WO2019165860A1 - Cleaning robot and operation control method therefor - Google Patents
Cleaning robot and operation control method therefor Download PDFInfo
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- WO2019165860A1 WO2019165860A1 PCT/CN2019/072008 CN2019072008W WO2019165860A1 WO 2019165860 A1 WO2019165860 A1 WO 2019165860A1 CN 2019072008 W CN2019072008 W CN 2019072008W WO 2019165860 A1 WO2019165860 A1 WO 2019165860A1
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- detecting
- cleaning robot
- detectors
- detector
- main body
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- 238000004140 cleaning Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 238000011897 real-time detection Methods 0.000 claims abstract description 7
- 239000000523 sample Substances 0.000 claims description 56
- 238000002604 ultrasonography Methods 0.000 description 5
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- 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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Definitions
- the invention relates to the field of automatic detection and control of a cleaning robot, in particular to a cleaning robot and a running control method thereof.
- Infrared detection and ultrasonic inspection technology are now used in the field of obstacle detection for products such as automatic vacuum cleaners and cleaning robots.
- infrared detection mainly calculates the distance by detecting the reflected infrared energy, the reaction speed is fast, no harm, and the price is low, but the infrared probe is susceptible to environmental illumination and obstacle material, which leads to inaccurate detection; ultrasonic detection
- the outdoor work is more reliable by measuring the propagation time of the ultrasonic wave between the obstacle and the ultrasonic probe to calculate the distance or judging the edge of the working surface according to the intensity of the received signal.
- the object of the present invention is to provide a cleaning robot and a running control method thereof, which can more accurately detect edges, gaps or frames of a surface to be cleaned, prevent falling damage, and can achieve better path planning and improve cleaning efficiency.
- the present invention provides a cleaning robot comprising:
- a detecting device is disposed at the bottom of the main body to detect an edge or a gap or a frame of the surface to be cleaned;
- the detecting device comprises a front detecting component, the front detecting component is disposed near a front end of the main body, and the front detecting component has at least two detectors arranged at intervals in the front-rear direction.
- the front detecting assembly has three detectors and is arranged in a triangular shape in the front-rear direction, wherein one detector is disposed adjacent to the front end of the main body; the other two detectors are disposed in the previous detector The rear side is distributed laterally to the left and right.
- the front-rear vertical distance between the detector disposed adjacent to the front end of the main body of the front detecting component and the other two detectors is set to L1, and the L1 boundary is 30-90 mm.
- the detecting device further includes a rear detecting assembly disposed near a rear end of the main body, the rear detecting assembly including at least two detectors arranged one behind the other.
- the two detectors of the rear detecting assembly are disposed along the central axis of the main body in the front-rear direction.
- the detecting device further includes a side detecting assembly disposed adjacent to a side of the main body, the side detecting assembly including at least two detectors arranged laterally and laterally.
- a lateral vertical distance between adjacent two detectors in the side detection assembly is smaller than a front-rear vertical distance between two front and rear spaced detectors in the front detection assembly.
- a lateral vertical distance between the laterally located detector and the innermost detector in the lateral detection assembly is greater than two front and rear spaced detectors in the front detection assembly. The vertical distance between front and rear.
- the side detection components are disposed in two groups and are respectively disposed adjacent to left and right sides of the main body.
- the detector is an ultrasonic probe, and each of the ultrasonic probes includes an ultrasonic transmitting end and a receiving end that cooperates with receiving a signal emitted by the ultrasonic transmitting end.
- the present invention also provides an operation control method for the above cleaning robot, the cleaning robot further having a control device, the operation control method comprising:
- the control cleaning robot continues to move forward;
- the detector in the front detection component does not detect the feedback signal of the surface to be cleaned, it is determined that the front side is the edge of the surface to be cleaned, and the forward movement or steering is stopped.
- the detecting device further includes a rear detecting component including at least two detectors arranged in front and rear;
- the running control method further includes: when determining the front side of the cleaning robot as the edge of the surface to be cleaned When the vehicle stops moving forward, the detector of the post-detection component performs real-time detection, and the detector that controls the cleaning robot to retreat to the front detection component can detect the feedback signal of the surface to be cleaned; stop back and turn.
- the detecting device further includes a side detecting component, the side detecting component includes at least two detectors arranged side by side in a lateral direction; and the running control method further comprises sequentially opening and closing the sidewise control The detector of the side detection component, and when one of the side detection components is turned on, the other detectors of the group of side detection components remain closed.
- n is the set of side detection components The number of detectors that have.
- the side detection assembly is consistent with each detector single working time T1, T2 ... Tn.
- the invention has the beneficial effects that the cleaning robot and the operation control method thereof of the invention can accurately detect the edge or the gap or the frame of the surface to be cleaned by the real-time detection of the detector arranged in the front and rear intervals in the front detecting component, thereby preventing the damage from falling. And can achieve better path planning and improve cleaning efficiency.
- FIG. 1 is a schematic view showing the structure of a bottom surface of a cleaning robot of the present invention
- FIG. 2 is a schematic plan view showing the arrangement of an ultrasonic probe of the cleaning robot of the present invention
- Fig. 3 is a schematic view showing the operation of the ultrasonic probe of the cleaning robot of the present invention.
- FIG. 1 is a schematic structural view of the bottom surface of the cleaning robot 100 of the present invention.
- the cleaning robot 100 includes a main body and a detecting device disposed at the bottom of the main body and used to detect a surface edge or a gap or a frame to be cleaned.
- the main body includes a cleaning body 10 and a walking body 20 that are disposed adjacent to each other.
- a cleaning assembly 11 is disposed at a bottom of the cleaning body 10; a steering wheel 21 and a traveling crawler 22 disposed on both sides of the steering wheel 21 are disposed at a bottom of the walking body 20.
- the walking track 22 is further provided with a plurality of vacuum chucks 221.
- the detecting device comprises a front detecting component disposed at the bottom of the cleaning body 10, a rear detecting component disposed at the bottom of the walking body 20, and two sets of side detecting components disposed at the bottom of the cleaning body 10 and adjacent to the left and right sides of the cleaning body 10, respectively.
- the front detecting component and the rear detecting component respectively comprise at least two detectors arranged one behind the other; each of the side detecting components comprises at least two detectors arranged laterally and laterally.
