. In addition, by setting three distance detectors that are connected in a triangle, the interference of the moving object can be eliminated, because the three distance detectors are arranged in a triangle, and when it is not a moving object, only one or two can be detected at this time. The distance detector can detect the distance detection signal, so it can be judged that the object is not a living object, and it is a fixed object such as a sofa or a bed. When only one distance detector can detect the distance detection signal, the distance value calculated by the cleaning robot 1 according to the detected distance detection signal is used as the distance value between the panel of the cleaning robot 1 and the bottom surface of the object; and when the two distance detectors When the distance detection signal can be detected, two distance values are respectively calculated according to the two distance detection signals, and the smaller distance value is selected as the distance value between the panel of the cleaning robot 1 and the bottom surface of the object. When the distance detector signal can be detected by the three distance detectors, it means that the possibility of live disturbance is extremely great, and further determination is needed. At this time, the cleaning robot 1 will stop moving forward, by rotating or moving left and right. To determine if the three distance detectors can still \¥0 2019/104733 卩(:17 \2017/114324 Received the distance detector signal. Specifically, when the distance detectors can acquire the distance detection signal, it is judged to be the active object interference, because it is not the active object, When the sweeping robot 1 rotates or moves left and right, at least one distance detector can detect the distance detecting signal at the same time. When not all the distance detectors can acquire the distance detecting signal, it is determined that the moving object is not interference. Preferably, the above The three distance detectors are infrared ranging sensors, and the infrared ranging sensors have the advantages of fast response and low cost.

[0030] The infrared ranging sensor in this embodiment includes a transmitting tube and a receiving tube, and the transmitting tube is configured to emit infrared light (infrared emission signal), and the infrared light is emitted from the transmitting tube and reaches along a transmission path perpendicular to the robot panel. On the bottom surface of the object, the object reflects infrared light, and the receiving tube receives the reflected infrared light (infrared reflection signal), and detects the reflection intensity of the reflected infrared reflected signal. The sweeping robot 1 needs to detect the cleaning robot 1 during use. The distance from the panel to the sofa, furniture, etc. is generally no more than 20 cm, and the distance that the infrared ranging sensor can detect satisfies this condition. The infrared distance measuring sensor transmits an infrared reflection signal to the control module, and the control module filters the intensity of the infrared light reflection, and calculates a distance between the surface of the sweeping robot 1 and the bottom surface of the object by the relationship between the infrared light reflection intensity and the distance.

[0031] Referring to FIG. 2, the obstacle avoidance method of the cleaning robot in this embodiment includes:

[0032] Step 31: Receive a second distance detection signal, where the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is transmitted from a panel of the cleaning robot. ;

[0033] Step 32: Calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detection signal;

[0034] Step 33: determining whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object;

[0035] Step 34, if yes, controlling the deceleration movement of the cleaning robot.

[0036] The obstacle avoidance method of the cleaning robot in the present embodiment is implemented by the cleaning robot 1 in the above embodiment.

[0037] In the step, during the cleaning process of the cleaning robot 1 , the distance detecting module of the panel of the cleaning robot 1 detects the second distance detecting signal of the panel of the cleaning robot 1 and the bottom surface of the object, and detects the second distance. \¥0 2019/104733 卩(:17 \2017/114324 The measurement signal is sent to the above control module, so that the cleaning robot 1 can acquire the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object.

[0038] In step 32, the cleaning robot 1 calculates the distance between the panel of the cleaning robot 1 and the bottom surface of the object according to the intensity of the second distance detection signal of the panel and the bottom surface of the object, so that the cleaning robot 1 can obtain the sweeping ground. The distance between the panel of the robot 1 and the bottom surface of the object. The calculation principle of step 32 is that the further the distance of the object ground from the panel of the cleaning robot, the smaller the intensity of the reflected second distance detection signal will be, and vice versa. Therefore, the distance between the sweeping robot panel and the bottom surface of the object can be calculated by the intensity of the second distance detecting signal.

