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Self moving ground-handling robot and cleaning control method thereof

A control method and robot technology, applied in the field of intelligent robots, can solve problems such as incomplete cleaning work, affecting cleaning efficiency, and inability to clean the edge area of ​​obstacles

Active Publication Date: 2013-10-30
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the bottom of the obstacle is small or irregular, such as table legs, stool legs, etc., it can be bypassed in the random cleaning mode without affecting the cleaning effect. However, some small areas or corners may be missed. Make the cleaning work incomplete and affect the cleaning efficiency
When the cleaning robot performs fixed-point cleaning mode, it usually cannot clean the edge area of ​​obstacles

Method used

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  • Self moving ground-handling robot and cleaning control method thereof
  • Self moving ground-handling robot and cleaning control method thereof
  • Self moving ground-handling robot and cleaning control method thereof

Examples

Experimental program
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Embodiment 1

[0043] like figure 1 It is a structural block diagram of the self-moving ground handling robot of the present invention, which includes a cleaning unit 1, a walking unit 2, a driving unit 3, an obstacle sensor 4 and a control unit 5 at the front end of the robot. like figure 2 As shown, the self-propelled ground handling robot is a cleaning robot, and the cleaning robot includes a body 6 , and a strike plate 61 is provided at the front of the body 6 , and the obstacle sensor 4 is arranged on the strike plate 61 . Robots generally use obstacle sensors to detect surrounding obstacles to avoid or stick to the side. Specifically, the obstacle sensor may be an ultrasonic sensor, an infrared sensor, a travel switch, and the like. For example, when the ultrasonic sensor is working, it transmits the ultrasonic signal to the path of the robot, and receives the ultrasonic signal reflected from the obstacle, so as to determine whether the obstacle exists and the distance from the obst...

Embodiment 2

[0052] like Figure 5-6 As shown, the present invention provides another control method for the small-area cleaning work of the self-moving ground handling robot.

[0053] After the same power is turned on, the robot starts to walk randomly in the room (step S0), and continues to walk randomly after the robot collides with obstacles (step S1). ), the control unit determines that it has entered a small area, and starts the small area cleaning mode.

[0054] After this mode is activated, the robot starts to perform small area cleaning work, assuming that it is still cleaning according to the bow-shaped path. The robot first cleans towards one side (step S21'). When it is judged that the distance of the straight line section of the bow-shaped walk is within the range of 30-180 cm, the control unit controls the robot to continue walking; when it is judged that the distance of the straight line section of walking is not within the range ( Step S25), the control unit controls the ...

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Abstract

The present invention relates to the technical field of intelligent robots, in particular to a self-moving ground treatment robot and cleaning work control method thereof. The control method specifically comprises the following steps: step S0, a robot walks at random; step S1, the robot continues to walk at random after hitting an obstacle; step S2, if a control unit determines that the linear distance between two consecutive hits is in a range between a first threshold and a second threshold, then starting to execute small area cleaning work; otherwise, returning to step S0. The self-moving ground treatment robot of the present invention comprises a functional component, a walking unit, a drive unit, an obstacle sensor, and a control unit; the control unit controls the functional component and the drive unit to work according to the above control method. The present invention is suitable for cleaning corners or narrow strip areas.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a self-moving ground treatment robot and a control method for its cleaning work. Background technique [0002] Currently, existing cleaning robots mainly perform three cleaning modes: random cleaning mode, fixed-point cleaning mode, and wall / obstacle following cleaning mode (also called edge cleaning). When there is an area on the ground that is relatively dirty, the robot performs fixed-point cleaning on the dirty area, such as spiral cleaning; when it is not necessary to perform fixed-point cleaning on the ground, the random mode can be used, that is, the robot walks randomly so that the robot can effectively cover the entire ground; When cleaning the edge of the wall or the edge of the obstacle missed by the random cleaning mode, the robot adopts the wall / obstacle following cleaning mode, that is, cleaning along the edge of the obstacle. For example, US Pat. No. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCA47L9/00G05D2201/0203G05D1/0227A47L2201/04G05D1/0219
Inventor 汤进举
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD
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