- the detectors are each configured as an ultrasound probe 30, and each of the ultrasound probes 30 includes an ultrasound transmitting end 31 and a receiving end 32 that cooperates to receive a signal from the ultrasonic transmitting end 31.
- the positional relationship of the ultrasonic probes 30 in the front detection assembly, the rear detection assembly, and the side detection assembly is better illustrated with reference to FIG.
- the front detecting assembly has three ultrasonic probes 30 and is arranged in an isosceles triangle shape in the front-rear direction, wherein one ultrasonic probe 30 is disposed adjacent to the front end of the cleaning body 10 and the ultrasonic probe is located in the front-rear direction of the cleaning body 10.
- the other two ultrasonic probes 30 are disposed on the rear side of the previous ultrasonic probe 30 and are laterally distributed laterally.
- the two ultrasonic probes 30 located on the rear side and distributed laterally to the left and right are more advantageous for finding the edge or gap or the frame of the surface to be cleaned in advance.
- the front-rear vertical distance between the ultrasonic probe 30 disposed adjacent to the front end of the cleaning body 10 and the other two ultrasonic probes 30 of the front detecting assembly is set to L1, and L1 is defined by 30-90 mm. Preferably, L1 is set to 60 mm.
- the ultrasonic probes 30 of the rear detecting assembly are disposed in two and are disposed on the rear side of the steering wheel 21.
- the two ultrasonic probes 30 of the rear detecting assembly are disposed along the central axis of the traveling body 20 in the front-rear direction and their vertical distances L2 in the front-rear direction coincide with L1.
- the cleaning body 10 extends laterally beyond the walking body 20, and each of the ultrasonic probes 30 of the side detecting assembly extends laterally beyond the walking body 20.
- the two sets of side detection components are symmetrically arranged in a left-right direction.
- the lateral vertical distance L3 between two adjacent ultrasonic probes 30 in the side edge detecting assembly is smaller than L1, and the ultrasonic probe 30 and the innermost ultrasonic probe 30 located laterally in the lateral side detecting assembly
- the lateral vertical distance L4 is greater than L1.
- the lateral distance L3 of the adjacent two ultrasonic probes 30 is set to 18 mm, and the number of the ultrasonic probes 30 of each side detecting assembly is set to five, so as to avoid frequent adjustment of the direction of the cleaning robot 100 along the surface to be cleaned, ensuring Its walking stability.
- the structural specifications of the ultrasonic probe 30 in the foregoing front detecting component, the rear detecting component and the side detecting component are all the same, the ultrasonic probe is 58KHz, the sensitivity is greater than or equal to -90db, and the foam protective cover is added during installation.
- the height of the ultrasonic probe 30 from the working interface is H, and the distance between the ultrasonic transmitting end 31 and the receiving end 32 is d.
- H is set to 55 mm
- d is 30 mm
- the inclination angle ⁇ of the ultrasonic transmitting end 31 toward the receiving end 32 is set to 15°, so that the receiving end 32 can be smoothly received and sent out from the ultrasonic transmitting end 31. Ultrasonic waves after the interface is reflected.
- the present invention also provides an operation control method of the above cleaning robot 100, the cleaning robot 100 further having a control device, the operation control method comprising:
- the cleaning robot 100 is turned on, and the ultrasonic probe 30 of the front detecting component is used for real-time detection;
- the cleaning robot is controlled to continue;
- the ultrasonic probe 30 in the front detecting component does not detect the feedback signal of the surface to be cleaned, it is judged that the front side is the edge of the surface to be cleaned, and the forward movement or the steering is stopped; in order to avoid the fall damage that may occur during the turning of the cleaning robot 100, the post-detection is passed.
- the ultrasonic probe 30 of the assembly detects in real time, and the ultrasonic probe 30 that controls the cleaning robot 100 to retreat to the front detection assembly can detect the feedback signal of the surface to be cleaned; stop back and turn.
- the operation control method further includes: when the cleaning robot 100 walks along an edge or a gap or a frame of the surface to be cleaned, the ultrasonic probe 30 along the lateral intermediate position of the side detecting component is used as a position standard, where When the cleaning robot 100 is normally walking, the ultrasonic probe 30 in the intermediate position does not detect the signal; if the ultrasonic probe 30 in the intermediate position and the ultrasonic probe on the inner side thereof detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to External deflection; if the ultrasonic probe 30 inside the ultrasonic probe 30 at the intermediate position does not detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to deflect inward.
- the operation control method further includes sequentially opening and closing the ultrasonic probe 30 of the side detecting component along the lateral control, and when one of the side detecting components is turned on, the set of side detecting components is other The ultrasound probes 30 are all kept closed. Thereby, the signal interference between different ultrasonic probes 30 in the same side detection component is effectively avoided, and the reliability of the detection result is improved.
- control method includes controlling to open the outermost or innermost ultrasonic probe 30 of the side detecting component and accumulating the working time T1, turning off the ultrasonic probe 30, and then opening the ultrasonic probe 30 adjacent thereto and accumulating the working time T2 After closing, until the innermost or outermost ultrasonic probe 30 of the set of side detection components is opened and its working time Tn is accumulated, and then enters the next cycle to open the outermost or innermost ultrasonic probe 30; wherein n is the side of the set The number of ultrasound probes 30 that the edge detection assembly has.
- the cyclic working order of the left and right sets of the side detecting assemblies is set to be the same, and the side detecting components are consistent with each of the ultrasonic probes 30 for a single working time T1, T2, ..., Tn.
- T1, T2, ..., Tn are each set to 20 ms.
- the cleaning robot 100 of the present invention is suitable for cleaning operations of solar panels, building curtain walls, window glass, etc., and the solar panels to be cleaned are usually provided with a frame and gaps formed between adjacent solar panels; forming a building curtain wall or window A partition structure such as a frame is also provided between adjacent glass plates.
- the cleaning operation of the solar panel is taken as an example.
- the ultrasonic probe 30 adjacent to the front end of the cleaning body 10 in the front detecting assembly loses the signal and is located at the
- the cleaning robot 100 continues to move forward; if the ultrasonic probe 30 of the front detecting component loses the signal, the cleaning robot 100 advances to the edge of the solar panel. Location, you need to stop.