[0039] It is worth noting that the embodiment of the invention is particularly suitable for avoiding an application scenario in which the cleaning robot is stuck to the bottom of the furniture, so that the first distance detection signal is vertically emitted from the panel of the cleaning robot, and the second received signal is received. The distance detection signal is a signal that is reflected downward vertically, so that the distance between the surface of the cleaning robot and the bottom surface of the object can be detected.

[0040] It can be understood that the panel of the cleaning robot emits the first distance signal at a preset interval, and then receives the second distance detection signal, and the panel and the object of the cleaning robot are calculated once for each signal transmission and reception. The distance from the bottom. In step 33, whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object indicates the distance of the object above the cleaning robot from the panel in the path direction of the cleaning robot. Closer and closer, it is necessary to control the deceleration of the sweeping robot to avoid the sweeping robot stuck.

[0041] In step 34, when the result of the determination in step 33 is YES, the deceleration movement of the cleaning robot is controlled, so that the speed of the cleaning robot 1 is slower and slower, and the bottom surface of the object whose height is gradually lowered from the outside to the inside can be effectively prevented. The sweeping robot is stuck at the bottom of the object.

[0042] Referring to FIG. 3, after the step 34 of controlling the deceleration motion of the cleaning robot in another embodiment, the method further includes:

[0043] Step 35: Determine whether the distance between the currently calculated panel and the bottom surface of the object is less than the first distance value;

[0044] Step 36, if yes, controlling the sweeping robot to turn around.

[0045] In this embodiment, the cleaning robot 1 first determines whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated by the previous calculation and the bottom surface of the object, and if so, First, the speed is reduced, and the specific reduced speed range can be preset. Further, after controlling the deceleration motion of the cleaning robot, the distance between the distance between the panel and the bottom surface of the object and the first distance value is also determined. \¥0 2019/104733 卩(:17 \2017/114324 relationship, the first distance value is preset. If the distance between the panel and the bottom surface of the object is less than the first distance value, the sweeping robot is controlled to turn around.

[0046] In step 35, comparing the distance value between the panel of the cleaning robot 1 and the bottom surface of the object with the preset first distance value, determining whether the distance value between the panel of the cleaning robot 1 and the bottom surface of the object is less than a preset first distance value. Since the camera and the like are disposed on the panel of the cleaning robot 1 so that the component is higher than the area where the cleaning robot 1 is disposed on the panel of the cleaning robot 1, the first distance value may preferably be the highest point on the panel. The difference in distance from the lowest point is twice.

[0047] In the obstacle avoidance method of the cleaning robot in the embodiment, the cleaning robot 1 includes three infrared ranging sensors located at the front edge of the panel, and the three infrared distance measuring sensors are connected in a triangle shape. In this embodiment, the first distance detecting signal is an infrared transmitting signal emitted by the transmitting tube of the infrared ranging sensor, and the second distance detecting signal is an infrared reflected signal received by the receiving tube of the infrared ranging sensor;

[0048] Before the step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detecting signal, the method includes:

[0049] Step 371: When one or two of the three infrared ranging sensors acquire an infrared reflected signal, generate an instruction to perform step 32. That is to say, when one or two infrared ranging sensors acquire infrared reflection signals, it is judged that there is no active object interference, and then step 32 can be continued.

[0050] In step 371, during the forward cleaning process, the cleaning robot 1 can quickly detect the panel of the cleaning robot 1 and the bottom surface of the object when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not perpendicular. The second distance detection signal. In addition, by setting three distance detectors that are surrounded by a triangle, the interference of the moving object can be eliminated, because the three distance detectors are arranged in a triangle, and only a fixed object exists in the surrounding environment, and only the detection can be detected at this time. The distance detection signal can be detected by one or two distance detectors, so that the object can be judged to be a fixed object such as a sofa or a bed. When one or two infrared ranging sensors can acquire the second distance detecting signal, step 32 is performed to calculate the distance between the panel of the cleaning robot 1 and the bottom surface of the object by the received second distance detecting signal.

