【技术领域】【Technical field】
本发明涉及清洁机器人技术领域，尤其涉及一种智能扫地机器人及智能扫地机器人控制方法。The invention relates to the technical field of cleaning robots, in particular to an intelligent sweeping robot and a control method for the intelligent sweeping robot.
【背景技术】【Background technique】
现有智能扫地机器人检知及判定障碍物一般利用以下传感机构：1、红外传感器，安装在智能扫地机器人前侧或两侧，用以检测10cm以内的障碍物或墙体，但对使用环境有相当高的要求，当遇上浅色或是深色的家居物品障碍物时，它无法反射回来，此时红外传感器检测不到障碍物，会造成智能扫地机器人与家居物品障碍物发生碰撞，时间一久，家居物品的底部会被撞的斑斑点点。2、超声波传感器：安装在智能扫地机器人前侧，利用仿生原理探测40cm以内的障碍物。红外传感器的检知效果和超声波传感器的检知效果均受制于其安装高度，如果安装过高，则无法检知到低矮障碍物，比如钥匙、玩具、拖鞋等，此时，会有两种情况发生，一、智能扫地机器人会推行玩具、拖鞋前行，使其散落在房间各个位置，很难找回，导致房间杂乱，给用户收拾房间带来不便；二、对于钥匙等小物件，智能扫地机器人在行进过程中会将钥匙吸入，在吸入过程中，钥匙则会卡在底盘下从而对智能扫地机器人造成损害；如果安装过低，则容易误动作，将低矮门槛误判为墙体，不能跨越门槛，给清洁带来不便；3、撞断开关传感器：安装在智能扫地机器人的前侧，当碰到障碍物后会触发撞断开关。但是，如果智能扫地机器人前方存在的障碍物(比如钥匙、玩具、拖鞋等)质量不足以触发撞断开关时，智能扫地机器人会继续行走，对于拖鞋、玩具等物品，智能扫地机器人会推行玩具、拖鞋前行，使其散落在房间各个位置，很难找回，导致房间杂乱，给用户收拾房间带来不便；对于钥匙等小件物品，智能扫地机器人在行进过程中会将钥匙吸入，在吸入过程中，钥匙则会卡在底盘下从而对智能扫地机器人造成损害。Existing intelligent sweeping robots generally use the following sensing mechanisms to detect and determine obstacles: 1. Infrared sensors are installed on the front or both sides of the intelligent sweeping robot to detect obstacles or walls within 10cm, but the use environment There are quite high requirements. When encountering a light-colored or dark-colored household object obstacle, it cannot reflect back. At this time, the infrared sensor cannot detect the obstacle, which will cause the intelligent sweeping robot to collide with the household object obstacle. Over time, the bottom of household items will be bumped and spotted. 2. Ultrasonic sensor: Installed on the front side of the intelligent sweeping robot, it uses the bionic principle to detect obstacles within 40cm. Both the detection effect of the infrared sensor and the detection effect of the ultrasonic sensor are subject to their installation height. If the installation is too high, low obstacles, such as keys, toys, slippers, etc., cannot be detected. At this time, there will be two When the situation occurs, first, the intelligent sweeping robot will push toys and slippers forward, making them scattered in various places in the room, which is difficult to retrieve, resulting in messy rooms and inconvenience for users to clean up the room; second, for small objects such as keys, smart The sweeping robot will inhale the key when it is moving. During the inhalation process, the key will be stuck under the chassis and cause damage to the intelligent sweeping robot. If the installation is too low, it is easy to malfunction and misjudge the low threshold as a wall , cannot cross the threshold, which will cause inconvenience to cleaning; 3. Knock-off switch sensor: installed on the front side of the intelligent sweeping robot, when it encounters an obstacle, it will trigger the knock-off switch. However, if the quality of the obstacles (such as keys, toys, slippers, etc.) in front of the intelligent sweeping robot is not enough to trigger the break switch, the intelligent sweeping robot will continue to walk. For slippers, toys and other items, the intelligent sweeping robot will push toys, Slippers move forward, making them scattered in various places in the room, making it difficult to find them back, causing the room to be messy and inconvenient for users to clean up the room; During the process, the key will get stuck under the chassis and cause damage to the intelligent sweeping robot.
在家庭、办公室或其它地方，在硬面地板上常常铺设有地毯，硬面地板包括但不限于硬木、水泥、瓷砖、乙烯合成地砖、毛毡及光滑的垫子和层压材料，地毯包括编织或用其它方式织成的柔软的片状地板覆盖物，由于硬面地板和地毯使用的清洁液和清洁方式不同，因此智能扫地机器人常常设置有两种不同的清扫模式，现有技术中检知及判定障碍物的传感机构无法识别障碍物是否为地毯，因此当智能扫地机器人在清洁地毯时会采用清洁硬面地板的打扫模式，如此，会对地毯造成损害，缩短地毯的使用寿命，给用户造成损失。In homes, offices, or elsewhere, carpet is often laid over hard surface floors including, but not limited to, hardwood, concrete, ceramic tile, vinyl tile, felt, and smooth mats and laminates, including woven or For soft sheet-like floor coverings woven by other methods, due to the different cleaning solutions and cleaning methods used for hard floors and carpets, intelligent sweeping robots are often equipped with two different cleaning modes, which are detected and determined in the prior art. The sensor mechanism of the obstacle cannot identify whether the obstacle is a carpet, so when the intelligent sweeping robot cleans the carpet, it will use the cleaning mode to clean the hard floor, which will cause damage to the carpet, shorten the service life of the carpet, and cause harm to the user loss.
【发明内容】【Content of invention】
本发明所要解决的问题就是提供一种智能扫地机器人及智能扫地机器人控制方法，可有效检测智能扫地机器人在清扫过程中遇到的低矮障碍物和地毯。The problem to be solved by the present invention is to provide an intelligent sweeping robot and a control method for the intelligent sweeping robot, which can effectively detect low obstacles and carpets encountered by the intelligent sweeping robot during the cleaning process.
为解决上述技术问题，本发明采用如下技术方案：In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:
一种智能扫地机器人，包括机器人本体，所述机器人本体上设有控制部、传感装置和用于驱动机器人本体行走的驱动装置，所述驱动装置和传感装置分别连接到控制部上，所述传感装置至少包括速度传感器和光线传感器，所述速度传感器用于检测机器人本体的行走速度，所述光线传感器用于感知机器人本体与光线传感器安装位置相对应的区域内的光强，所述控制部根据速度传感器的检测信号和光线传感器的感知信号进行障碍物检测。An intelligent sweeping robot, comprising a robot body, the robot body is provided with a control part, a sensing device and a driving device for driving the robot body to walk, the driving device and the sensing device are respectively connected to the control part, the The sensing device at least includes a speed sensor and a light sensor, the speed sensor is used to detect the walking speed of the robot body, the light sensor is used to perceive the light intensity in the area corresponding to the installation position of the robot body and the light sensor, the The control unit detects obstacles based on the detection signal of the speed sensor and the sensing signal of the light sensor.
本发明的智能扫地机器人清洁工作时，当机器人本体遇到障碍物时，机器人本体的行走速度变慢，当机器人本体不受到障碍物阻碍时，机器人本体的行走速度变快，控制部根据速度传感器的检测信号进行障碍物检测，本发明中的速度传感器克服了现有技术中传感装置所带来的缺陷，对于低矮障碍物及地毯也能进行检测，光线传感器用于感知机器人本体周围环境的光强，当机器人本体周围环境中的光线被障碍物遮挡时，光线传感器接收到的光线暗淡，光强较小，当无障碍物遮挡时，光线传感器接收到的光线明亮，光强较大，因此控制部根据光线传感器的感知信号进行障碍物检测，与现有技术相比，本发明中的智能扫地机器人具有以下好处：1、可检测到低矮障碍物，避免机器人本体推行低矮障碍物前行，使用户不能快速找回物品，同时也防止低矮障碍物划伤地板；2、可防止漏检，有效避免低矮障碍物损害智能扫地机器人；3、能够检测到是否进入地毯，避免地毯损坏，减少用户损失。During the cleaning work of the intelligent sweeping robot of the present invention, when the robot body encounters an obstacle, the walking speed of the robot body becomes slow; The detection signal of the detection signal is used for obstacle detection. The speed sensor in the present invention overcomes the defects caused by the sensing device in the prior art, and can also detect low obstacles and carpets. The light sensor is used to sense the surrounding environment of the robot body When the light in the surrounding environment of the robot body is blocked by obstacles, the light received by the light sensor is dim and the light intensity is small; when there is no obstacle to block, the light received by the light sensor is bright and the light intensity is relatively high , so the control unit performs obstacle detection according to the perception signal of the light sensor. Compared with the prior art, the intelligent sweeping robot in the present invention has the following advantages: 1. It can detect low obstacles and prevent the robot body from pushing low obstacles Objects move forward, so that users cannot quickly retrieve items, and at the same time prevent low obstacles from scratching the floor; 2. It can prevent missed inspections and effectively prevent low obstacles from damaging the intelligent sweeping robot; 3. Can detect whether it has entered the carpet, Avoid carpet damage and reduce user losses.