- the front detection assembly has a detection accuracy of ⁇ 4 mm as measured in the field.
- the side detecting component can quickly identify the edge, the gap and the frame of the solar panel by the cyclic operation, prevent the cleaning robot 100 from running off, and can avoid frequent adjustment of the direction; when the cleaning robot 100 deviates from the predetermined path, the two sides are controlled
- the walking track 22 is subjected to differential motion for correction.
- the ultrasonic probes 30 of the side detecting components can be cyclically operated to avoid signal disturbances between each other, thereby further improving the detection reliability.
- the cleaning robot 100 and the operation control method thereof can accurately detect the edge or the gap or the frame of the surface to be cleaned to prevent falling damage; and can realize better path planning, prevent deviation, and improve cleaning. effectiveness.
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Abstract
Provided by the present invention is a cleaning robot and an operation control method therefor. Said cleaning robot comprises a main body and a detection device provided on the bottom of said main body and used for detecting a surface edge, clearance or rim to be cleaned. Said detection device comprises a pre-detection component provided close to the front end of said main body. Said pre-detection component has at least two detectors arranged at intervals in the front-to-back direction. Said cleaning robot also has a control device, which conducts real-time detection when starting up operation using the detectors of the pre-detection component and determines if the area in front of the robot is a surface edge, clearance or rim to be cleaned, thereby controlling the cleaning robot to stop or continue moving forward. Employing the cleaning robot and operation control method therefor in the present invention may more accurately detect a surface edge, clearance or rim to be cleaned, thus preventing damage due to falling; and better route planning may be achieved, thereby improving cleaning efficiency.
Description
交叉引用cross reference
本申请要求于2018年03月02日提交中国专利局、申请号为201810173986.0、申请名称为“清洁机器人及其运行控制方法”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 201101173986.0, the entire disclosure of which is hereby incorporated by reference. .
本发明涉及清洁机器人的自动检测及控制领域,尤其涉及一种清洁机器人及其运行控制方法。The invention relates to the field of automatic detection and control of a cleaning robot, in particular to a cleaning robot and a running control method thereof.
红外检测及超声波检测技术现已有运用于自动吸尘器、清洁机器人等产品的障碍探测领域。其中,红外检测主要是通过检测反射回来的红外线能量来计算距离,反应速度快,无危害,价格低廉,但红外探头易受环境光照及障碍物材质等的影响,导致探测不准确;超声波检测则是通过测量超声波在障碍物与超声探头之间的传播时间来计算距离或根据接收到信号的强度来判断工作表面的边缘,户外工作更可靠。但藉由上述红外探头及超声探头的整体布局、安装角度和工作模式的设计优化,以克服灰尘、水和机械抖动等因素对检测的干扰,并取得较佳的检测结果仍是亟需解决的问题。特别地,针对太阳能电池板、楼宇幕墙、窗户等倾斜或竖直表面的清洁作业需求,清洁机器人需要准确检测待清洁表面的边缘、间隙或边框,以便于清洁机器人的路径规划与定位,且避免其发生跌落损坏。Infrared detection and ultrasonic inspection technology are now used in the field of obstacle detection for products such as automatic vacuum cleaners and cleaning robots. Among them, infrared detection mainly calculates the distance by detecting the reflected infrared energy, the reaction speed is fast, no harm, and the price is low, but the infrared probe is susceptible to environmental illumination and obstacle material, which leads to inaccurate detection; ultrasonic detection The outdoor work is more reliable by measuring the propagation time of the ultrasonic wave between the obstacle and the ultrasonic probe to calculate the distance or judging the edge of the working surface according to the intensity of the received signal. However, by optimizing the overall layout, installation angle and working mode of the above-mentioned infrared probe and ultrasonic probe, it is necessary to overcome the interference of dust, water and mechanical vibration to detect the detection, and to obtain better detection results is still urgently needed to be solved. problem. In particular, for cleaning operations of inclined or vertical surfaces such as solar panels, building curtain walls, windows, etc., the cleaning robot needs to accurately detect the edges, gaps or borders of the surface to be cleaned, so as to facilitate path planning and positioning of the cleaning robot, and avoid It has fallen and damaged.
鉴于此,有必要提供一种新的清洁机器人及其运行控制方法。In view of this, it is necessary to provide a new cleaning robot and its operation control method.
发明内容Summary of the invention
本发明的目的在于提供一种清洁机器人及其运行控制方法,能够更准确地检测待清洁表面的边缘、间隙或边框,防止跌落损坏;并能实现更好地路径规划,提高清洁效率。The object of the present invention is to provide a cleaning robot and a running control method thereof, which can more accurately detect edges, gaps or frames of a surface to be cleaned, prevent falling damage, and can achieve better path planning and improve cleaning efficiency.
为实现上述发明目的,本发明提供了一种清洁机器人,包括:To achieve the above object, the present invention provides a cleaning robot comprising:
主机体;Host body
检测装置,设置于所述主机体底部,用以检测待清洁表面边缘或间隙或边框;a detecting device is disposed at the bottom of the main body to detect an edge or a gap or a frame of the surface to be cleaned;
其中,所述检测装置包括前检测组件,所述前检测组件靠近所述主机体前端设置,所述前检测组件至少具有两个在前后方向间隔排布的探测器。Wherein, the detecting device comprises a front detecting component, the front detecting component is disposed near a front end of the main body, and the front detecting component has at least two detectors arranged at intervals in the front-rear direction.
作为本发明的进一步改进,所述前检测组件具有三个探测器且其在前后方向呈三角形排布,其中一个探测器临近所述主机体前端设置;另两个探测器设置于前一探测器后侧并呈左右横向分布。As a further improvement of the present invention, the front detecting assembly has three detectors and is arranged in a triangular shape in the front-rear direction, wherein one detector is disposed adjacent to the front end of the main body; the other two detectors are disposed in the previous detector The rear side is distributed laterally to the left and right.
作为本发明的进一步改进,所述前检测组件的临近主机体前端设置的探测器与另两个探测器之间的前后垂直距离设置为L1,L1界于30-90mm。As a further improvement of the present invention, the front-rear vertical distance between the detector disposed adjacent to the front end of the main body of the front detecting component and the other two detectors is set to L1, and the L1 boundary is 30-90 mm.