[0051] In another embodiment, the obstacle avoiding method of the cleaning robot, the cleaning robot 1 includes three infrared ranging sensors, one disposed in the middle of the front edge of the region, and the other two are located on both sides thereof, three infrared measurements Connected to the sensor line to form a triangle. \¥0 2019/104733 卩(:17 \2017/114324

[0052] The step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detecting signal includes:

[0053] In step 372, when there are three infrared ranging sensors capable of acquiring the infrared reflected signal, the sweeper robot is controlled to stop moving forward, and it is determined whether there is interference of the moving object.

[0054] In step 372, when the distance detector signals can be detected by the three distance detectors, the possibility of interference of the moving object is extremely large, and further determination is needed, thereby controlling the sweeper robot to stop moving forward. The cleaning robot 1 will perform an action of judging whether it is a disturbance of a moving object.

[0055] The obstacle avoidance method of the cleaning robot in this embodiment performs an action of determining whether the active object interferes with:

[0056] Step 3720, controlling the sweeping robot 1 to rotate in place or to move left and right;

[0057] Step 3721, counting the number of infrared ranging sensors that receive the infrared reflected signal;

[0058] Step 3722: When one or two of the three infrared ranging sensors receive the infrared reflected signal, it is determined that the active object is not interfered with;

[0059] Step 3723: When the three infrared ranging sensors receive the infrared reflected signal, it is determined that the active object interferes.

[0060] In step 3720, the cleaning robot 1 determines whether the three distance detectors can still receive the distance detector signal by means of rotation or left and right motion.

[0061] In step 3722, when all the distance detectors can acquire the distance detection signal, it is determined that the moving object interferes, because when the moving object is not moving, when the cleaning robot 1 rotates or moves left and right, there should be at least one at this time. The distance detector does not detect the distance detection signal. At this time, the cleaning robot 1 is controlled to return to the original forward direction, and the cleaning robot 1 is controlled to travel at the normal working speed.

[0062] In step 3723, when not all the three infrared ranging sensors can acquire the distance detecting signal, it is determined that the moving object is not interfered. When one or two infrared ranging sensors can detect the distance detecting signal, the ground sweep is controlled. The machine returns to the original forward direction, and the distance value between the panel of the sweeping robot 1 and the bottom surface of the object is obtained according to the distance detection signal, and the speed of the sweeping robot is given to the sweeping robot by the distance thereof, so that the sweeping robot can travel in the original forward direction; When the distance sensor can detect the distance detection signal, the cleaning robot 1 is controlled to return to the original forward direction, and the cleaning robot 1 is controlled to travel at the normal working speed. \¥0 2019/104733 卩(:17 \2017/114324

[0063] In the obstacle avoidance method of the cleaning robot in the embodiment, the step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detection signal includes:

[0064] Step 321, when two infrared reflected signals are detected, respectively calculating two distance values according to the intensity signals of the two infrared reflected signals;

[0065] Step 322: Select a smaller distance value as the distance between the panel of the cleaning robot and the bottom surface of the object.

[0066] When two infrared reflection signals are detected, two distance values are respectively calculated according to the two infrared reflection signals, and the smaller distance value is selected as the distance value between the panel of the cleaning robot 1 and the bottom surface of the object.

[0067] Before the step 32 of calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detection signal, the method for avoiding obstacles of the cleaning robot in the embodiment further includes:

[0068] filtering the second distance detection signal to obtain a filtered second distance detection signal;

[0069] Step 32 specifically includes: calculating a distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the filtered second distance detection signal.

[0070] filtering the infrared reflection signal detected by the acquired infrared ranging sensor, thereby eliminating the interference, so that the distance value between the panel and the bottom surface of the object calculated according to the infrared light reflection signal is more accurate, and the infrared reflection intensity according to the infrared reflection signal The relationship between the panel and the bottom surface of the object is calculated from the relationship with the distance.

[0071] Referring to FIG. 4, the obstacle avoidance device of the cleaning robot in this embodiment includes:

[0072] The first obtaining unit 10 is configured to receive a second distance detection signal;

[0073] the second distance detection signal is a signal reflected by the first distance detection signal after the bottom surface of the object, and the first distance detection signal is emitted from the panel of the cleaning robot;

[0074] The calculating unit 20 is configured to calculate, according to the strength of the second distance detecting signal, a distance between a panel of the cleaning robot and a bottom surface of the object;

[0075] The first determining unit 30 is configured to determine whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object;

[0076] The first determining unit 40 is configured to control the deceleration movement of the cleaning robot when the determination result of the first determining unit 30 is YES.