第一具体实施方案:所述光线传感器包括前端光线传感器，所述前端光线传感器设置在机器人本体行进方向的前侧面靠近底部的位置，所述前端光线传感器用于感知机器人本体前方的光强。如此设计，光线传感器可以检测到如纸张、塑料纸等低矮障碍物以及地毯。The first specific embodiment: the light sensor includes a front light sensor, the front light sensor is arranged on the front side of the robot body in the direction of travel near the bottom, and the front light sensor is used to sense the light intensity in front of the robot body. So designed, the light sensor can detect low obstacles such as paper, plastic sheets and carpets.
第二具体实施方案：所述光线传感器还包括设置在机器人本体的顶面且朝向上方的顶端光线传感器，所述顶端光线传感器用于感知机器人本体上方的光强。如此设计，进一步对智能机器人所处环境进行判断，防止智能扫地机器人进行误检测，以保证智能扫地机器人对床底或沙发底部等阴暗位置进行打扫。Second specific embodiment: the light sensor further includes a top light sensor arranged on the top surface of the robot body and facing upwards, and the top light sensor is used to sense the light intensity above the robot body. This design further judges the environment where the intelligent robot is located to prevent the intelligent sweeping robot from making false detections, so as to ensure that the intelligent sweeping robot can clean dark places such as the bottom of the bed or the bottom of the sofa.
一种智能扫地机器人控制方法，所述智能扫地机器人包括机器人本体，所述机器人本体上设有控制部、传感装置和用于驱动机器人本体行走的驱动装置，所述驱动装置和传感装置分别连接到控制部上，所述传感装置至少包括速度传感器和光线传感器，其特征在于，智能扫地机器人控制方法是，在机器人本体行走过程中，通过速度传感器和光线传感器实时检测机器人本体的行走速度以及感知机器人本体与光线传感器安装位置相对应的区域内的光强，所述控制部根据速度传感器的检测信号和光线传感器的感知信号进行障碍物检测。A control method for an intelligent sweeping robot, the intelligent sweeping robot includes a robot body, the robot body is provided with a control unit, a sensing device and a driving device for driving the robot body to walk, the driving device and the sensing device are respectively Connected to the control part, the sensing device includes at least a speed sensor and a light sensor, and it is characterized in that the intelligent sweeping robot control method is to detect the walking speed of the robot body in real time through the speed sensor and the light sensor during the walking process of the robot body And sensing the light intensity in the area corresponding to the installation position of the light sensor on the robot body, the control unit performs obstacle detection according to the detection signal of the speed sensor and the sensing signal of the light sensor.
本发明中的智能扫地机器人控制方法可防止部分低矮障碍物的漏检，提高检测精度。The intelligent sweeping robot control method in the present invention can prevent missed detection of some low obstacles and improve detection accuracy.
第一具体实施方案：所述控制部根据速度传感器的检测信号进行障碍物检测的步骤包括，The first specific embodiment: the step of the control unit performing obstacle detection according to the detection signal of the speed sensor includes:
S01)智能扫地机器人开始清扫工作；S01) The intelligent sweeping robot starts cleaning work;
S02)速度传感器实时检测机器人本体的行走速度，控制部根据速度传感器的检测信号判断机器人本体的行走速度是否变慢，如果机器人本体行走速度变慢，则进入S03)步骤，如果机器人本体行走速度不变，则检知结束；S02) The speed sensor detects the walking speed of the robot body in real time, and the control unit judges whether the walking speed of the robot body slows down according to the detection signal of the speed sensor. If the walking speed of the robot body slows down, it enters the step S03). change, the detection ends;
S03)控制部控制机器人本体做出回避动作，并进入S04)步骤；S03) the control part controls the robot body to make an avoidance action, and enters the step of S04);
S04)控制部根据速度传感器的检测信号判断机器人本体行走速度是否变快，如果机器人本体的行走速度变快，判断障碍物为低矮障碍物，则检知结束；如果机器人本体行走速度不变，则判断障碍物为地毯，并进入S05步骤；S04) The control unit judges whether the walking speed of the robot body becomes faster according to the detection signal of the speed sensor. If the walking speed of the robot body becomes faster and judges that the obstacle is a low obstacle, then the detection ends; if the walking speed of the robot body remains unchanged, Then it is judged that the obstacle is a carpet, and enters step S05;
S05)控制部控制智能扫地机器人开启地毯打扫模式。S05) The control unit controls the intelligent sweeping robot to start the carpet cleaning mode.
第二具体实施方案：所述传感装置还包括红外传感器、超声波传感器和碰撞传感器中的至少一种，当所述控制部根据红外传感器、超声波传感器和碰撞传感器其中任意一个的检测信号检测到障碍物时，控制部屏蔽速度传感器的检测。Second specific embodiment: the sensing device further includes at least one of an infrared sensor, an ultrasonic sensor, and a collision sensor, and when the control unit detects an obstacle according to a detection signal from any one of the infrared sensor, the ultrasonic sensor, and the collision sensor, When there is an object, the control part shields the detection of the speed sensor.
第三具体实施方案：所述光线传感器包括前端光线传感器，所述前端光线传感器设置在机器人本体行进方向的前侧面靠近底部的位置，所述前端光线传感器用于感知机器人本体前方的光强，所述控制部根据前端光线传感器的感知信号进行障碍物检测的步骤包括，The third specific embodiment: the light sensor includes a front light sensor, the front light sensor is arranged on the front side of the robot body in the direction of travel and is close to the bottom, and the front light sensor is used to sense the light intensity in front of the robot body, so The step of the control unit performing obstacle detection according to the sensing signal of the front light sensor includes,
S11)智能扫地机器人开始清扫工作；S11) The intelligent sweeping robot starts cleaning work;
S12)前端光线传感器实时感知机器人本体前方的光强，控制部根据前端光线传感器的感知信号判断机器人本体前方光线是否由明变暗，如果机器人本体前方光线是由明变暗，则进入S13)步骤，如果机器人本体前方光线不变，则检知结束；S12) The front-end light sensor perceives the light intensity in front of the robot body in real time, and the control unit judges whether the light in front of the robot body changes from bright to dark according to the perception signal of the front-end light sensor. If the light in front of the robot body changes from bright to dark, then enter S13) step , if the light in front of the robot remains unchanged, the detection ends;
S13)控制部控制机器人本体做出回避动作，并进入S14)步骤；S13) The control part controls the robot body to make an avoidance action, and enters the S14) step;
S14)控制部根据前端光线传感器的感知信号判断机器人本体前方光线是否由暗变明，如果机器人本体前方光线是由暗变明，判断障碍物为低矮障碍物，则检知结束；如果机器人本体前方光线不变，则判断障碍物为地毯，并进入S15步骤；S14) The control unit judges whether the light in front of the robot body changes from dark to bright according to the perception signal of the front-end light sensor. If the light in front of the robot body changes from dark to bright, it is judged that the obstacle is a low obstacle, and the detection ends; if the robot body If the front light remains unchanged, it is judged that the obstacle is a carpet, and enters step S15;
S15)控制部控制智能扫地机器人开启地毯打扫模式。S15) The control unit controls the intelligent sweeping robot to start the carpet cleaning mode.
第四具体实施方案：所述传感装置还包括红外传感器、超声波传感器和碰撞传感器中的至少一种，当所述控制部根据红外传感器、超声波传感器和碰撞传感器其中任意一个的检测信号检测到障碍物时，控制部屏蔽前端光线传感器的检测。Fourth specific embodiment: the sensing device further includes at least one of an infrared sensor, an ultrasonic sensor and a collision sensor, when the control unit detects an obstacle according to a detection signal of any one of the infrared sensor, ultrasonic sensor and collision sensor When objects are detected, the control unit shields the detection of the front light sensor.