作为本发明的进一步改进,所述检测装置还包括靠近所述主机体后端设置的后检测组件,所述后检测组件包括至少两个前后排布的探测器。As a further improvement of the present invention, the detecting device further includes a rear detecting assembly disposed near a rear end of the main body, the rear detecting assembly including at least two detectors arranged one behind the other.
作为本发明的进一步改进,所述后检测组件的两个探测器沿所述主机体前后方向的中轴线设置。As a further improvement of the present invention, the two detectors of the rear detecting assembly are disposed along the central axis of the main body in the front-rear direction.
作为本发明的进一步改进,所述检测装置还包括临近所述主机体侧边设置的侧边检测组件,所述侧边检测组件包括至少两个左右横向排列的探测器。As a further improvement of the present invention, the detecting device further includes a side detecting assembly disposed adjacent to a side of the main body, the side detecting assembly including at least two detectors arranged laterally and laterally.
作为本发明的进一步改进,所述侧边检测组件中相邻的两个探测器之间的横向垂直距离小于所述前检测组件中两个前后间隔排布的探测器之间的前后垂直距离。As a further improvement of the present invention, a lateral vertical distance between adjacent two detectors in the side detection assembly is smaller than a front-rear vertical distance between two front and rear spaced detectors in the front detection assembly.
作为本发明的进一步改进,所述侧边检测组件中沿横向位于最外侧的探测器与最内侧的探测器之间的横向垂直距离大于所述前检测组件中两个前后间隔排布的探测器之间的前后垂直距离。As a further improvement of the present invention, a lateral vertical distance between the laterally located detector and the innermost detector in the lateral detection assembly is greater than two front and rear spaced detectors in the front detection assembly. The vertical distance between front and rear.
作为本发明的进一步改进,所述侧边检测组件设置为两组且分别临近所述主机体的左右两侧边设置。As a further improvement of the present invention, the side detection components are disposed in two groups and are respectively disposed adjacent to left and right sides of the main body.
作为本发明的进一步改进,所述探测器为超声探头,每一所述超声探头均包括超声发射端及配合接收该超声发射端所发出信号的接收端。As a further improvement of the present invention, the detector is an ultrasonic probe, and each of the ultrasonic probes includes an ultrasonic transmitting end and a receiving end that cooperates with receiving a signal emitted by the ultrasonic transmitting end.
本发明还提供一种上述清洁机器人的运行控制方法,所述清洁机器人还具有控制装置,所述运行控制方法包括:The present invention also provides an operation control method for the above cleaning robot, the cleaning robot further having a control device, the operation control method comprising:
开启清洁机器人运行,前检测组件的探测器进行实时检测;Turn on the cleaning robot to run, and the detector of the front detection component performs real-time detection;
若前检测组件中的至少一个探测器能够检测到待清洁表面的回馈信号, 控制清洁机器人继续前行;If at least one of the front detection components is capable of detecting a feedback signal of the surface to be cleaned, the control cleaning robot continues to move forward;
若前检测组件中的探测器均检测不到待清洁表面的回馈信号,判断前方为待清洁表面边缘,停止前进或转向。If the detector in the front detection component does not detect the feedback signal of the surface to be cleaned, it is determined that the front side is the edge of the surface to be cleaned, and the forward movement or steering is stopped.
作为本发明的进一步改进,所述检测装置还包括后检测组件,所述后检测组件包括至少两个前后排布的探测器;所述运行控制方法还包括当判断清洁机器人前方为待清洁表面边缘并停止前进时,通过后检测组件的探测器进行实时检测,并控制清洁机器人后退至前检测组件的探测器均能检测到待清洁表面的回馈信号;停止后退并转向。As a further improvement of the present invention, the detecting device further includes a rear detecting component including at least two detectors arranged in front and rear; the running control method further includes: when determining the front side of the cleaning robot as the edge of the surface to be cleaned When the vehicle stops moving forward, the detector of the post-detection component performs real-time detection, and the detector that controls the cleaning robot to retreat to the front detection component can detect the feedback signal of the surface to be cleaned; stop back and turn.
作为本发明的进一步改进,所述检测装置还包括侧边检测组件,所述侧边检测组件包括至少两个左右横向排列的探测器;所述运行控制方法还包括沿横向控制依次打开并关闭所述侧边检测组件的探测器,并且,所述侧边检测组件中某一探测器打开工作时,该组侧边检测组件其它探测器均保持关闭。As a further improvement of the present invention, the detecting device further includes a side detecting component, the side detecting component includes at least two detectors arranged side by side in a lateral direction; and the running control method further comprises sequentially opening and closing the sidewise control The detector of the side detection component, and when one of the side detection components is turned on, the other detectors of the group of side detection components remain closed.
作为本发明的进一步改进,控制打开侧边检测组件沿横向最外侧或最内侧的探测器并累计其工作时间T1,关闭该探测器,再打开与其相邻的探测器并累计工作时间T2后关闭,直至打开该组侧边检测组件最内侧或最外侧的探测器并累计其工作时间Tn,继而进入下一循环打开最外侧或最内侧的探测器;其中,n为该组侧边检测组件所具有的探测器数目。As a further improvement of the present invention, it is controlled to open the side edge detecting component along the laterally outermost or innermost detector and accumulate its working time T1, close the detector, open the detector adjacent thereto and close the working time T2 and then close. Until the innermost or outermost detector of the set of side detection components is opened and their working time Tn is accumulated, and then enters the next cycle to open the outermost or innermost detector; wherein n is the set of side detection components The number of detectors that have.
作为本发明的进一步改进,所述侧边检测组件每一探测器单次工作时间T1、T2……Tn相一致。As a further improvement of the present invention, the side detection assembly is consistent with each detector single working time T1, T2 ... Tn.
本发明的有益效果是:采用本发明清洁机器人及其运行控制方法,通过前检测组件中前后间隔排布的探测器的实时检测,能够精确检测待清洁表面的边缘或间隙或边框,防止跌落损坏;并能实现更好地路径规划,提高清洁效率。The invention has the beneficial effects that the cleaning robot and the operation control method thereof of the invention can accurately detect the edge or the gap or the frame of the surface to be cleaned by the real-time detection of the detector arranged in the front and rear intervals in the front detecting component, thereby preventing the damage from falling. And can achieve better path planning and improve cleaning efficiency.
