CN109719736A - Self-movement robot and its control method - Google Patents
Self-movement robot and its control method Download PDFInfo
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Abstract
A kind of self-movement robot and its control method, the self-movement robot includes robot body (100), robot body is equipped with detection unit and control unit, the detection unit includes multiple transmitter and receiver for being spaced apart from each other arrangement, the robot body is equipped with stopper (200), for controlling and receiving the transceiving range of device and transmitter, the transmitter and receiver are separately positioned in respective stopper, described control unit emits signal for control transmitter, and the signal received according to receiver determines region locating for barrier.The present invention is by being arranged an appropriate number of transmitter and receiver, recycle the transceiving range of stopper control transmitter and receiver, according to the size of machine, mark off reasonable detection zone, and the specific location of the disturbance in judgement object according to the signal received rapidly and efficiently, so that the planning walking path and execution avoidance movement for self-movement robot provide more accurate data.
Description
Technical field
The present invention relates to a kind of self-movement robot and its control methods, belong to small household appliances manufacturing technology field.
Background technique
In the prior art, there are many modes for detection of the self-movement robot to barrier.Patent document CN101303410B
In once disclosed that a kind of single-shot penetrates multi-party received obstacle detection method and its device, multiple ultrasonic sensors include
Ultrasound emission function and ultrasonic reception function, only one ultrasonic sensor transmitting information in a certain period of time, other are super
Sonic sensor all receives information, the received packet energy content of institute and distance value.The above method uses ultrasound emission and reception
The ultrasonic sensor of one, is easy to produce aftershock, interference, echo and blind area, influences testing result.
Separately self-movement robot only judges from big range judgement barrier the detection in the orientation of barrier in the prior art
Hinder object on the left of robot, right side or front, region division it is excessive.It is unfavorable for more accurately positioning barrier.
Summary of the invention
Technical problem to be solved by the present invention lies in view of the deficiencies of the prior art, provide a kind of self-movement robot and
Its control method recycles stopper control transmitter and receiver by the way that an appropriate number of transmitter and receiver is arranged
Transceiving range marks off reasonable detection zone, and the judgement according to the signal received rapidly and efficiently according to the size of machine
The specific location of barrier, so that the planning walking path and execution avoidance movement for self-movement robot provide more accurate number
According to.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
A kind of self-movement robot, including robot body, robot body are equipped with detection unit and control unit, institute
Stating detection unit includes multiple transmitters and receiver for being spaced apart from each other arrangement, and the robot body is equipped with stopper, is used
In the transceiving range for controlling and receiving device and transmitter, the transmitter and receiver are separately positioned in respective stopper, institute
It states control unit and emits signal for control transmitter, and the signal received according to receiver determines area locating for barrier
Domain.
For the position of accurately cognitive disorders object, the signal received according to receiver is determined locating for barrier
Region further includes the signal received according to receiver, calculates the distance between barrier and self-movement robot, and then determine
Region locating for barrier.
In order to enable ultrasonic receiver to differentiate the source for the signal that it is received, described control unit control transmitter hair
Penetrating signal is the transmitting signal that control unit controls multiple transmitters according to predetermined period interval；Or it is controlled for control unit more
The signal of a transmitter transmitting different coding.
Preferably, the detection unit includes the first ultrasonic transmitter being arranged on robot body, interval setting
The first ultrasonic transmitter two sides the second ultrasonic transmitter and third ultrasonic transmitter, setting the first ultrasonic wave send out
The first ultrasonic receiver between emitter and the second ultrasonic transmitter, and be arranged in the first ultrasonic transmitter and third
The second ultrasonic receiver between ultrasonic transmitter；
Wherein, the signal that the first ultrasonic transmitter issues after being reflected by an obstacle can be by the first ultrasonic receiver and the
Two ultrasonic receivers receive, and the signal that the second ultrasonic transmitter issues is only capable of being connect by the first ultrasonic wave after being reflected by an obstacle
It receives device to receive, the signal that third ultrasonic transmitter issues is only capable of being received by the second ultrasonic transmitter after being reflected by an obstacle.
Preferably, the front of main body is arranged in first ultrasonic transmitter.