第五具体实施方案：所述光线传感器还包括设置在机器人本体的顶面且朝向上方的顶端光线传感器，所述顶端光线传感器用于感知机器人本体上方的光强，所述控制部根据前端光线传感器的感知信号和顶端光线传感器的感知信号进行障碍物检测的步骤包括，Fifth specific embodiment: the light sensor also includes a top light sensor arranged on the top surface of the robot body and facing upwards, the top light sensor is used to sense the light intensity above the robot body, and the control part according to the front light sensor The steps of detecting the obstacle with the perception signal of the top light sensor and the perception signal of the top light sensor include,
S21)智能扫地机器人开始清扫工作；S21) The intelligent sweeping robot starts cleaning work;
S22)前端光线传感器实时感知机器人本体前方的光强，控制部根据前端光线传感器的感知信号判断机器人本体前方光线是否由明变暗，如果机器人本体前方光线是由明变暗，则进入S23)步骤，如果机器人本体前方光线为不变，则检知结束；S22) The front-end light sensor perceives the light intensity in front of the robot body in real time, and the control unit judges whether the light in front of the robot body changes from bright to dark according to the perception signal of the front-end light sensor. If the light in front of the robot body changes from bright to dark, then enter S23) step , if the light in front of the robot remains unchanged, the detection ends;
S23)顶端光线传感器实时检测机器人本体上方的光强，控制部根据顶端光线传感器的感知信号判断机器人本体上方光线是否由明变暗，如果机器人本体上方光线是由明变暗，则检知结束，如果机器人本体上方光线不变，则进入S24)步骤；S23) The top light sensor detects the light intensity above the robot body in real time, and the control unit judges whether the light above the robot body changes from bright to dark according to the perception signal of the top light sensor. If the light above the robot body changes from bright to dark, the detection ends. If the light above the robot body remains unchanged, enter S24) step;
S24)控制部控制机器人本体做出回避动作，并进入S25)步骤；S24) The control part controls the robot body to make an avoidance action, and enters the S25) step;
S25)控制部根据前端光线传感器的感知信号判断机器人本体前方光线是否由暗变明，如果机器人本体前方光线是由暗变明，则判断障碍物为低矮障碍物，如果机器人本体前方光线不变，则进入S26步骤；S25) The control unit judges whether the light in front of the robot body changes from dark to bright according to the perception signal of the front-end light sensor. If the light in front of the robot body changes from dark to bright, then it is judged that the obstacle is a low obstacle. , then enter step S26;
S26)顶端光线传感器检测机器人本体上方的光强，控制部根据顶端光线传感器的感知信号判断机器人本体上方光线是否由明变暗，如果机器人本体上方光线不变，则判断障碍物为地毯，并进入S27)步骤，如果机器人本体上方光线由明变暗，则检知结束；S26) The top light sensor detects the light intensity above the robot body. The control unit judges whether the light above the robot body changes from bright to dark according to the perception signal of the top light sensor. If the light above the robot body remains unchanged, it is judged that the obstacle is a carpet, and enter S27) step, if the light above the robot body changes from bright to dark, then the detection ends;
S27)控制部控制智能扫地机器人开启地毯打扫模式。S27) The control unit controls the intelligent sweeping robot to start the carpet cleaning mode.
如此设计，进一步对智能机器人所处环境进行判断，防止智能扫地机器人进行误检测，以保证智能扫地机器人对床底或沙发底部等阴暗位置进行打扫。This design further judges the environment where the intelligent robot is located to prevent the intelligent sweeping robot from making false detections, so as to ensure that the intelligent sweeping robot can clean dark places such as the bottom of the bed or the bottom of the sofa.
本发明的这些特点和优点将会在下面的具体实施方式、附图中详细的揭露。These characteristics and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.
【附图说明】【Description of drawings】
下面结合附图对本发明做进一步的说明：Below in conjunction with accompanying drawing, the present invention will be further described:
图1为本发明实施例一中智能扫地机器人结构示意图；Fig. 1 is a schematic structural diagram of an intelligent sweeping robot in Embodiment 1 of the present invention;
图2为本发明实施例一中智能扫地机器人内部结构模块图；2 is a block diagram of the internal structure of the intelligent sweeping robot in Embodiment 1 of the present invention;
图3为本发明实施例一中智能扫地机器人控制方法中控制部根据速度传感器的检测信号进行障碍物检测的步骤流程图；Fig. 3 is a flow chart of the steps for the control part to detect obstacles according to the detection signal of the speed sensor in the control method of the intelligent sweeping robot in the first embodiment of the present invention;
图4为本发明实施例一中智能扫地机器人控制方法中控制部根据前端光线传感器的感知信号进行障碍物检测的步骤流程图；4 is a flow chart of the steps for the control unit to detect obstacles according to the sensing signal of the front-end light sensor in the control method of the intelligent sweeping robot in Embodiment 1 of the present invention;
图5为本发明实施例二中智能扫地机器人结构示意图；5 is a schematic structural diagram of an intelligent sweeping robot in Embodiment 2 of the present invention;
图6为本发明实施例二中智能扫地机器人内部结构模块图；6 is a block diagram of the internal structure of the intelligent sweeping robot in Embodiment 2 of the present invention;
图7为本发明实施例二中智能扫地机器人控制方法中控制部根据前端光线传感器的感知信号和顶端光线传感器的感知信号进行障碍物检测的步骤流程图。7 is a flow chart of the steps of obstacle detection by the control unit according to the sensing signal of the front light sensor and the sensing signal of the top light sensor in the control method of the intelligent sweeping robot in the second embodiment of the present invention.
【具体实施方式】【detailed description】
下面结合本发明实施例的附图对本发明实施例的技术方案进行解释和说明，但下述实施例仅为本发明的优选实施例，并非全部。基于实施方式中的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得其他实施例，都属于本发明的保护范围。The technical solutions of the embodiments of the present invention will be explained and described below in conjunction with the accompanying drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all of them. Based on the examples in the implementation manners, other examples obtained by those skilled in the art without making creative efforts all belong to the protection scope of the present invention.
实施例一：Embodiment one:
如图1至2所示，本发明实施例一中智能扫地机器人包括机器人本体1、机器人本体1内具有驱动装置7、吸尘装置8、电池装置9、控制部11和传感装置，控制部11控制驱动装置7驱动机器人本体1按照预设指令完成沿墙行走、螺旋行走、直行和拐弯等动作，吸尘装置8设置在机器人本体1的底部，控制部11通过控制吸尘装置8清扫地板或地毯上的灰尘等杂物，控制部11根据传感装置进行障碍物检测，电池装置9用于为控制部11提供电力，以保证智能扫地机器人能够正常工作。As shown in Figures 1 to 2, the intelligent sweeping robot in Embodiment 1 of the present invention includes a robot body 1, a drive device 7, a dust collector 8, a battery device 9, a control unit 11 and a sensor device inside the robot body 1, and the control unit 11 Control the driving device 7 to drive the robot body 1 to complete actions such as walking along the wall, spiral walking, going straight and turning according to preset instructions. The dust collection device 8 is arranged at the bottom of the robot body 1, and the control unit 11 cleans the floor by controlling the dust collection device 8 Or dust and other debris on the carpet, the control unit 11 detects obstacles according to the sensing device, and the battery device 9 is used to provide power for the control unit 11 to ensure that the intelligent sweeping robot can work normally.
传感装置包括红外传感器2、超声波传感器6和碰撞开关传感器至少其中之一，为了提高障碍物的检测精度，本发明中的传感装置包括红外传感器2、超声波传感器6和碰撞开关传感器，其中红外传感器2设置在机器人本体1的左右两侧，超声波传感器6设置在机器人本体1的前侧，本发明中的前侧是指机器人本体1面向其前进方向的一侧，左右两侧是指位于前进路线左右方向的两侧。The sensing device includes at least one of an infrared sensor 2, an ultrasonic sensor 6 and a collision switch sensor. In order to improve the detection accuracy of obstacles, the sensing device in the present invention includes an infrared sensor 2, an ultrasonic sensor 6 and a collision switch sensor. The sensor 2 is arranged on the left and right sides of the robot body 1, and the ultrasonic sensor 6 is arranged on the front side of the robot body 1. The front side in the present invention refers to the side of the robot body 1 facing its advancing direction, and the left and right sides refer to the side located at the front of the robot body 1. Both sides of the route in the left-right direction.