图1是本发明清洁机器人的底面结构示意图;1 is a schematic view showing the structure of a bottom surface of a cleaning robot of the present invention;
图2是本发明清洁机器人的超声探头的平面布置示意图;2 is a schematic plan view showing the arrangement of an ultrasonic probe of the cleaning robot of the present invention;
图3是本发明清洁机器人的超声探头的工作示意图。Fig. 3 is a schematic view showing the operation of the ultrasonic probe of the cleaning robot of the present invention.
以下将结合附图所示的实施方式对本发明进行详细描述。但该实施方式 并不限制本发明,本领域的普通技术人员根据该实施方式所做出的结构、方法、或功能上的变换均包含在本发明的保护范围内。The invention will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiment is not limited to the present invention, and any structural, method, or functional changes made by those skilled in the art according to the embodiment are included in the scope of the present invention.
请参阅图1为本发明清洁机器人100的底面结构示意图。所述清洁机器人100包括主机体及设置于所述主机体底部并用以检测待清洁表面边缘或间隙或边框的检测装置。所述主机体包括前后相邻设置的清洁主体10与行走主体20。所述清洁主体10的底部设有清洁组件11;所述行走主体20的底部设有转向盘21及分设于转向盘21两侧的行走履带22。所述行走履带22上还设有若干真空吸盘221。Please refer to FIG. 1 , which is a schematic structural view of the bottom surface of the cleaning robot 100 of the present invention. The cleaning robot 100 includes a main body and a detecting device disposed at the bottom of the main body and used to detect a surface edge or a gap or a frame to be cleaned. The main body includes a cleaning body 10 and a walking body 20 that are disposed adjacent to each other. A cleaning assembly 11 is disposed at a bottom of the cleaning body 10; a steering wheel 21 and a traveling crawler 22 disposed on both sides of the steering wheel 21 are disposed at a bottom of the walking body 20. The walking track 22 is further provided with a plurality of vacuum chucks 221.
所述检测装置包括设置于清洁主体10底部的前检测组件、设置于行走主体20底部的后检测组件及位于清洁主体10底部且分别临近清洁主体10的左右两侧设置的两组侧边检测组件。所述前检测组件及后检测组件分别包括至少两个前后排布的探测器;每一所述侧边检测组件包括至少两个左右横向排列的探测器。在本实施例中,所述探测器均设置为超声探头30,每一所述超声探头30均包括超声发射端31及配合接收该超声发射端31所发出信号的接收端32。The detecting device comprises a front detecting component disposed at the bottom of the cleaning body 10, a rear detecting component disposed at the bottom of the walking body 20, and two sets of side detecting components disposed at the bottom of the cleaning body 10 and adjacent to the left and right sides of the cleaning body 10, respectively. . The front detecting component and the rear detecting component respectively comprise at least two detectors arranged one behind the other; each of the side detecting components comprises at least two detectors arranged laterally and laterally. In this embodiment, the detectors are each configured as an ultrasound probe 30, and each of the ultrasound probes 30 includes an ultrasound transmitting end 31 and a receiving end 32 that cooperates to receive a signal from the ultrasonic transmitting end 31.
参看图2更好地展示所述前检测组件、后检测组件及侧边检测组件中超声探头30的位置关系。所述前检测组件具有三个超声探头30且其在前后方向呈等腰三角形排布,其中一个超声探头30临近所述清洁主体10的前端设置且该超声探头位于所述清洁主体10前后方向的中轴线上;另两个超声探头30设置于前一超声探头30后侧并呈左右横向分布。当主机体进行转向时,位于后侧且沿左右横向分布的两个超声探头30更有利于提前发现待清洁表面的边缘或间隙或边框。The positional relationship of the ultrasonic probes 30 in the front detection assembly, the rear detection assembly, and the side detection assembly is better illustrated with reference to FIG. The front detecting assembly has three ultrasonic probes 30 and is arranged in an isosceles triangle shape in the front-rear direction, wherein one ultrasonic probe 30 is disposed adjacent to the front end of the cleaning body 10 and the ultrasonic probe is located in the front-rear direction of the cleaning body 10. The other two ultrasonic probes 30 are disposed on the rear side of the previous ultrasonic probe 30 and are laterally distributed laterally. When the main body is turning, the two ultrasonic probes 30 located on the rear side and distributed laterally to the left and right are more advantageous for finding the edge or gap or the frame of the surface to be cleaned in advance.
所述前检测组件的临近所述清洁主体10的前端设置的超声探头30与另两个超声探头30之间的前后垂直距离设置为L1,L1界于30-90mm。优选地,L1设置为60mm。The front-rear vertical distance between the ultrasonic probe 30 disposed adjacent to the front end of the cleaning body 10 and the other two ultrasonic probes 30 of the front detecting assembly is set to L1, and L1 is defined by 30-90 mm. Preferably, L1 is set to 60 mm.
所述后检测组件的超声探头30设置为两个且其均设置于所述转向盘21后侧。除此,所述后检测组件的两个超声探头30沿所述行走主体20前后方向的中轴线设置且其相互之间沿前后方向的垂直距离L2与L1相一致。The ultrasonic probes 30 of the rear detecting assembly are disposed in two and are disposed on the rear side of the steering wheel 21. In addition, the two ultrasonic probes 30 of the rear detecting assembly are disposed along the central axis of the traveling body 20 in the front-rear direction and their vertical distances L2 in the front-rear direction coincide with L1.