[0077] During the forward cleaning process of the cleaning robot 1, the first acquisition unit 10 acquires a second distance detection signal reflected from the bottom surface of the object, and transmits the second distance detection signal to the control module. \¥0 2019/104733 卩(:17 \2017/114324

[0078] The calculation unit 20 calculates the distance value between the panel of the cleaning robot 1 and the bottom surface of the object according to the second distance detection signal of the panel and the bottom surface of the object, so that the cleaning robot 1 can obtain the surface of the panel and the object of the cleaning robot 1 Distance detection signal.

[0079] It can be understood that the panel of the cleaning robot emits the first distance signal at a preset interval, and then receives the second distance detection signal, and the panel and the object of the cleaning robot are calculated once for each signal transmission and reception. The distance from the bottom. When the distance between the current panel and the bottom surface of the object calculated by the first determining unit 30 is smaller than the distance between the panel and the bottom surface of the object calculated in the previous time, it indicates that the object above the sweeping robot is away from the panel in the path direction of the sweeping robot. The distance is getting closer and closer, so it is necessary to control the speed of the sweeping robot to avoid jamming the sweeping robot.

[0080] When determining that the determination result of the first determination unit 30 is YES, the first determination unit 40 controls the deceleration movement of the cleaning robot 1 so that the speed of the cleaning robot 1 is slower and slower, and the object whose height is gradually lowered from the outer to the inner side. The bottom surface can effectively prevent the sweeping robot from getting stuck at the bottom of the object.

[0081] Referring to FIG. 5, the obstacle avoidance device of the cleaning robot in another embodiment further includes:

[0082] The second determining unit 50 is configured to determine whether the distance between the currently calculated panel and the bottom surface of the object is less than the first distance value.

[0083] The second determining unit 60 is configured to control the sweeping robot to turn around when the determination result of the second determining unit is YES.

[0084] Preferably, the second determining unit 50 compares the distance between the panel of the cleaning robot 1 and the bottom surface of the object with a preset first distance value, and determines whether the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a preset number. A distance value, since the camera and the like are disposed on the panel of the cleaning robot 1 so that the component is higher than the area where the cleaning robot 1 is disposed on the panel of the cleaning robot 1, the size of the first distance value may preferably be on the panel. The difference between the highest point and the lowest point is twice the distance.

[0085] The second determining unit 60 controls the sweeping robot 1 to turn around. At this time, since the sweeping robot continues to travel in the same direction, the sweeping robot may be stuck in the opposite direction, so it should be turned in the opposite direction. Effectively prevents jamming at the bottom of the object.

[0086] In the obstacle avoidance device of the cleaning robot in this embodiment, the cleaning robot includes three infrared ranging sensors located in a region near the front edge of the panel, and the first distance detecting signal is emitted by the infrared ranging sensor. An infrared transmitting signal emitted by the tube, wherein the second distance detecting signal is detected by the infrared ranging sensor \¥0 2019/104733 卩 (: 17 \2017/114324 receiver receiving infrared reflection signal, three of the infrared ranging sensor connection triangles; [0087] The obstacle avoidance device of the sweeping robot also includes :

[0088] a first execution unit, configured to: when one or two of the three infrared ranging sensors acquire the infrared reflected signal, generate the performing the second distance detecting signal The intensity of the command calculates the distance between the panel of the cleaning robot and the bottom surface of the object.

[0089] The cleaning robot 1 can quickly detect the distance detection signal of the panel of the cleaning robot 1 and the bottom surface of the object when the direction of advancement of the cleaning robot 1 and the contour of the bottom surface of the sofa or the bed are not perpendicular during the forward cleaning. In addition, by setting three distance detectors that are connected in a triangle, the interference of the moving object can be eliminated, because the three distance detectors are arranged in a triangle, and when it is not a moving object, only one or two can be detected at this time. The distance detector can detect the distance detection signal, so it can be judged that the object is a fixed object, such as a sofa or a bed. The first executing unit 71 obtains that when one or two infrared ranging sensors can acquire the second distance detecting signal, the distance value between the panel and the bottom surface of the object is calculated according to the second distance detecting signal.