红外传感器2用以检测10cm以内的障碍物或墙体，但对使用环境有相当高的要求，当遇上浅色或是深色的家居物品障碍物时，红外反射信号较弱或是无法进行红外信号反射，此时红外传感器2就检测不到障碍物，会造成智能扫地机器人与家居物品障碍物发生碰撞，时间一久，家居物品的底部会被撞的斑斑点点。超声波传感器6利用仿生原理探测一定距离内(通常为40cm以内)的障碍物，红外传感器2和超声波传感器6的检测效果的优劣均与其安装在机器人本体1的高度有关，如果安装位置过高，则无法检知到低矮障碍物，比如钥匙、玩具、拖鞋等，此时，会有两种情况发生，一、智能扫地机器人会推行玩具、拖鞋前行，使其散落在房间各个位置，很难找回，导致房间杂乱，给用户收拾房间带来不便，二、对于钥匙等小物件，智能扫地机器人在行进过程中会将钥匙吸入，在吸入过程中，钥匙则会卡在底盘下从而对智能扫地机器人造成损害；如果安装过低，则容易误动作，将低矮门槛误判为墙体，不能跨越门槛，给清洁带来不便。碰撞开关传感器安装在机器人本体1的前侧，当碰到障碍物后会触发该撞断开关。但是，如果智能扫地机器人前方存在的障碍物(比如钥匙、玩具、拖鞋等)质量不足以触发撞断开关时，智能扫地机器人会继续行走，对于拖鞋、玩具等物品，智能扫地机器人会推行玩具、拖鞋前行，使其散落在房间各个位置，很难找回，导致房间杂乱，给用户收拾房间带来不便；对于钥匙等小件物品，智能扫地机器人在行进过程中会将钥匙吸入，在吸入过程中，钥匙则会卡在底盘下从而对智能扫地机器人造成损害。Infrared sensor 2 is used to detect obstacles or walls within 10cm, but it has very high requirements for the use environment. When encountering light-colored or dark-colored household objects, the infrared reflection signal is weak or cannot be detected. The infrared signal is reflected, and the infrared sensor 2 cannot detect the obstacle at this time, which will cause the intelligent sweeping robot to collide with the obstacle of the household items. After a long time, the bottom of the household items will be bumped in spots. The ultrasonic sensor 6 utilizes the bionic principle to detect obstacles within a certain distance (usually within 40cm). The detection effects of the infrared sensor 2 and the ultrasonic sensor 6 are all related to the height at which they are installed on the robot body 1. If the installation position is too high, Then it cannot detect low obstacles, such as keys, toys, slippers, etc. At this time, there will be two situations. Difficult to retrieve, resulting in messy rooms and inconvenient for users to tidy up the room. Second, for small objects such as keys, the intelligent sweeping robot will inhale the keys during the travel process. During the inhalation process, the keys will be stuck under the chassis, thereby The intelligent sweeping robot will cause damage; if the installation is too low, it is easy to malfunction, misjudge the low threshold as a wall, and cannot cross the threshold, which will cause inconvenience to cleaning. The bump switch sensor is installed on the front side of the robot body 1, and the bump switch will be triggered after hitting an obstacle. However, if the quality of the obstacles (such as keys, toys, slippers, etc.) in front of the intelligent sweeping robot is not enough to trigger the break switch, the intelligent sweeping robot will continue to walk. For slippers, toys and other items, the intelligent sweeping robot will push toys, Slippers move forward, making them scattered in various places in the room, making it difficult to find them back, causing the room to be messy and inconvenient for users to clean up the room; During the process, the key will get stuck under the chassis and cause damage to the intelligent sweeping robot.
在家庭、办公室或其它地方，在硬面地板上常常铺设有地毯，硬面地板包括但不限于硬木、水泥、瓷砖、乙烯合成地砖、毛毡及光滑的垫子和层压材料，地毯包括编织或用其它方式织成的柔软的片状地板覆盖物，由于硬面地板和地毯使用的清洁液和清洁方式不同，因此智能扫地机器人常常设置有两种不同的清扫模式，由于红外传感器2、超声波传感器6和碰撞开关传感器只能用于检测墙体、沙发、衣柜、床、房门、座椅等障碍物，而对于一些低矮障碍物和地毯却不能进行有效检测，因而会出现漏检的情况，低矮障碍物主要包括低于现有技术中传感装置安装高度的障碍物和智能扫地机器人可以推行前行的障碍物，比如：拖鞋、钥匙、玩具、塑料纸、橡皮、指甲刀、小瓶子等物品，如果检测不到低矮障碍物，机器人本体1会推动低矮障碍物前行，造成房间杂乱，划伤地板；如果不能检测到地毯，则智能扫地机器人的打扫模式仍为硬面地板的打扫模式，此时会对地毯造成损害，缩短地毯的使用寿命，给用户带来损失。In homes, offices, or elsewhere, carpet is often laid over hard surface floors including, but not limited to, hardwood, concrete, ceramic tile, vinyl tile, felt, and smooth mats and laminates, including woven or Soft sheet floor coverings woven by other methods, due to the different cleaning fluids and cleaning methods used for hard floors and carpets, smart sweeping robots are often set with two different cleaning modes, due to infrared sensors 2, ultrasonic sensors 6 And collision switch sensors can only be used to detect obstacles such as walls, sofas, wardrobes, beds, doors, seats, etc., but cannot effectively detect some low obstacles and carpets, so there will be missed detection. Low obstacles mainly include obstacles that are lower than the installation height of the sensing device in the prior art and obstacles that the intelligent sweeping robot can push forward, such as: slippers, keys, toys, plastic paper, erasers, nail clippers, small bottles etc., if the low obstacles cannot be detected, the robot body 1 will push the low obstacles forward, causing the room to be messy and scratching the floor; if the carpet cannot be detected, the cleaning mode of the intelligent sweeping robot is still hard floor At this time, it will cause damage to the carpet, shorten the service life of the carpet, and bring losses to the user.
为解决上述技术问题，本发明中的传感装置还包括速度传感器3和光线传感器，速度传感器3用于检测机器人本体1的行走速度，光线传感器用于感知机器人本体1所在环境中与光线传感器安装位置相对应的区域内的光强，所述对应具体是指：当光线传感器安装在机器人本体1的前侧时，光线传感器用于感知机器人本体1前方的光强，当光线传感器安装在机器人本体1的顶面时，光线传感器用于感知机器人本体1上方的光强，当光线传感器安装在机器人本体1的两侧时，光线传感器用于感知机器人本体1两侧方向的光强，当光线传感器安装在机器人本体1的后侧时，光线传感器用于感知机器人本体1后方的光强。本发明中的光线传感器包括至少一个前端光线传感器4，前端光线传感器4内设有用于感知光强的光敏电阻，光强越大、光敏电阻的阻值越小，光强越小、光敏电阻的阻值越大。前端光线传感器4间隔设置在机器人本体1行进方向的前侧面靠近底部的位置，在满足安装要求和性能的情况下，所述靠近是指前端光线传感器4的位置与底部之间距离尽可能最小，以检测到较为低矮的障碍物。前端光线传感器4用于检测机器人本体1前方区域内的光强。智能扫地机器人清洁工作时，当机器人本体1遇到障碍物时，机器人本体1的行走速度变慢，当机器人本体规避障碍物后，机器人本体1的行走速度变快，控制部11根据速度传感器3的检测信号进行障碍物检测，光线传感器用于感知机器人本体1周围环境的光强，当机器人本体1周围环境中的光线被障碍物遮挡时，光线传感器接收到的光线暗淡，光强较小，此时光线传感器的阻值增大，当无障碍物遮挡时，光线传感器接收到的光线明亮，光强较大，此时光线传感器的阻值减小，因此控制部11可根据光线传感器的感知信号进行障碍物检测。In order to solve the above technical problems, the sensing device in the present invention also includes a speed sensor 3 and a light sensor, the speed sensor 3 is used to detect the walking speed of the robot body 1, and the light sensor is used to perceive the environment where the robot body 1 is installed with the light sensor. The light intensity in the area corresponding to the position, the corresponding specifically refers to: when the light sensor is installed on the front side of the robot body 1, the light sensor is used to perceive the light intensity in front of the robot body 1, when the light sensor is installed on the robot body 1 1, the light sensor is used to perceive the light intensity above the robot body 1. When the light sensor is installed on both sides of the robot body 1, the light sensor is used to sense the light intensity on both sides of the robot body 1. When the light sensor When installed on the rear side of the robot body 1 , the light sensor is used to perceive the light intensity behind the robot body 1 . The light sensor among the present invention comprises at least one front-end light sensor 4, is provided with the photoresistor that is used for sensing light intensity in the front-end light sensor 4, the greater the light intensity, the smaller the resistance value of the photoresistor, the smaller the light intensity, and the smaller the photoresistor. The greater the resistance value. The front light sensor 4 is arranged at intervals on the front side of the robot body 1 in the direction of travel and is close to the bottom. In the case of meeting the installation requirements and performance, the proximity means that the distance between the position of the front light sensor 4 and the bottom is as small as possible. to detect relatively low obstacles. The front light sensor 4 is used to detect the light intensity in the front area of the robot body 1 . When the intelligent sweeping robot is cleaning, when the robot body 1 encounters an obstacle, the walking speed of the robot body 1 slows down. After the robot body avoids the obstacle, the walking speed of the robot body 1 becomes faster. The detection signal is used to detect obstacles, and the light sensor is used to perceive the light intensity of the surrounding environment of the robot body 1. When the light in the surrounding environment of the robot body 1 is blocked by obstacles, the light received by the light sensor is dim and the light intensity is small. At this time, the resistance value of the light sensor increases. When there is no obstruction, the light received by the light sensor is bright and the light intensity is relatively high. At this time, the resistance value of the light sensor decreases. Therefore, the control unit 11 can signal for obstacle detection.
