The content of the invention
In view of this, it is an object of the invention to propose a kind of certainly mobile clean robot and its control method, preferablySolves the situation that corner narrow space is trapped in from mobile clean robot so that certainly mobile clean robot can be more intelligent and hadComplete cleaning in effect ground.
A kind of control method from mobile clean robot is provided based on the above-mentioned purpose present invention, including：
Detection in real time is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage；
According to judging the s1 and s2 sums from after movement clean robot enters narrow space, control is described from shiftingDynamic clean robot performs back operation.
Wherein, it is described to enter narrow space from mobile clean robot according to judging the s1 and s2 sums, specificallyFor：
Judge s1 and s2 sums be less than given threshold situation occur after, and then monitor that the situation continues whenBetween；
After the time for monitoring the situation continuity is more than setting time section, it is determined that described enter from mobile clean robotEnter narrow space.
Further, it is described judge s1 and s2 sums be less than given threshold situation occur after, in addition to：
If monitoring, the time that the situation continues is less than setting time section, cause it is described from movement clean robot afterIt is continuous to perform forward operation.
The present invention also provides a kind of certainly mobile clean robot, including：Fuselage, and to drive the fuselage walkingWalking unit, in addition to：
Detection unit, for detecting in real time from the barrier at left and right sides of mobile clean robot fuselage respectively to fuselageDistance s1, s2；
Control unit, for entering narrow space from mobile clean robot according to the s1 and the judgement of s2 sumsAfterwards, the walking unit is controlled to perform back operation.
Wherein, described control unit is specifically used for after judging that s1 is less than the situation appearance of given threshold with s2 sums,And then monitor the time that the situation continues；After the time for monitoring the situation continuity is more than setting time section, institute is determinedState from mobile clean robot and enter narrow space, control the walking unit to perform back operation.
Further, if described control unit is additionally operable to monitor that the time that the situation continues is less than setting time section,The walking unit is controlled to continue executing with forward operation.
In the technical scheme of the embodiment of the present invention, the barrier at left and right sides of fuselage is detected in real time respectively to the distance of fuselages1、s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, the certainly mobile cleaning of controlRobot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.Surveyed using simpleAway from principle, problem proposed by the present invention is efficiently solved, realizes the purpose of the present invention.
Moreover, given also from the left and right distance measuring sensor of mobile clean robot measure from mobile clean robot withDistance s1, s2 the major part data of the right and left barrier will not be identical, in technical solution of the present invention, be by s1, s2 sum withGiven threshold s compares size, so substantially increases the accuracy of judgement.
Further, in technical scheme, situation of monitoring s1, s2 sum more than given threshold s continued whenBetween, and by comparing perdurabgility of monitoring and setting time section t, effectively judge by kissing gate or into stenosis areaDomain, decrease the generation of false judgment.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and referenceAccompanying drawing, the present invention is described in more detail.
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to endSame or similar label represents same or similar element or the element with same or like function.Below with reference to attachedThe embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " oneIt is individual ", " described " and "the" may also comprise plural form.It is to be further understood that when we claim element to be " connected " or " couplingConnect " when arriving another element, it can be directly connected or coupled to other elements, or there may also be intermediary element.In addition, thisIn " connection " or " coupling " that uses wireless connection or wireless coupling can be included.Wording "and/or" used herein includes oneThe whole or any cell of individual or more individual associated list items and all combinations.
It should be noted that all statements for using " first " and " second " are for differentiation two in the embodiment of the present inventionThe non-equal entity of individual same names or non-equal parameter, it is seen that " first " " second " should not only for the convenience of statementThe restriction to the embodiment of the present invention is interpreted as, subsequent embodiment no longer illustrates one by one to this.
The present inventor is had found from mobile cleaning machine to being analyzed from the service condition of mobile clean robotPeople is trapped in some corner, it is usually because problematic in robot traveling control method：After robot runs into barrier, it will usuallyAttempt to carry out cornering operation, but in some narrow spaces, the cornering operation of robot can cause in being trapped on the contraryThe situation in face.
To solve the above problems, the present inventor is it is considered that can be clear from movement in technical schemeDistance measuring sensor is set at left and right sides of clean robot fuselage, to the barrier at left and right sides of detection fuselage in real time respectively to fuselageDistance s1, s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, control moves certainlyDynamic clean robot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.