[0090] Referring to FIG. 6, in another embodiment, the obstacle avoiding device of the cleaning robot includes three infrared ranging sensors, one disposed at a front end edge of the region, and the other two disposed in the region. And on the two sides thereof, the three infrared ranging sensors are connected in a triangle shape; wherein the obstacle avoiding device of the sweeping robot further comprises:

[0091] The second executing unit 72 is configured to obtain the infrared reflected signal when three infrared ranging sensors are available

Then, the sweeper robot is controlled to stop moving forward, and it is judged whether there is interference of the moving object.

[0092] When the distance detector signals can be detected by the three distance detectors, the possibility of interference to the moving object is extremely large, and further determination is needed. The second executing unit 72 controls the sweeping robot to stop moving forward and sweep the ground. The robot 1 will perform an action of judging whether it is a disturbance of a moving object.

[0093] Referring to FIG. 7, the obstacle avoiding device of the cleaning robot in this embodiment, the second executing unit 72 includes: [0094] an executing module 720, configured to control the sweeping robot 1 to rotate in place or to move left and right;

[0095] a statistics module 721, configured to count the number of infrared ranging sensors that receive the infrared reflected signal; [0096] a first determining module 722, configured to use one or two of the three infrared ranging sensors The infrared ranging sensor receives the infrared reflection signal, and determines that it is not a moving object interference;

[0097] The second determining module 723 is configured to: when all the three infrared ranging sensors receive the infrared reflected signal, \¥0 2019/104733 卩(:17 \2017/114324 is the active object interference.

[0098] Referring to FIG. 9, the obstacle avoiding device of the cleaning robot in this embodiment, the calculating unit 20 includes:

[0099] The calculation module 210 is configured to calculate two distance values according to the intensity signals of the two infrared reflection signals when the two infrared reflection signals are detected;

[0100] The selecting module 220 is configured to select a smaller distance value as a distance between the panel of the cleaning robot and the bottom surface of the object.

[0101] When two infrared reflection signals are detected, the selection module 220 respectively calculates two distance values according to the two infrared reflection signals, and selects a smaller distance value as a distance value between the panel of the cleaning robot 1 and the bottom surface of the object.

[0102] The obstacle avoidance device of the cleaning robot in this embodiment further includes: a filtering module, configured to filter the second distance detection signal to obtain a filtered second distance detection signal;

[0103] The calculating unit 20 is specifically configured to: calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the filtered second distance detecting signal.

[0104] filtering the infrared reflection signal detected by the acquired infrared ranging sensor, thereby eliminating the interference, so that the distance value between the panel and the bottom surface of the object calculated according to the infrared reflection signal is more accurate, according to the infrared reflection intensity of the infrared reflection signal and The relationship between the distance and the distance between the panel and the bottom surface of the object

[0105] In summary, when the cleaning robot 1 is in the process of advancement, the distance detecting module sends the distance detecting signal to the control module, and the control module receives the distance detecting signal of the distance detecting module, and passes The calculation can obtain the distance value between the panel of the cleaning robot 1 and the bottom surface of the object; when the distance between the panel of the cleaning robot 1 and the bottom surface of the object is smaller, the cleaning robot 1 is controlled to decelerate, so that the speed of the cleaning robot 1 is slower and slower. When the distance between the panel of the robot 1 and the bottom surface of the object does not change, the sweeping robot 1 is controlled to travel at a constant speed at the current speed after deceleration. When the distance between the panel of the cleaning robot 1 and the bottom surface of the object is less than a certain threshold, the cleaning robot 1 is controlled to return to the original position, and the cleaning robot 1 can perform the cleaning process on the bottom surface of the object whose height is gradually decreased from the outside to the inside. Effectively prevent the cleaning robot 1 from being stuck on the bottom surface of the object; the original return can be turned in place, and the panel of the cleaning robot 1 is provided with buttons, a laser and a camera, so that the component is higher than the panel of the cleaning robot 1 The area of the distance sensor is set, so the size of the threshold can be the highest point and the lowest point on the panel. \¥0 2019/104733 卩 (: 17 \2017/114324 twice the distance difference, can further prevent the sweeping robot 1 from getting stuck at the bottom of the object.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are used directly or indirectly. Other related technical fields are equally included in the scope of patent protection of the present invention.