本发明提出一种智能扫地机器人控制方法：在机器人本体1行走过程中，通过速度传感器3和光线传感器实时检测机器人本体1的行走速度以及感知机器人本体1周围环境中与光线传感器安装位置相对应的区域内的光强，控制部11根据速度传感器3的检测信号和光线传感器的感知信号进行障碍物检测，同时能够识别机器人本体1遇到的障碍物是低矮障碍物还是地毯，如果机器人本体1遇到的障碍物是地毯，则开启地毯打扫模式，进而保护地毯。The present invention proposes an intelligent sweeping robot control method: during the walking process of the robot body 1, the walking speed of the robot body 1 is detected in real time through the speed sensor 3 and the light sensor, and the position corresponding to the installation position of the light sensor in the surrounding environment of the robot body 1 is sensed. The light intensity in the area, the control unit 11 detects obstacles according to the detection signal of the speed sensor 3 and the perception signal of the light sensor, and can identify whether the obstacle encountered by the robot body 1 is a low obstacle or a carpet, if the robot body 1 If the obstacle encountered is a carpet, the carpet cleaning mode is turned on to protect the carpet.
在机器人本体1行走过程中，当控制部11根据红外传感器2、超声波传感器6和碰撞传感器其中任意一个的检测信号检测到障碍物时，说明障碍物为墙壁、衣柜、沙发等大型障碍物，而不是低矮障碍物或地毯，则控制部11会屏蔽掉速度传感器3和前端光线传感器4的检测；当控制部11根据红外传感器2、超声波传感器6和碰撞传感器其中任意一个的检测信号未检测到障碍物时，说明前方无障碍物或存在低矮障碍物或地毯，则控制部11开启速度传感器3和前端光线传感器4进行进一步检测。During the walking process of the robot body 1, when the control unit 11 detects an obstacle according to the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor, it indicates that the obstacle is a large obstacle such as a wall, a wardrobe, a sofa, etc., and If it is not a low obstacle or a carpet, the control unit 11 will shield the detection of the speed sensor 3 and the front light sensor 4; when the control unit 11 does not detect any When there is an obstacle, it means that there is no obstacle ahead or there is a low obstacle or a carpet, and then the control unit 11 turns on the speed sensor 3 and the front light sensor 4 for further detection.
如图3所示，控制部11根据速度传感器3的检测信号进行障碍物检测的步骤包括：As shown in FIG. 3 , the steps for the control unit 11 to detect obstacles according to the detection signal of the speed sensor 3 include:
S01)智能扫地机器人开始清扫工作；S01) The intelligent sweeping robot starts cleaning work;
S02)速度传感器3实时检测机器人本体1的行走速度，控制部11根据速度传感器的检测信号判断机器人本体1的行走速度是否变慢，例如机器人本体1在3秒内速度降低了3mm/s并以此速度持续了3秒，如果机器人本体1的行走速度变慢，判断机器人本体1遇到低矮障碍物或地毯，则进入S03)步骤，如果机器人本体1的行走速度不变，说明未检测到障碍物，智能扫地机器人继续沿原路线前行；S02) The speed sensor 3 detects the walking speed of the robot body 1 in real time, and the control unit 11 judges whether the walking speed of the robot body 1 slows down according to the detection signal of the speed sensor. This speed has lasted for 3 seconds. If the walking speed of the robot body 1 slows down, it is judged that the robot body 1 has encountered a low obstacle or a carpet, and then enters the step S03). If the walking speed of the robot body 1 remains unchanged, it means that no obstacle has been detected. Obstacles, the intelligent sweeping robot continues to move forward along the original route;
S03)控制部11控制机器人本体1做出回避动作，即控制部11控制机器人本体1做0到90°的转向操作，或后退一定距离后做0到90°的转向操作，然后继续前行，并进入S04)步骤；S03) The control unit 11 controls the robot body 1 to perform an avoidance action, that is, the control unit 11 controls the robot body 1 to perform a steering operation from 0 to 90°, or to perform a steering operation from 0 to 90° after retreating a certain distance, and then continue to move forward. And enter S04) step;
S04)控制部11根据速度传感器3的检测信号判断机器人本体1行走速度是否变快，如果机器人本体1的行走速度变快，例如机器人本体1在3秒内速度提高了3mm/s并以此速度持续了3秒，判断S02)步骤中机器人本体1遇到的障碍物为低矮障碍物，智能扫地机器人检知结束，智能扫地机器人沿转向后的路线前行；如果机器人本体1的行走速度不变，也就是机器人本体1在做出回避动作的前后，机器人本体1的行走速度不发生变化，则判断S02)步骤中机器人本体1遇到的障碍物为地毯，并进入S05步骤；S04) Control unit 11 judges whether the walking speed of robot body 1 becomes faster according to the detection signal of speed sensor 3, if the walking speed of robot body 1 becomes faster, for example, the speed of robot body 1 has increased by 3mm/s in 3 seconds and then at this speed It lasted for 3 seconds, and it is judged that the obstacle encountered by the robot body 1 in step S02) is a low obstacle, the detection of the intelligent sweeping robot is completed, and the intelligent sweeping robot moves forward along the route after turning; if the walking speed of the robot body 1 is not Change, that is, before and after the robot body 1 makes an avoidance action, the walking speed of the robot body 1 does not change, then it is judged that the obstacle encountered by the robot body 1 in the step S02) is a carpet, and enters the step S05;
S05)控制部11控制智能扫地机器人开启地毯打扫模式。S05) The control unit 11 controls the intelligent sweeping robot to start the carpet cleaning mode.
智能扫地机器人在遇到障碍物时，机器人本体1的行走速度会变慢，此时，为了避免机器人本体1的行走速度变慢，驱动装置7会通过增加电机负荷的方式来改变速度变慢的现象，电机负荷在增加前后会引起一些工作参数的变化，比如电流、电压和功率等，由于机器人本体1行走的速度快慢与电流(电压或功率)成正比，因此本领域技术人员很容易想到还可根据电流信号、电压信号和功率信号等参数的变化来检测机器人本体1前方遇到的障碍物，在此不再详细说明。When the intelligent sweeping robot encounters an obstacle, the walking speed of the robot body 1 will slow down. At this time, in order to avoid the slowing down of the walking speed of the robot body 1, the driving device 7 will change the speed of the slowing down by increasing the motor load. Phenomenon, before and after the motor load increases, some working parameters will change, such as current, voltage and power, etc. Since the walking speed of the robot body 1 is proportional to the current (voltage or power), it is easy for those skilled in the art to think of Obstacles encountered in front of the robot body 1 can be detected according to changes in parameters such as current signals, voltage signals, and power signals, and will not be described in detail here.
如图4所示，由于光线传感器包括前端光线传感器4，因此控制部11根据前端光线传感器4的感知信号进行障碍物检测的步骤包括，As shown in FIG. 4, since the light sensor includes the front light sensor 4, the steps of the control unit 11 performing obstacle detection according to the sensing signal of the front light sensor 4 include:
S11)智能扫地机器人开始清扫工作；S11) The intelligent sweeping robot starts cleaning work;
S12)前端光线传感器4实时感知机器人本体1前方的光强，初始状态时，机器人本体1的前方光线为明，光强大，当光线变暗时，光强减小，控制部11根据前端光线传感器4的感知信号判断机器人本体1的前方的光线是否由明变暗，如果机器人本体1的前方光线是由明变暗，判断机器人本体1的前方遇到低矮障碍物或地毯，则进入S13)步骤，如果机器人本体1的前方光线为明，则判断无障碍物，则检知结束，智能扫地机器人继续沿原路线前行；S12) The front light sensor 4 perceives the light intensity ahead of the robot body 1 in real time. In the initial state, the light ahead of the robot body 1 is bright and the light is strong. When the light becomes dark, the light intensity decreases. The sensing signal of 4 judges whether the light in front of the robot body 1 changes from bright to dark. If the light in front of the robot body 1 changes from bright to dark, it is judged that the front of the robot body 1 encounters a low obstacle or a carpet, and then enters S13) Step 1, if the light in front of the robot body 1 is clear, it is judged that there is no obstacle, then the detection ends, and the intelligent sweeping robot continues to move forward along the original route;
S13)控制部11控制机器人本体1做出回避动作，即控制部11控制机器人本体1做0到90°的转向操作，或后退一定距离后做0到90°的转向操作，然后继续前行，并进入S14)步骤；S13) The control unit 11 controls the robot body 1 to perform an avoidance action, that is, the control unit 11 controls the robot body 1 to perform a steering operation from 0 to 90°, or to perform a steering operation from 0 to 90° after retreating a certain distance, and then continue to move forward. And enter S14) step;
S14)控制部11根据前端光线传感器4的感知信号判断机器人本体1的前方光线是否由暗变明，如果机器人本体1的前方光线是由暗变明，判断S12)步骤中机器人本体1遇到的障碍物为低矮障碍物，智能扫地机器人检知结束，智能扫地机器人沿转向后的路线前行；如果机器人本体1的前方光线为暗，则判断S12)步骤中机器人本体1遇到的障碍物为地毯，并进入S15步骤；S14) The control unit 11 judges whether the front light of the robot body 1 changes from dark to bright according to the perception signal of the front light sensor 4, if the light in front of the robot body 1 changes from dark to bright, it is determined that the robot body 1 encounters in the step S12) The obstacle is a low obstacle, the intelligent sweeping robot detects the end, and the intelligent sweeping robot moves forward along the route after turning; if the light in front of the robot body 1 is dark, then judge the obstacle encountered by the robot body 1 in step S12) For carpets, and go to step S15;
S15)控制部11控制智能扫地机器人开启地毯打扫模式。S15) The control unit 11 controls the intelligent sweeping robot to start the carpet cleaning mode.