所述清洁主体10沿横向超出所述行走主体20,所述侧边检测组件的各超声探头30均沿横向超出所述行走主体20。两组所述侧边检测组件呈左右对称设置。所述侧边检测组件中相邻的两个超声探头30之间的横向垂直距离L3 小于L1,并且,所述侧边检测组件中沿横向位于最外侧的超声探头30与最内侧的超声探头30之间的横向垂直距离L4大于L1。相邻两个超声探头30的横向距离L3设置为18mm,并且,每一侧边检测组件的超声探头30数目设置为5个,避免清洁机器人100沿待清洁表面行走过程中频繁进行方向调节,保证其行走稳定性。The cleaning body 10 extends laterally beyond the walking body 20, and each of the ultrasonic probes 30 of the side detecting assembly extends laterally beyond the walking body 20. The two sets of side detection components are symmetrically arranged in a left-right direction. The lateral vertical distance L3 between two adjacent ultrasonic probes 30 in the side edge detecting assembly is smaller than L1, and the ultrasonic probe 30 and the innermost ultrasonic probe 30 located laterally in the lateral side detecting assembly The lateral vertical distance L4 is greater than L1. The lateral distance L3 of the adjacent two ultrasonic probes 30 is set to 18 mm, and the number of the ultrasonic probes 30 of each side detecting assembly is set to five, so as to avoid frequent adjustment of the direction of the cleaning robot 100 along the surface to be cleaned, ensuring Its walking stability.
除此,上述前检测组件、后检测组件及侧边检测组件中超声探头30的结构规格均一致,所述超声波探头选用58KHz,灵敏度大于等于-90db,且其安装时外加泡棉保护套。参看图3所示,所述超声探头30距离工作界面的高度为H,超声发射端31与接收端32之间的距离为d。其中,H设置为55mm,d为30mm,所述超声发射端31朝向接收端32的倾斜角度α设置为15°,以使得所述接收端32能够顺利接收到自超声发射端31发出并经工作界面反射后的超声波。In addition, the structural specifications of the ultrasonic probe 30 in the foregoing front detecting component, the rear detecting component and the side detecting component are all the same, the ultrasonic probe is 58KHz, the sensitivity is greater than or equal to -90db, and the foam protective cover is added during installation. Referring to FIG. 3, the height of the ultrasonic probe 30 from the working interface is H, and the distance between the ultrasonic transmitting end 31 and the receiving end 32 is d. Wherein, H is set to 55 mm, d is 30 mm, and the inclination angle α of the ultrasonic transmitting end 31 toward the receiving end 32 is set to 15°, so that the receiving end 32 can be smoothly received and sent out from the ultrasonic transmitting end 31. Ultrasonic waves after the interface is reflected.
本发明还提供一种上述清洁机器人100的运行控制方法,所述清洁机器人100还具有控制装置,所述运行控制方法包括:The present invention also provides an operation control method of the above cleaning robot 100, the cleaning robot 100 further having a control device, the operation control method comprising:
开启清洁机器人100运行,利用前检测组件的超声探头30进行实时检测;The cleaning robot 100 is turned on, and the ultrasonic probe 30 of the front detecting component is used for real-time detection;
若前检测组件中的至少一个超声探头30能够检测到待清洁表面的回馈信号,控制清洁机器人继续前行;If at least one of the front detecting components is capable of detecting a feedback signal of the surface to be cleaned, the cleaning robot is controlled to continue;
若前检测组件中的超声探头30均检测不到待清洁表面的回馈信号,判断前方为待清洁表面边缘,停止前进或转向;为避免清洁机器人100转向过程中可能发生的跌落损坏,通过后检测组件的超声探头30实时检测,并控制清洁机器人100后退至前检测组件的超声探头30均能检测到待清洁表面的回馈信号;停止后退并转向。If the ultrasonic probe 30 in the front detecting component does not detect the feedback signal of the surface to be cleaned, it is judged that the front side is the edge of the surface to be cleaned, and the forward movement or the steering is stopped; in order to avoid the fall damage that may occur during the turning of the cleaning robot 100, the post-detection is passed. The ultrasonic probe 30 of the assembly detects in real time, and the ultrasonic probe 30 that controls the cleaning robot 100 to retreat to the front detection assembly can detect the feedback signal of the surface to be cleaned; stop back and turn.
所述运行控制方法还包括当所述清洁机器人100沿待清洁表面的边缘或间隙或边框行走时,以所述侧边检测组件沿横向中间位置的超声探头30作为位置标准,此处,预先设定当清洁机器人100正常行走时,中间位置的超声探头30检测不到信号;若该中间位置的超声探头30及其内侧的超声探头均检测到待清洁表面的回馈信号,则控制清洁机器人100朝外偏转;若该中间位置的超声探头30内侧的超声探头30检测不到待清洁表面的回馈信号,则控制清洁机器人100朝内偏转。The operation control method further includes: when the cleaning robot 100 walks along an edge or a gap or a frame of the surface to be cleaned, the ultrasonic probe 30 along the lateral intermediate position of the side detecting component is used as a position standard, where When the cleaning robot 100 is normally walking, the ultrasonic probe 30 in the intermediate position does not detect the signal; if the ultrasonic probe 30 in the intermediate position and the ultrasonic probe on the inner side thereof detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to External deflection; if the ultrasonic probe 30 inside the ultrasonic probe 30 at the intermediate position does not detect the feedback signal of the surface to be cleaned, the cleaning robot 100 is controlled to deflect inward.
所述运行控制方法还包括沿横向控制依次打开并关闭所述侧边检测组件的超声探头30,并且,所述侧边检测组件中某一超声探头30打开工作时,该 组侧边检测组件其它超声探头30均保持关闭。藉此,有效避免同组侧边检测组件中不同超声探头30相互之间的信号干扰,提高检测结果的可靠性。The operation control method further includes sequentially opening and closing the ultrasonic probe 30 of the side detecting component along the lateral control, and when one of the side detecting components is turned on, the set of side detecting components is other The ultrasound probes 30 are all kept closed. Thereby, the signal interference between different ultrasonic probes 30 in the same side detection component is effectively avoided, and the reliability of the detection result is improved.
具体地,所述控制方法包括控制打开侧边检测组件最外侧或最内侧的超声探头30并累计其工作时间T1,关闭该超声探头30,再打开与其相邻的超声探头30并累计工作时间T2后关闭,直至打开该组侧边检测组件最内侧或最外侧的超声探头30并累计其工作时间Tn,继而进入下一循环打开最外侧或最内侧的超声探头30;其中,n为该组侧边检测组件所具有的超声探头30数目。Specifically, the control method includes controlling to open the outermost or innermost ultrasonic probe 30 of the side detecting component and accumulating the working time T1, turning off the ultrasonic probe 30, and then opening the ultrasonic probe 30 adjacent thereto and accumulating the working time T2 After closing, until the innermost or outermost ultrasonic probe 30 of the set of side detection components is opened and its working time Tn is accumulated, and then enters the next cycle to open the outermost or innermost ultrasonic probe 30; wherein n is the side of the set The number of ultrasound probes 30 that the edge detection assembly has.