Further, distance also occurs it is considered that when certainly mobile clean robot passes in and out kissing gate in the present inventorS1, s2 sum are less than the situation of given threshold；To avoid performing back operation by kissing gate mistiming from mobile clean robot, thisIn the technical scheme of invention, s1 is also monitored with s2 sums less than the time that the situation of given threshold is continued；If perdurabgility is short,Such as less than setting time section, then it is the situation by kissing gate to judge certainly mobile clean robot, is controlled from mobile cleaning machinePeople continues executing with forward operation；If perdurabgility is grown, for example more than setting time section, then judges to enter from mobile clean robotNarrow space, then control perform back operation from mobile clean robot, avoided stranded in narrow space so that certainly mobile clearClean robot can be more intelligent and effectively completes cleaning.
The technical scheme for embodiment that the invention will now be described in detail with reference to the accompanying drawings.
It is provided in an embodiment of the present invention a kind of from the specific control method of mobile clean robot, from mobile cleaning machinePeople periodically performs each step in flow chart as shown in Figure 1, such as, performed every 0.1s each in flow chart as shown in Figure 1Step.It is as follows the step of flow shown in Fig. 1：
Step S101：Detection is from barrier at left and right sides of mobile clean robot fuselage respectively to distance s1, s2 of fuselage.
Step S102：Judge whether s1 is less than given threshold with s2 sums；If so, judge to enter " doubtful narrow space "Afterwards, step S103 is performed；Otherwise, step S110 is performed.
For example certainly mobile clean robot fuselage width is 330mm, those skilled in the art can set 200mm to setDetermine threshold value s；When disconnected s1 and s2 sums are less than 200mm, judge to enter " doubtful narrow space ", perform step S103；Otherwise, holdRow step S110.
Step S103：Further judge whether the time continued into " doubtful narrow space " state is more than setting timeSection；If so, then judging to enter " narrow space ", step S104 is performed；Otherwise, it is determined that certainly mobile clean robot is through narrowDoor, perform step S105.
For example the certainly mobile clean robot speed of service is 0.65m/s, those skilled in the art can be according to actual conditionsSetting 750ms is setting time section t；It is more than 750ms when the time for judging to be continued into " doubtful narrow space " state, then sentencesIt is fixed to enter " narrow space ", perform step S104；Otherwise, it is determined that being by kissing gate from mobile clean robot, step is performedS105。
Step S104：Control is described to perform back operation from mobile clean robot.
Step S105：So that described continue executing with forward operation from mobile clean robot.
Step S110：Continue to keep the travel condition current from mobile clean robot.
It is provided in an embodiment of the present invention a kind of from mobile clean robot, circuit block diagram such as Fig. 2 institutes based on the above methodShow, including：Cleaning unit 201, walking unit 202, power unit 203, detection unit 204, and control unit 205.
Wherein, power unit 203 includes the battery for providing energy, and charging device, can provide electric energy for each unit.
The structure chart from mobile clean robot as shown in Fig. 3 a, 3b, it is arranged at from mobile clean robot fuselage 200On cleaning unit 201 include brush 207, round brush 208, dirt box 209, and to produce the fan of suction.General fan is setPut inside dirt box 209.
Walking unit 202 includes driving wheel 210 and stabilizer 211.In order to turn to flexibly, driving wheel is provided with two；BalanceTake turns as universal wheel.
Cleaning unit 201 and walking unit 202 electrically connect with control unit 205, and control unit 205 can be single to cleaningMember 201 or walking unit 202 send control instruction, control the operation of cleaning unit 201 or walking unit 202.
Control unit 205 also electrically connects with detection unit 204, and control unit 205 receives the number that detection unit 204 is sentAccording to, and send control instruction to cleaning unit 201 or walking unit 202 according to the data of reception.
Wherein, detection unit 204 is used to detect the barrier difference from left and right sides of mobile clean robot fuselage in real timeTo distance s1, s2 of fuselage；It can wherein include：Passed apart from determination subelement and the ranging being arranged at left and right sides of the fuselageSensor 213.
The letter for being used to be sent according to the distance measuring sensor 213 being arranged at left and right sides of the fuselage apart from determination subelementNumber, determine the s1 and s2.
It is preferred that the distance measuring sensor for being arranged at the fuselage side is multiple；That is, it is arranged at from mobile cleaningDistance measuring sensor 213 on the left of robot fuselage can be multiple, be arranged at from the ranging on the right side of mobile clean robot fuselageSensor 213 can also be multiple.
The situation of multiple distance measuring sensors 213 is set corresponding to side, can be according to following method apart from determination subelementDetermine barrier to the distance of fuselage side：The signal that multiple distance measuring sensors according to the side fuselage is arranged at are sent, respectivelyDetermine the distance value corresponding to the signal that each distance measuring sensor is sent；Wherein lowest distance value is defined as barrier to the side machineThe distance of body；Or the average value of each distance value is defined as barrier to the distance of the side fuselage apart from determination subelement.