本发明中光线传感器变明变暗界定的标准是：N秒内光敏电阻的AD值变化范围大于M并持续Z秒，如此可防止智能机器人在进入人或物体的阴影以及室内突然开关灯的情况下发生误检测，此外，光线传感器还可采用光敏二极管，无光照时，有很小的饱和反向漏电流，即暗电流，此时光敏二极管截止。当受到光照时，饱和反向漏电流大大增加，形成光电流，它随入射光强度的变化而变化，其判断标准为光敏二极管导通和截止的变化持续Z秒。In the present invention, the light sensor's brightening and darkening standard is: the AD value variation range of the photoresistor in N seconds is greater than M and lasts for Z seconds, which can prevent the intelligent robot from entering the shadow of people or objects and suddenly turning on and off the lights in the room. In addition, the light sensor can also use a photosensitive diode. When there is no light, there is a small saturated reverse leakage current, that is, a dark current, and the photodiode is cut off at this time. When illuminated, the saturated reverse leakage current increases greatly to form a photocurrent, which changes with the intensity of the incident light. The judgment standard is that the change of the photodiode on and off lasts for Z seconds.
参照图3和图4所示，对控制部11结合速度传感器3的检测信号和前端光线传感器4的感知信号进行障碍物检测的方法进行举例说明：Referring to Fig. 3 and Fig. 4, the method for detecting obstacles by the control unit 11 in combination with the detection signal of the speed sensor 3 and the sensing signal of the front light sensor 4 is illustrated:
1、当低矮障碍物为拖鞋或地毯时，当控制部11根据速度传感器3的检测信号进行障碍物检测时，由于拖鞋和地毯均使机器人本体1的行走速度变慢，因此根据S02)步骤，控制部11控制机器人本体1做回避动作，并进入S04)步骤，根据S04)步骤，如果机器人本体1的行走速度由慢变快，则障碍物是拖鞋，如果机器人本体1的行走速度不变，则障碍物是地毯，因此控制部11可以根据速度传感器3的检测信号可以判断检测出拖鞋和地毯；当控制部11根据前端光线传感器4的感知信号进行障碍物检测时，由于拖鞋和地毯均使机器人本体1的前方光线由明变暗，因此根据S12)步骤，控制部11控制机器人本体1做回避动作，并进入S14)步骤，根据S14)步骤，如果机器人本体1的前方光线是由暗变明，则障碍物为拖鞋，如果机器人本体1的前方光线为暗，则障碍物为地毯。由于速度传感器3的检测信号和前端光线传感器4的感知信号的前后差值变化和持续时间均达到规定值，因此智能扫地机器人的控制部11根据速度传感器3的检测信号和前端光线传感器4的感知信号均能有效识别出机器人本体1遇到的障碍物。1. When the low obstacle is slippers or a carpet, when the control unit 11 detects the obstacle according to the detection signal of the speed sensor 3, both the slippers and the carpet slow down the walking speed of the robot body 1, so according to S02) step , the control unit 11 controls the robot body 1 to do an avoidance action, and enters the S04) step. According to the S04) step, if the walking speed of the robot body 1 changes from slow to fast, the obstacle is a slipper. If the walking speed of the robot body 1 is constant , then the obstacle is a carpet, so the control unit 11 can judge and detect the slippers and the carpet according to the detection signal of the speed sensor 3; Make the front light of the robot body 1 change from bright to dark, so according to S12) step, the control unit 11 controls the robot body 1 to do an avoidance action, and enters S14) step, according to S14) step, if the front light of the robot body 1 is from dark If the light becomes bright, the obstacle is a slipper, and if the light ahead of the robot body 1 is dark, the obstacle is a carpet. Since the detection signal of the speed sensor 3 and the perception signal of the front-end light sensor 4 both change in difference and the duration time reaches a specified value, the control unit 11 of the intelligent sweeping robot will All the signals can effectively identify obstacles encountered by the robot body 1 .
2、如果障碍物为质量较小的物品，且对机器人本体1的行走速度没有太大影响时，例如纸片或塑料纸，当控制部11根据速度传感器3的检测信号进行障碍物检测时，由于机器人本体1的行走速度变化很小或者不变，此时根据S02)步骤判断机器人本体1的前方不存在障碍物，控制部11根据速度传感器3的检测信号判断出机器人本体1前方无障碍物，随后控制部11会根据前端光线传感器4的感知信号进一步判断机器人本体1的前方是否存在障碍物，由于纸片或塑料纸会遮挡前端光线传感器4，使机器人本体1前方光线由明变暗，因此根据S22)步骤至S25)步骤即可判断出机器人本体1的前方存在低矮障碍物，进而避让低矮障碍物，防止其堵住过滤网的网孔，造成吸尘装置不能吸入灰尘，进而避免卫生打扫的不干净。由于速度传感器3的检测信号发生的变化未达到规定值，而前端光线传感器4的感知信号超过规定值，此时智能扫地机器人的控制部11会根据前端光线传感器4的感知信号识别出机器人本体1遇到的障碍物，进而避免部分障碍物漏检。2. If the obstacle is an item with a small mass and does not have much influence on the walking speed of the robot body 1, such as a piece of paper or plastic paper, when the control unit 11 detects the obstacle according to the detection signal of the speed sensor 3, Since the walking speed of the robot body 1 changes little or remains constant, it is judged that there is no obstacle in front of the robot body 1 according to S02) step, and the control unit 11 judges that there is no obstacle in the front of the robot body 1 according to the detection signal of the speed sensor 3. , then the control unit 11 will further judge whether there is an obstacle in front of the robot body 1 according to the sensing signal of the front light sensor 4. Since the paper or plastic paper will block the front light sensor 4, the light in front of the robot body 1 will change from bright to dark. Therefore, according to steps S22) to S25), it can be judged that there is a low obstacle in front of the robot body 1, and then avoid the low obstacle to prevent it from blocking the mesh of the filter screen, causing the dust suction device to not suck dust, and then Avoid dirty cleaning. Since the change in the detection signal of the speed sensor 3 does not reach the specified value, and the sensing signal of the front light sensor 4 exceeds the specified value, the control unit 11 of the intelligent sweeping robot will recognize the robot body 1 according to the sensing signal of the front light sensor 4 Encountered obstacles, so as to avoid missed detection of some obstacles.
3、如果障碍物的体积较小(小瓶子、指甲刀等小块状物品)且位于相邻两个前端光线传感器4之间时，当控制部11根据前端光线传感器4的感知信号进行障碍物检测时，由于障碍物不能对射入前端光线传感器4的光线进行遮挡，根据S22)步骤即可判断出机器人本体1的前方不存在障碍物，控制部11根据前端光线传感器4的感知信号判断出机器人本体1前方无障碍物，随后控制部11会根据速度传感器3的检测信号进一步判断机器人本体1的前方是否存在障碍物，由于小瓶子、指甲刀等物品会使机器人本体1的行走速度变慢，因此根据S02)步骤至S04)步骤即可判断出机器人本体1的前方存在低矮障碍物，进而避让低矮障碍物，防止吸尘装置8吸入小瓶子、指甲刀等物品，从而影响智能扫地机器人的打扫效果和使用寿命。由于前端光线传感器4的感知信号未达到规定值，而速度传感器3的检测信号发生的变化超过规定值，此时智能扫地机器人的控制部11会根据速度传感器3的检测信号识别出机器人本体1遇到的障碍物，进而避免部分障碍物漏检。3. If the volume of the obstacle is small (small items such as small bottles, nail clippers, etc.) and it is located between two adjacent front-end light sensors 4, when the control unit 11 detects the obstacle according to the sensing signal of the front-end light sensor 4 During detection, since the obstacle cannot block the light incident on the front-end light sensor 4, it can be judged that there is no obstacle in front of the robot body 1 according to the step S22), and the control unit 11 judges according to the sensing signal of the front-end light sensor 4 There is no obstacle in front of the robot body 1, and then the control unit 11 will further judge whether there is an obstacle in front of the robot body 1 according to the detection signal of the speed sensor 3, because small bottles, nail clippers and other items will slow down the walking speed of the robot body 1. Therefore, according to the steps from S02) to S04), it can be judged that there is a low obstacle in front of the robot body 1, and then avoid the low obstacle to prevent the vacuum device 8 from sucking small bottles, nail clippers and other items, thereby affecting the intelligent sweeping of the floor. The cleaning effect and service life of the robot. Because the sensing signal of the front light sensor 4 does not reach the specified value, and the change of the detection signal of the speed sensor 3 exceeds the specified value, at this time, the control part 11 of the intelligent sweeping robot will recognize that the robot body 1 encounters a problem according to the detection signal of the speed sensor 3 Obstacles can be detected, so as to avoid missed detection of some obstacles.