Claims

\¥0 2019/104733 卩(:17 \2017/114324 Claims

[Claim 1] A method for obstacle avoidance of a cleaning robot, comprising:

Receiving a second distance detecting signal; the second distance detecting signal is a signal reflected by the first distance detecting signal after the bottom surface of the object, and the first distance detecting signal is emitted from a panel of the cleaning robot;

Calculating a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the second distance detecting signal;

It is judged whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the distance between the panel calculated from the previous calculation and the bottom surface of the object, and if so, the sweeping robot is controlled to decelerate.

[Claim 2] The obstacle avoidance method of the cleaning robot according to claim 1, wherein the controlling the cleaning robot after the deceleration motion further comprises:

It is judged whether the distance between the currently calculated panel and the bottom surface of the object is smaller than the first distance value, and if so, the sweeping robot is controlled to turn around.

[Claim 3] The obstacle avoidance method of the cleaning robot according to claim 1, wherein the cleaning robot includes three infrared ranging sensors located in a region near the front edge of the panel, and the first distance detecting signal An infrared emission signal emitted by the transmitting tube of the infrared ranging sensor, the second distance detecting signal is an infrared reflected signal received by a receiving tube of the infrared ranging sensor, and the three infrared ranging sensors are connected The line is surrounded by a triangle; the calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detecting signal includes:

When one or two of the three infrared ranging sensors acquire the infrared reflected signal, generate the panel and the ground of the sweeping robot according to the intensity of the second distance detecting signal. The command for describing the distance of the bottom surface of the object; when three infrared ranging sensors can obtain the infrared reflected signal, the sweeper robot is controlled to stop moving forward and determine whether there is interference of the moving object.

[Claim 4] The obstacle avoidance method of the cleaning robot according to claim 3, wherein the determining whether the interference of the moving object exists includes: \¥0 2019/104733 卩(:17 \2017/114324 Control the sweeping robot to rotate in place or to move left and right;

Counting the number of infrared ranging sensors that receive the infrared reflected signal;

When one or two of the three infrared ranging sensors receive the infrared reflected signal, it is determined that the active object is not interfered with;

When the three infrared ranging sensors receive the infrared reflected signal, it is determined that the moving object is interference.

[Claim 5] The obstacle avoidance method of the cleaning robot according to claim 3, wherein the distance between the panel of the cleaning robot and the bottom surface of the object is calculated according to the intensity of the second distance detection signal, Includes:

When two infrared reflected signals are detected, two distance values are respectively calculated according to the intensity signals of the two infrared reflected signals;

A smaller distance value is selected as the distance between the panel of the cleaning robot and the bottom surface of the object.

[Claim 6] The obstacle avoidance method of the cleaning robot according to claim 1, wherein the calculating the distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the second distance detection signal , Also includes:

Filtering the second distance detection signal to obtain a filtered second distance detection signal

Calculating, according to the strength of the second distance detecting signal, a distance between a panel of the cleaning robot and a bottom surface of the object includes:

And calculating a distance between the panel of the cleaning robot and the bottom surface of the object according to the intensity of the filtered second distance detecting signal.

[Attachment 7] A obstacle avoiding device for a sweeping robot, comprising:

a first acquiring unit, configured to receive a second distance detecting signal, where the second distance detecting signal is a signal reflected by the first distance detecting signal after the bottom surface of the object, where the first distance detecting signal is from a panel of the cleaning robot Launch

a calculating unit, configured to calculate a distance between the panel of the sweeping robot and the bottom surface of the object according to the intensity of the second distance detecting signal;

a first determining unit, configured to determine the currently calculated panel and the bottom surface of the object \¥0 2019/104733 卩(:17 \2017/114324 whether the distance is smaller than the distance calculated from the previous calculation of the panel and the bottom surface of the object; the first determining unit is used for the judgment of the first determining unit When the result is YES, the sweeping robot is controlled to decelerate.