Such as the signal sent apart from determination subelement according to the multiple distance measuring sensors for being arranged at left side fuselage, respectivelyDetermine the distance value corresponding to the signal that each distance measuring sensor is sent；Wherein lowest distance value is defined as barrier to left side machineThe distance of body；Or the average value of each distance value is defined as barrier to the distance of left side fuselage apart from determination subelement.
The distance measuring sensor for being arranged at fuselage both sides can be infrared distance measuring sensor, ultrasonic distance-measuring sensor, swashOne or more combinations in ligh-ranging sensor.
Further, detection unit 204 can also include other sensors, such as：Fall sensor 212, crash sensor,Gravity sensing sensor, gyroscope etc., battery electric quantity can also be included and detected, dust concentration detection, detection of obstacles, automatic timeFill the detection means such as signal detection.
Control unit is used for the s1 and s2 determined according to detection unit 204, calculates s1 and s2 sums；And then according to the s1After judging that the certainly mobile clean robot enters narrow space with s2 sums, control the walking unit execution to retreat and graspMake.
Control unit is specifically used for after judging that s1 is less than the situation appearance of given threshold with s2 sums, and then monitors instituteState the time of situation continuity；After the time for monitoring the situation continuity is more than setting time section, it is determined that described from mobile clearClean robot enters narrow space, controls the walking unit to perform back operation.
Further, if control unit is additionally operable to monitor that the time that the situation continues is less than setting time section, controlThe walking unit continues executing with forward operation.
In the technical scheme of the embodiment of the present invention, the barrier at left and right sides of fuselage is detected in real time respectively to the distance of fuselages1、s2.After judging that coming from mobile clean robot enters narrow space according to distance s1 and s2 sums, the certainly mobile cleaning of controlRobot performs back operation, stranded because that can not perform cornering operation in narrow space so as to avoid.Surveyed using simpleAway from principle, problem proposed by the present invention is efficiently solved, realizes the purpose of the present invention.
Moreover, given also from the left and right distance measuring sensor of mobile clean robot measure from mobile clean robot withDistance s1, s2 the major part data of the right and left barrier will not be identical, in technical solution of the present invention, be by s1, s2 sum withGiven threshold s compares size, so substantially increases the accuracy of judgement.
Further, in technical scheme, situation of monitoring s1, s2 sum more than given threshold s continued whenBetween, and by comparing perdurabgility of monitoring and setting time section t, effectively judge by kissing gate or into stenosis areaDomain, decrease the generation of false judgment.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for performing in operation described hereinOne or more equipment.These equipment can specially be designed and manufactured for required purpose, or can also be included generalKnown device in computer.These equipment have the computer program being stored in it, and these computer programs are optionallyActivation or reconstruct.Such computer program can be stored in equipment (for example, computer) computer-readable recording medium or be stored inE-command and it is coupled to respectively in any kind of medium of bus suitable for storage, the computer-readable medium is included but notBe limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, onlyRead memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable ProgrammableRead-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically ErasableProgrammable Read-Only Memory, EEPROM), flash memory, magnetic card or light cardPiece.It is, computer-readable recording medium includes storing or transmitting any Jie of information in the form of it can read by equipment (for example, computer)Matter.
Those skilled in the art of the present technique be appreciated that can with computer program instructions come realize these structure charts and/orThe combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology is ledField technique personnel be appreciated that these computer program instructions can be supplied to all-purpose computer, special purpose computer or otherThe processor of programmable data processing method is realized, so as to pass through the processing of computer or other programmable data processing methodsDevice performs the scheme specified in the frame of structure chart and/or block diagram and/or flow graph disclosed by the invention or multiple frames.
Those skilled in the art of the present technique are appreciated that in the various operations discussed in the present invention, method, flowStep, measure, scheme can be replaced, changed, combined or deleted.Further, it is each with having been discussed in the present inventionKind operation, method, other steps in flow, measure, scheme can also be replaced, changed, reset, decomposed, combined or deleted.Further, it is of the prior art to have and the step in the various operations disclosed in the present invention, method, flow, measure, schemeIt can also be replaced, changed, reset, decomposed, combined or deleted.
Those of ordinary skills in the art should understand that：The discussion of any of the above embodiment is exemplary only, notIt is intended to imply that the scope of the present disclosure (including claim) is limited to these examples；Under the thinking of the present invention, above exampleOr can also be combined between the technical characteristic in different embodiments, step can be realized with random order, and exist such asMany other changes of upper described different aspect of the invention, for simplicity, they are not provided in details.Therefore, it is allWithin the spirit and principles in the present invention, any omission for being made, modification, equivalent substitution, improvement etc., it should be included in the present invention'sWithin protection domain.