综上所述，速度传感器3的检测信号和前端光线传感器4的感知信号各自独立，互不干涉，当控制部11单独根据速度传感器3的检测信号或单独根据前端光线传感器4的感知信号检测时会发生障碍物漏检的情况，因此本发明的控制部11将速度传感器3的检测信号和前端光线传感器4的感知信号结合起来以弥补各自的检测弊端，这种结合属于物理结合，不存在控制流程上的相互结合。控制部11同时接收速度传感器3的检测信号和前端光线传感器4的感知信号，并对两个信号的前后之间的差值和所持续的时间进行综合分析，以判断是否存在障碍物，这样做具有以下好处：1、可有效检测判断清扫过程中遇到的低矮障碍物和地毯，避免机器人本体推行低矮障碍物前行，使用户不能快速找回物品，同时也防止低矮障碍物划伤地板；2、避免因部分障碍物的漏检而造成对智能扫地机器人和硬面地板的损坏；3、能够检测出地毯进而切换到地毯打扫模式以保护地毯，延长了地毯的使用寿命，降低了用户的损失。In summary, the detection signal of the speed sensor 3 and the sensing signal of the front light sensor 4 are independent and do not interfere with each other. When the control unit 11 detects Occurrence of missed detection of obstacles, so the control unit 11 of the present invention combines the detection signal of the speed sensor 3 and the sensing signal of the front light sensor 4 to make up for their respective detection disadvantages. This combination is a physical combination, and there is no control Process integration. The control unit 11 receives the detection signal of the speed sensor 3 and the perception signal of the front light sensor 4 at the same time, and comprehensively analyzes the difference between the front and back of the two signals and the duration to determine whether there is an obstacle. It has the following advantages: 1. It can effectively detect and judge the low obstacles and carpets encountered in the cleaning process, avoiding the robot body from pushing the low obstacles forward, so that the user cannot quickly retrieve the items, and also prevents the low obstacles from being scratched. 2. Avoid damage to the intelligent sweeping robot and hard floor due to missed detection of some obstacles; 3. It can detect the carpet and then switch to the carpet cleaning mode to protect the carpet, prolonging the service life of the carpet and reducing the loss of users.
实施例二：Embodiment two:
如图5和6所示，在实际使用时，由于部分家庭的房间和办公场所内存在床底和沙发底等阴暗位置，由于这些地方也需要智能扫地机器人进行打扫，但是根据实施例一中的智能扫地机器人控制方法分析，当智能扫地机器人即将进入阴暗位置或已经位于阴暗位置时，智能扫地机器人的前方光线变暗，根据S12)步骤，控制部11会控制机器人本体1做出回避动作，从而使智能扫地机器人不能对阴暗位置进行打扫，为了杜绝这种情况的发生，使房间或办公场所内存在的阴暗位置也能得到打扫，本发明中的光线传感器还包括至少一个朝向上方设置的顶端光线传感器5，顶端光线传感器5内设有用于感知光强的光敏电阻，顶端光线传感器5间隔设置在机器人本体1的顶面，用于检测机器人本体1上方区域内的光强。As shown in Figures 5 and 6, in actual use, because there are dark places such as the bottom of the bed and the bottom of the sofa in some family rooms and office places, because these places also need to be cleaned by intelligent sweeping robots, but according to the first embodiment According to the analysis of the control method of the intelligent sweeping robot, when the intelligent sweeping robot is about to enter a dark position or is already in a dark position, the light in front of the intelligent sweeping robot becomes dark. According to the step S12), the control part 11 will control the robot body 1 to make an avoidance action, thereby The intelligent sweeping robot cannot clean the dark place. In order to prevent this from happening, the dark place in the room or office can also be cleaned. The light sensor in the present invention also includes at least one top light set facing upward. Sensor 5, the top light sensor 5 is provided with a photoresistor for sensing light intensity, and the top light sensor 5 is arranged on the top surface of the robot body 1 at intervals for detecting the light intensity in the area above the robot body 1 .
如图7所示，控制部11根据前端光线传感器4的感知信号和顶端光线传感器5的感知信号进行障碍物检测的步骤包括：As shown in FIG. 7 , the steps for the control unit 11 to perform obstacle detection according to the sensing signal of the front light sensor 4 and the sensing signal of the top light sensor 5 include:
S21)智能扫地机器人开始清扫工作；S21) The intelligent sweeping robot starts cleaning work;
S22)前端光线传感器4实时感知机器人本体1前方的光强，控制部11根据前端光线传感器4的感知信号判断机器人本体1前方光线是否由明变暗，如果机器人本体1前方光线是由明变暗，且红外传感器2、超声波传感器6和撞断开关传感器等未检测到障碍物，则判断机器人本体1的前方遇到低矮障碍物或地毯或机器人本体1进入阴暗位置，并进入S23)步骤，如果机器人本体1前方光线为不变，则判断无障碍物且未进入阴暗环境，并检知结束；S22) The front light sensor 4 perceives the light intensity ahead of the robot body 1 in real time, and the control unit 11 judges whether the light in front of the robot body 1 changes from bright to dark according to the sensing signal of the front light sensor 4, if the light in front of the robot body 1 is from bright to dark , and the infrared sensor 2, the ultrasonic sensor 6 and the knock switch sensor etc. do not detect obstacles, then it is judged that the front of the robot body 1 encounters a low obstacle or the carpet or the robot body 1 enters a dark position, and enters the step S23), If the light in front of the robot body 1 remains unchanged, it is judged that there are no obstacles and it has not entered a dark environment, and the detection ends;
S23)顶端光线传感器5实时检测机器人本体1上方的光强，初始状态时，机器人本体1的上方光线为明，光强大，当光线变暗时，光强减小，控制部11根据顶端光线传感器5的感知信号判断机器人本体1上方光线是否由明变暗，如果机器人本体1上方光线是由明变暗，则判断S22)步骤中机器人本体1进入阴暗位置，检知结束，智能扫地机器人继续前行并对阴暗位置进行打扫，如果机器人本体1上方光线不变，则判断机器人本体1的前方遇到低矮障碍物或地毯，并进入S24)步骤；S23) The top light sensor 5 detects the light intensity above the robot body 1 in real time. In the initial state, the light above the robot body 1 is bright and the light is strong. When the light becomes dark, the light intensity decreases. 5 to determine whether the light above the robot body 1 is from bright to dark, if the light above the robot body 1 is from bright to dark, then judge that the robot body 1 enters a dark position in step S22), the detection is over, and the intelligent sweeping robot continues to move forward. Run and clean the dark place, if the light above the robot body 1 remains unchanged, then judge that the front of the robot body 1 encounters a low obstacle or a carpet, and enter S24) step;
S24)控制部11控制机器人本体1做出回避动作，即控制部11控制机器人本体1做0到90°的转向操作，或后退一定距离后做0到90°的转向操作，然后继续前行，并进入S25)步骤；S24) The control unit 11 controls the robot body 1 to perform an avoidance action, that is, the control unit 11 controls the robot body 1 to perform a steering operation from 0 to 90°, or to perform a steering operation from 0 to 90° after retreating a certain distance, and then continue to move forward. And enter S25) step;
S25)控制部11根据前端光线传感器4的感知信号判断机器人本体1前方光线是否由暗变明，如果机器人本体1前方光线是由暗变明，则判断S22)步骤中机器人本体1遇到的障碍物为低矮障碍物，如果机器人本体1前方光线不变，则进入S26步骤；S25) the control unit 11 judges whether the light in front of the robot body 1 changes from dark to bright according to the perception signal of the front light sensor 4, and if the light in front of the robot body 1 changes from dark to bright, then judge the obstacle that the robot body 1 encounters in the step S22) The object is a low obstacle, if the light in front of the robot body 1 remains unchanged, then enter the S26 step;
S26)顶端光线传感器5检测机器人本体1上方的光强，控制部11根据顶端光线传感器5的感知信号判断机器人本体1上方光线是否由明变暗，如果机器人本体上方光线不变，则判断S22)步骤中机器人本体1遇到的障碍物为地毯，并进入S27)步骤，如果机器人本体上方光线由明变暗，则判断机器人本体1转向后进入阴暗环境，智能扫地机器人继续前行并对阴暗位置进行打扫；S26) The top light sensor 5 detects the light intensity above the robot body 1, and the control unit 11 judges whether the light above the robot body 1 changes from bright to dark according to the perception signal of the top light sensor 5. If the light above the robot body remains unchanged, then judge S22) In the step, the obstacle encountered by the robot body 1 is a carpet, and enters the step S27). If the light above the robot body changes from bright to dark, it is judged that the robot body 1 turns and enters a dark environment, and the intelligent sweeping robot continues to move forward and check the dark position. to clean;
S27)控制部11控制智能扫地机器人开启地毯打扫模式。S27) The control unit 11 controls the intelligent sweeping robot to start the carpet cleaning mode.