The obstacle avoidance device of the cleaning robot according to claim 7, further comprising a second determining unit, configured to determine whether the distance between the currently calculated panel and the bottom surface of the object is smaller than a distance value;

And a second determining unit, configured to: when the determination result of the second determining unit is YES, control the sweeping robot to turn around.

[Claim 9] The obstacle avoidance device of the cleaning robot according to claim 7, wherein the cleaning robot comprises three infrared ranging sensors located in a region near the front edge of the panel, and the first distance detecting signal An infrared emission signal emitted by the transmitting tube of the infrared ranging sensor, the second distance detecting signal is an infrared reflected signal received by a receiving tube of the infrared ranging sensor, and the three infrared ranging sensors are connected The line is surrounded by a triangle; the obstacle avoidance device of the sweeping robot further includes:

a first execution unit, configured to: when one or two of the three infrared ranging sensors acquire the infrared reflected signal, generate an intensity calculation according to the second distance detection signal An instruction of a distance between a panel of the cleaning robot and a bottom surface of the object;

The second execution unit is configured to control the sweeper robot to stop moving forward when three infrared ranging sensors can obtain the infrared reflected signal, and determine whether there is interference of the moving object.

[Claim 10] The obstacle avoidance device of the cleaning robot according to claim 9, wherein the

An execution module, configured to control the sweeping robot to rotate in place or to move left and right;

a statistics module, configured to count the number of infrared ranging sensors that receive the infrared reflected signal

a first determining module, configured to use one or two of the three infrared ranging sensors \¥0 2019/104733 卩(:17 \2017/114324 The external ranging sensor receives the infrared reflection signal, then it is judged that it is not the active object interference; the second determination module is used when the three infrared ranging sensors receive the infrared reflection The signal is then determined to be a moving object interference.

[Claim 11] The obstacle avoidance device of the cleaning robot according to claim 9, wherein the calculation unit comprises:

a calculation module, configured to calculate two distance values according to the intensity signals of the two infrared reflection signals when two infrared reflection signals are detected;

The selection module is configured to select a smaller distance value as the distance between the panel of the cleaning robot and the bottom surface of the object.

[Claim 12] The obstacle avoidance device of the cleaning robot according to claim 7, further comprising

a filtering module, configured to filter the second distance detection signal to obtain a filtered second distance detection signal;

The calculating unit is specifically configured to: calculate a distance between a panel of the cleaning robot and a bottom surface of the object according to the intensity of the filtered second distance detecting signal.

[Claim 13] A cleaning robot, comprising: a control module and a distance detecting module, wherein the distance detecting module is disposed in an area near a front edge of the top of the cleaning robot panel, and the control module is disposed in the In the cleaning robot, the control module and the distance detecting module are electrically connected;

The distance detecting module is configured to detect a distance detecting signal of the cleaning robot panel and the bottom surface of the object, and send a distance detecting signal of the panel to the bottom surface of the object to the control module; the control module receives the distance of the distance detecting module The detection signal calculates the distance between the panel and the bottom surface of the object, and controls the cleaning robot to decelerate or return in place according to the distance between the panel and the bottom surface of the object.

[Claim 14] The cleaning robot according to claim 13, wherein the distance detecting module includes a first distance detector, a second distance detector, and a third distance detector, the first distance detector And disposed at the front end edge of the area, the second distance detector and the third distance detector are disposed in the area, and are located at two sides of the first distance detector; the first distance detector, the second The distance detector and the third distance detector are connected \¥0 2019/104733 卩(:17 \2017/114324 triangle.

[Claim 15] The cleaning robot according to claim 14, wherein the first distance detector, the second distance detector, and the third distance detector are both infrared ranging sensors.

[Claim 16] The cleaning robot according to claim 15, wherein the infrared ranging sensor comprises a transmitting tube and a receiving tube, and the emitting is for emitting an infrared emitting signal perpendicular to the robot panel to a bottom surface of the object The receiving tube receives an infrared reflection signal reflected by the infrared emission signal after being irradiated to the bottom surface of the object.