左右两组侧边检测组件的循环工作秩序设置为相同,并且所述侧边检测组件每一超声探头30单次工作时间T1、T2……Tn相一致。在本实施例中,T1、T2……Tn均设置为20ms。本发明清洁机器人100适于太阳能电池板、楼宇幕墙、窗户玻璃等的清洗作业,待清洗的太阳能电池板通常还设有边框且相邻太阳能电池板之间还形成有间隙;构成楼宇幕墙或窗户的相邻玻璃板之间亦会设置有边框等分隔结构。在此,仅以太阳能电池板的清洗作业为例,所述行走主体20沿既定路径在太阳能电池板上行走时,所述前检测组件中临近清洁主体10前端的超声探头30失去信号,而位于其后侧的超声探头30仍能检测到太阳能电池板的回馈信号时,清洁机器人100继续前行;若前检测组件的超声探头30均失去信号,说明清洁机器人100前行到达太阳能电池板的边缘位置,需停止前行。现场测得,所述前检测组件的探测精度为±4mm。The cyclic working order of the left and right sets of the side detecting assemblies is set to be the same, and the side detecting components are consistent with each of the ultrasonic probes 30 for a single working time T1, T2, ..., Tn. In the present embodiment, T1, T2, ..., Tn are each set to 20 ms. The cleaning robot 100 of the present invention is suitable for cleaning operations of solar panels, building curtain walls, window glass, etc., and the solar panels to be cleaned are usually provided with a frame and gaps formed between adjacent solar panels; forming a building curtain wall or window A partition structure such as a frame is also provided between adjacent glass plates. Here, only the cleaning operation of the solar panel is taken as an example. When the walking body 20 walks along the predetermined path on the solar panel, the ultrasonic probe 30 adjacent to the front end of the cleaning body 10 in the front detecting assembly loses the signal and is located at the When the ultrasonic probe 30 on the rear side can still detect the feedback signal of the solar panel, the cleaning robot 100 continues to move forward; if the ultrasonic probe 30 of the front detecting component loses the signal, the cleaning robot 100 advances to the edge of the solar panel. Location, you need to stop. The front detection assembly has a detection accuracy of ±4 mm as measured in the field.
所述侧边检测组件通过循环工作能快速识别太阳能电池板的边缘、间隙及边框,防止清洁机器人100跑偏,并能避免频繁调整方向;当所述清洁机器人100偏离既定路径时,控制两侧的行走履带22做差速运动来进行修正。所述侧边检测组件的超声探头30依次循环工作亦能避免相互间的信号扰动,进一步提高检测可靠性。The side detecting component can quickly identify the edge, the gap and the frame of the solar panel by the cyclic operation, prevent the cleaning robot 100 from running off, and can avoid frequent adjustment of the direction; when the cleaning robot 100 deviates from the predetermined path, the two sides are controlled The walking track 22 is subjected to differential motion for correction. The ultrasonic probes 30 of the side detecting components can be cyclically operated to avoid signal disturbances between each other, thereby further improving the detection reliability.
综上所述,采用本发明清洁机器人100及其运行控制方法既能准确地检测待清洁表面的边缘或间隙或边框,防止跌落损坏;并能实现更好地路径规划,防止跑偏,提高清洁效率。In summary, the cleaning robot 100 and the operation control method thereof can accurately detect the edge or the gap or the frame of the surface to be cleaned to prevent falling damage; and can realize better path planning, prevent deviation, and improve cleaning. effectiveness.
应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施方式中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。It should be understood that, although the description is described in terms of embodiments, the embodiments are not intended to be construed as a single. The technical solutions in the embodiments may also be combined as appropriate to form other embodiments that can be understood by those skilled in the art.
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明,它们并非用以限制本发明的保护范围,凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。The series of detailed descriptions set forth above are merely illustrative of the possible embodiments of the present invention, and are not intended to limit the scope of the present invention. Changes are intended to be included within the scope of the invention.
Claims (15)
- 一种清洁机器人,其特征在于:包括:A cleaning robot characterized by:主机体:Host body:检测装置,设置于所述主机体底部,用以检测待清洁表面边缘或间隙或边框;a detecting device is disposed at the bottom of the main body to detect an edge or a gap or a frame of the surface to be cleaned;其中,所述检测装置包括前检测组件,所述前检测组件靠近所述主机体前端设置,所述前检测组件至少具有两个在前后方向间隔排布的探测器。Wherein, the detecting device comprises a front detecting component, the front detecting component is disposed near a front end of the main body, and the front detecting component has at least two detectors arranged at intervals in the front-rear direction.
- 根据权利要求1所述的清洁机器人,其特征在于:所述前检测组件具有三个探测器且其在前后方向呈三角形排布,其中一个探测器临近所述主机体前端设置;另两个探测器设置于前一探测器后侧并呈左右横向分布。The cleaning robot according to claim 1, wherein said front detecting assembly has three detectors and is arranged in a triangular shape in the front-rear direction, wherein one of the detectors is disposed adjacent to the front end of the main body; the other two detecting The device is disposed on the rear side of the previous detector and is laterally distributed to the left and right.
- 根据权利要求2所述的清洁机器人,其特征在于:所述前检测组件的临近主机体前端设置的探测器与另两个探测器之间的前后垂直距离设置为L1,L1界于30-90mm。The cleaning robot according to claim 2, wherein a front-rear vertical distance between the detector disposed adjacent to the front end of the main body and the other two detectors is set to L1, and L1 is bound to 30-90 mm. .
- 根据权利要求1所述的清洁机器人,其特征在于:所述检测装置还包括靠近所述主机体后端设置的后检测组件,所述后检测组件包括至少两个前后排布的探测器。The cleaning robot according to claim 1, wherein said detecting means further comprises a rear detecting assembly disposed adjacent to a rear end of said main body, said rear detecting assembly comprising at least two detectors arranged one behind the other.
- 根据权利要求4所述的清洁机器人,其特征在于:所述后检测组件的两个探测器沿所述主机体前后方向的中轴线设置。The cleaning robot according to claim 4, wherein the two detectors of the rear detecting assembly are disposed along a central axis of the main body in the front-rear direction.
