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A motion control method of sweeping robot along the wall

A sweeping robot and sweeping machine technology, applied in the field of sweeping robots, can solve the problems of poor user experience, high wall requirements, low life and reliability, etc., and achieve the effects of low cost, small memory dependence, and good adaptability.

Active Publication Date: 2021-07-13
HUNAN GRAND PRO ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a method for controlling the movement of the sweeping robot along the wall, which solves the problem that the existing sweeping robots sold on the market require multiple collisions during walking due to the algorithm used, which leads to relatively high requirements for the wall. High, unstable distance along walls, inability to handle dynamic obstacles, low lifespan and reliability, and poor user experience

Method used

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  • A motion control method of sweeping robot along the wall
  • A motion control method of sweeping robot along the wall
  • A motion control method of sweeping robot along the wall

Examples

Experimental program
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Effect test

Embodiment 1

[0059] Step 1: Turn on the sweeping robot, set the minimum wall signal value MIN_IR and the maximum wall signal value MAX_IR, turn on the sweeping robot, and the sweeping robot will perform a collision detection judgment. If the main control unit does not receive the collision signal, it will enter the initial state, that is Walk straight forward along the current direction, otherwise the main control unit executes the obstacle avoidance program. The signal value IR is sent to the main control unit (if the wall is left along the wall, the signal value of the left wall sensor is taken, and if the wall is right, the signal value of the right wall sensor is taken);

[0060] Step 2: The main control unit compares and analyzes the real-time received wall signal value IR and the maximum wall signal value MAX_IR, selects the maximum value of the two as the maximum wall signal value MAX_IR to update in real time, and takes the maximum wall signal value 80% of the value MAX_IR as the t...

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Abstract

The invention discloses a sweeping robot, which comprises a sweeping machine body and a front stop arranged at the front end of the sweeping machine body. At least one of the left and right sides of the sweeping machine body is provided with a wall-side sensor for detecting a wall surface. The front block is provided with a detection port corresponding to the sensor along the wall. The sensor along the wall includes an infrared emission source and an infrared receiver. The included angle between the emission reference line of the infrared emission source and the reception reference line of the infrared receiver is an angle A set, where 20°

Description

technical field [0001] The invention relates to the technical field of sweeping robots, in particular to a method for controlling the motion of a sweeping robot along a wall. Background technique [0002] The current cleaning path planning method for sweeping robots along the wall has the following defects: (1) During the process of detecting the wall through the collision sensor (front block) and entering the process of walking along the wall, multiple collisions are required, which generates a lot of noise and seriously affects the user experience. And the life of the collision sensor is rapidly reduced, resulting in a decrease in the reliability of the whole machine; (2) the wall has high requirements when walking along the wall, and most current technologies cannot detect mirror materials such as ceramic tiles and metal; (3) the distance along the wall is unstable , the distance depends on the setting of the threshold value of the infrared signal along the wall. Due to t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011A47L11/4061A47L2201/00A47L2201/04
Inventor 詹伟
Owner HUNAN GRAND PRO ROBOT TECH
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