本发明实施例二中前端光线传感器4和顶端光线传感器5变明变暗的判断标准与实施例一中判断标准相同。The criteria for judging the brightening and darkening of the front light sensor 4 and the top light sensor 5 in the second embodiment of the present invention are the same as those in the first embodiment.
参照图3和图7所示，实施例二中的智能扫地机器人的控制方法是：Referring to Fig. 3 and Fig. 7, the control method of the intelligent sweeping robot in the second embodiment is:
在机器人本体1行走过程中，首先，控制部11根据红外传感器2、超声波传感器6和碰撞传感器其中任意一个的检测信号判断前方是否存在障碍物，当控制部11根据红外传感器2、超声波传感器6和碰撞传感器其中任意一个的检测信号检测到障碍物时，说明障碍物为墙壁、衣柜、沙发等大型障碍物，而不是低矮障碍物或地毯，则控制部11会屏蔽掉速度传感器3、前端光线传感器4和顶端光线传感器5的检测；当控制部11根据红外传感器2、超声波传感器6和碰撞传感器其中任意一个的检测信号未检测到障碍物时，说明前方无障碍物或存在低矮障碍物或地毯，则控制部11开启速度传感器3、前端光线传感器4和顶端光线传感器5进行进一步检测。During the walking process of the robot body 1, at first, the control unit 11 judges whether there is an obstacle ahead according to the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor. When the detection signal of any one of the collision sensors detects an obstacle, it means that the obstacle is a large obstacle such as a wall, a wardrobe, a sofa, rather than a low obstacle or a carpet, and the control unit 11 will shield the speed sensor 3 and the front light. The detection of the sensor 4 and the top light sensor 5; when the control unit 11 does not detect an obstacle according to the detection signal of any one of the infrared sensor 2, the ultrasonic sensor 6 and the collision sensor, it means that there is no obstacle in the front or there is a low obstacle or carpet, the control unit 11 turns on the speed sensor 3, the front light sensor 4 and the top light sensor 5 for further detection.
随后，控制部11根据速度传感器3的检测信号和光线传感器的感知信号进行障碍物检测，光线传感器的感知信号是指前端光线传感器4的感知信号和顶端光线传感器5的感知信号，该智能扫地机器人控制方法不仅能有效检测出机器人本体1遇到的低矮障碍物和地毯，而且还能使智能扫地机器人打扫阴暗位置，并能在打扫阴暗位置时，对低矮障碍物和地毯进行有效检测判断。在明亮环境下，实施例二对于低矮障碍物和地毯的检测方法与实施例一相似，本领域技术人员根据实施例一很容易明白，因此不再详细说明；在智能扫地机器人打扫阴暗位置时，对低矮障碍物和地毯进行检测的方法，具体如下，当控制部11根据前端光线传感器4的感知信号和顶端光线传感器5的感知信号进行障碍物检测时，根据S22)步骤或S26)步骤判断机器人本体1可对阴暗位置进行打扫，如果在阴暗位置中也存在低矮障碍物或地毯，此时光线传感器的作用在黑暗环境中已失效，无法检测机器人本体1前方是否存在低矮障碍物或地毯，此时控制部11会根据速度传感器3的检测信号进行障碍物检测，具体详见图3所示的S02)步骤至S05)步骤，如此降低了障碍物对智能扫地机器人造成的损害，同时也能避免对地毯造成损害。Subsequently, the control unit 11 performs obstacle detection according to the detection signal of the speed sensor 3 and the perception signal of the light sensor. The perception signal of the light sensor refers to the perception signal of the front light sensor 4 and the perception signal of the top light sensor 5. The intelligent sweeping robot The control method can not only effectively detect low obstacles and carpets encountered by the robot body 1, but also enable the intelligent sweeping robot to clean dark places, and can effectively detect and judge low obstacles and carpets when cleaning dark places . In a bright environment, the detection method of embodiment 2 for low obstacles and carpets is similar to that of embodiment 1, and those skilled in the art can easily understand according to embodiment 1, so no further details are given; when the intelligent sweeping robot cleans a dark place , the method for detecting low obstacles and carpets is specifically as follows, when the control unit 11 performs obstacle detection according to the sensing signal of the front light sensor 4 and the sensing signal of the top light sensor 5, according to S22) step or S26) step Judging that the robot body 1 can clean the dark place, if there are low obstacles or carpets in the dark place, the function of the light sensor is invalid in the dark environment at this time, and it cannot detect whether there is a low obstacle in front of the robot body 1 Or the carpet, at this time, the control unit 11 will detect the obstacle according to the detection signal of the speed sensor 3. For details, see the steps S02) to S05) shown in FIG. 3, which reduces the damage caused by the obstacle to the intelligent sweeping robot. At the same time, it can avoid damage to the carpet.
综上所述，速度传感器3的检测信号和光线传感器的感知信号各自独立，互不干涉，当控制部11单独根据速度传感器3的检测信号时，会发生漏检；当控制部11单独根据光线传感器的感知信号检测时，尤其在阴暗环境中时，会发生与障碍物碰撞的情况，因此本发明的控制部11将速度传感器3的检测信号和光线传感器的感知信号结合起来以弥补各自的检测弊端，这种结合属于物理结合，不存在控制流程上的相互结合。To sum up, the detection signal of the speed sensor 3 and the sensing signal of the light sensor are independent and do not interfere with each other. When the control unit 11 relies on the detection signal of the speed sensor 3 alone, missed detection will occur; When the sensing signal of the sensor is detected, especially in a dark environment, a collision with an obstacle may occur, so the control unit 11 of the present invention combines the sensing signal of the speed sensor 3 and the sensing signal of the light sensor to make up for the respective detection signals. The disadvantage is that this combination is a physical combination, and there is no mutual combination in the control process.
相比实施例一，实施例二中的智能扫地机器人控制方法除了可以实现实施例一的达到效果外，还能使智能扫地机器人进入阴暗位置打扫，并能够对处于阴暗位置中的障碍物和地毯进行有效检测，适用环境范围更广，检测精度更高。用户在使用时，可根据智能扫地机器人所要打扫的环境进行相应的选择。Compared with Embodiment 1, the intelligent sweeping robot control method in Embodiment 2 can not only achieve the effect of Embodiment 1, but also enable the intelligent sweeping robot to enter a dark location for cleaning, and can clean up obstacles and carpets in a dark location. For effective detection, the applicable environment is wider and the detection accuracy is higher. When using, the user can make corresponding choices according to the environment to be cleaned by the intelligent sweeping robot.
本发明实施例一和实施例二中的控制部11根据前端光线传感器4的感知信号判断机器人本体1前方光线明暗的变化，是指根据一个及以上前端光线传感器4的感知信号判断，实施例二中控制部11根据顶端光线传感器5的感知信号判断机器人本体1上方光线明暗的变化，是指根据一个及以上顶端光线传感器5的感知信号判断。The control unit 11 in Embodiment 1 and Embodiment 2 of the present invention judges the change of the light in front of the robot body 1 according to the perception signal of the front-end light sensor 4, which refers to judging based on the perception signals of one or more front-end light sensors 4. Embodiment 2 The central control unit 11 judges the change of the light above the robot body 1 according to the sensing signal of the top light sensor 5 , which refers to judging according to the sensing signal of one or more top light sensors 5 .
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，熟悉该本领域的技术人员应该明白本发明包括但不限于附图和上面具体实施方式中描述的内容。任何不偏离本发明的功能和结构原理的修改都将包括在权利要求书的范围中。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and those skilled in the art should understand that the present invention includes but is not limited to the accompanying drawings and the description in the above specific embodiments content. Any modifications that do not depart from the functional and structural principles of the present invention will be included in the scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610070995.8ACN107024928B (en) | 2016-02-01 | 2016-02-01 | A kind of intelligent sweeping robot and intelligent sweeping robot control method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610070995.8ACN107024928B (en) | 2016-02-01 | 2016-02-01 | A kind of intelligent sweeping robot and intelligent sweeping robot control method |
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| CN107024928Atrue CN107024928A (en) | 2017-08-08 |
| CN107024928B CN107024928B (en) | 2020-04-28 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201610070995.8AExpired - Fee RelatedCN107024928B (en) | 2016-02-01 | 2016-02-01 | A kind of intelligent sweeping robot and intelligent sweeping robot control method |
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