- 根据权利要求1所述的清洁机器人,其特征在于:所述检测装置还包括临近所述主机体侧边设置的侧边检测组件,所述侧边检测组件包括至少两个左右横向排列的探测器。A cleaning robot according to claim 1, wherein said detecting means further comprises a side detecting assembly disposed adjacent to a side of said main body, said side detecting assembly comprising at least two laterally arranged detectors .
- 根据权利要求6所述的清洁机器人,其特征在于:所述侧边检测组件中相邻的两个探测器之间的横向垂直距离小于所述前检测组件中两个前后间隔排布的探测器之间的前后垂直距离。The cleaning robot according to claim 6, wherein a lateral vertical distance between two adjacent detectors in said side detecting assembly is smaller than two front and rear spaced detectors in said front detecting assembly The vertical distance between front and rear.
- 根据权利要求6所述的清洁机器人,其特征在于:所述侧边检测组件中沿横向位于最外侧的探测器与最内侧的探测器之间的横向垂直距离大于所述前检测组件中两个前后间隔排布的探测器之间的前后垂直距离。The cleaning robot according to claim 6, wherein a lateral vertical distance between the laterally located detector and the innermost detector in the lateral detecting assembly is greater than two of the front detecting components The vertical distance between the detectors arranged in front and rear.
- 根据权利要求6所述的清洁机器人,其特征在于:所述侧边检测组件设置为两组且分别临近所述主机体的左右两侧边设置。The cleaning robot according to claim 6, wherein the side detecting components are disposed in two groups and are respectively disposed adjacent to left and right sides of the main body.
- 根据权利要求1,4或6所述的清洁机器人,其特征在于:所述探测 器为超声探头,每一所述超声探头均包括超声发射端及配合接收该超声发射端所发出信号的接收端。The cleaning robot according to claim 1, 4 or 6, wherein the detector is an ultrasonic probe, and each of the ultrasonic probes includes an ultrasonic transmitting end and a receiving end that receives a signal sent by the ultrasonic transmitting end. .
- 一种清洁机器人的运行控制方法,其特征在于,所述清洁机器人包括主机体、控制装置及检测装置;其中,所述检测装置设置于所述主机体底部,用以检测待清洁表面边缘或间隙或边框,所述检测装置包括前检测组件,所述前检测组件靠近所述主机体前端设置,所述前检测组件至少具有两个在前后方向间隔排布的探测器;所述运行控制方法包括:An operation control method for a cleaning robot, comprising: a main body, a control device, and a detecting device; wherein the detecting device is disposed at a bottom of the main body to detect an edge or a gap of a surface to be cleaned Or a frame, the detecting device includes a front detecting component, the front detecting component is disposed near a front end of the main body, and the front detecting component has at least two detectors arranged at intervals in a front-rear direction; the operation control method includes :开启清洁机器人运行,利用前检测组件的探测器进行实时检测;Turn on the cleaning robot to run, and use the detector of the front detection component for real-time detection;若前检测组件中的至少一个探测器能够检测到待清洁表面的回馈信号,控制清洁机器人继续前行;If at least one of the front detection components is capable of detecting a feedback signal of the surface to be cleaned, the control cleaning robot continues to move forward;若前检测组件中的探测器均检测不到待清洁表面的回馈信号,判断前方为待清洁表面边缘,停止前进或转向。If the detector in the front detection component does not detect the feedback signal of the surface to be cleaned, it is determined that the front side is the edge of the surface to be cleaned, and the forward movement or steering is stopped.
- 根据权利要求11所述的运行控制方法,其特征在于:所述检测装置还包括后检测组件,所述后检测组件包括至少两个前后排布的探测器;所述运行控制方法还包括当判断清洁机器人前方为待清洁表面边缘并停止前进时,通过后检测组件的探测器进行实时检测,并控制清洁机器人后退至前检测组件的探测器均能检测到待清洁表面的回馈信号;停止后退并转向。The operation control method according to claim 11, wherein said detecting means further comprises a post detecting component, said post detecting component comprising at least two detectors arranged one behind the other; said running control method further comprising judging When the front of the cleaning robot is the edge of the surface to be cleaned and stops moving forward, the detector of the rear detecting component performs real-time detection, and the detector that controls the cleaning robot to retreat to the front detecting component can detect the feedback signal of the surface to be cleaned; Turn.
- 根据权利要求11所述的运行控制方法,其特征在于:所述检测装置还包括侧边检测组件,所述侧边检测组件包括至少两个左右横向排列的探测器;所述运行控制方法还包括沿横向控制依次打开并关闭所述侧边检测组件的探测器,并且,所述侧边检测组件中某一探测器打开工作时,该组侧边检测组件其它探测器均保持关闭。The operation control method according to claim 11, wherein said detecting means further comprises a side detecting component, said side detecting component comprising at least two detectors arranged laterally in a lateral direction; said operation control method further comprising The detectors of the side detection components are sequentially opened and closed along the lateral control, and when one of the side detection components is turned on, the other detectors of the set of side detection components remain closed.
- 根据权利要求13所述的运行控制方法,其特征在于:控制打开侧边检测组件沿横向最外侧或最内侧的探测器并累计其工作时间T1,关闭该探测器,再打开与其相邻的探测器并累计工作时间T2后关闭,直至打开该组侧边检测组件最内侧或最外侧的探测器并累计其工作时间Tn,继而进入下一循环打开最外侧或最内侧的探测器;其中,n为该组侧边检测组件所具有的探测器数目。The operation control method according to claim 13, wherein the opening side detection component is opened along the laterally outermost or innermost detector and the working time T1 is accumulated, the detector is turned off, and the adjacent detection is turned on. And after the accumulated working time T2, close until the innermost or outermost detector of the side detection component of the group is opened and the working time Tn is accumulated, and then enters the next cycle to open the outermost or innermost detector; wherein, n The number of detectors that the set of side detection components has.
- 根据权利要求14所述的运行控制方法,其特征在于:所述侧边检测组件每一探测器单次工作时间T1、T2……Tn相一致。The operation control method according to claim 14, wherein the side detection components are identical in a single working time T1, T2, ..., Tn.
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