In order to effectively prevent ultrasonic crosstalk phenomenon, the working efficiency of range accuracy and ultrasonic system, the ultrasonic wave are improved
Anti-crosstalk barriers are equipped between transmitter and ultrasonic receiver.
In order to control and receive the transceiving range of device and transmitter, the stopper is sound chamber component, the sound chamber component from
Outer successively includes sound chamber enclosure, sound cavity main body, ultrasonic receiver or ultrasonic transmitter and cover board in, and ultrasonic wave receives
Device or ultrasonic transmitter are fixed in the cover board being arranged in inside robot body by sealing element, sound chamber enclosure and cover board
Sound cavity main body, ultrasonic receiver or ultrasonic transmitter are fixed.
The present invention also provides a kind of control method of self-movement robot, the self-movement robot includes robot master
Body, the robot body are equipped with stopper and multiple transmitters being separately positioned in respective stopper and reception
Device, the control method include: transmitting signal of the multiple transmitters of control according to predetermined period interval, or the multiple transmittings of control
The signal of device transmitting different coding；The distance between barrier and receiver are calculated according to the signal that receiver receives, in turn
Determine region locating for barrier.
Specifically, the transmitter and receiver include the first ultrasonic wave transmitting being arranged in immediately ahead of robot body
Device, the second ultrasonic transmitter for being arranged at intervals on the first ultrasonic transmitter two sides and third ultrasonic transmitter, setting exist
The first ultrasonic receiver between first ultrasonic transmitter and the second ultrasonic transmitter, and be arranged in the first ultrasonic wave
The second ultrasonic receiver between transmitter and third ultrasonic transmitter；
Wherein, the signal that the first ultrasonic transmitter issues after being reflected by an obstacle can be by the first ultrasonic receiver and the
Two ultrasonic receivers receive, and the signal that the second ultrasonic transmitter issues is only capable of being connect by the first ultrasonic wave after being reflected by an obstacle
It receives device to receive, the signal that third ultrasonic transmitter issues is only capable of being received by the second ultrasonic transmitter after being reflected by an obstacle.
In order to enable ultrasonic receiver to differentiate the source for the signal that it is received, the control ultrasonic transmitter according to
The transmitting signal at predetermined period interval specifically: the first ultrasonic transmitter of control emits signal, controls after the first interval time
The second ultrasonic transmitter transmitting signal is made, third ultrasonic transmitter is controlled after the second interval time and emits signal, the
It is repeated the above process after three interval times.
Preferably, the value range of first interval time, the second interval time and third time interval is 10ms-
30ms。
Specifically, the extension of the line between the center and ultrasonic transmitter and ultrasonic receiver of self-movement robot
Line will be divided into six detection zones in front of self-movement robot, according to being respectively defined as first area, clockwise
Two regions, third region, the fourth region, the 5th region and the 6th region；In a detection cycle,
When the first ultrasonic receiver only receives the signal of the second ultrasonic transmitter sending, the second ultrasonic receiver
It is not received by signal, disturbance in judgement level is in first area；
When the first ultrasonic receiver receives the signal that the first ultrasonic transmitter and the second ultrasonic transmitter issue,
Second ultrasonic receiver is not received by signal, and disturbance in judgement level is in second area；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver receives the transmitting of the first ultrasonic wave
The signal that device and third ultrasonic transmitter issue, disturbance in judgement level is in the 5th region；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver only receives third ultrasonic wave hair
The signal that emitter issues, disturbance in judgement level is in the 6th region；
When the first ultrasonic receiver and the second ultrasonic receiver receive the letter of the first ultrasonic transmitter sending
Number, calculate the distance between barrier and receiver:
When between the second ultrasonic receiver of the distance between the first ultrasonic receiver and barrier < and barrier
Distance, disturbance in judgement level is in third region, when the second ultrasound of the distance between the first ultrasonic receiver and barrier >
The distance between wave receiver and barrier, disturbance in judgement level is in the fourth region, when the first ultrasonic receiver and obstacle
The distance between object=the distance between the second ultrasonic receiver and barrier, control unit disturbance in judgement level is in certainly mobile
Immediately ahead of robot.
In order to avoid colliding, the control method further include: after determining region locating for barrier, if receiver
The distance between barrier≤10cm, control self-movement robot turn after the direction walking first distance far from barrier
To, wherein the fuselage radius of the first distance >=self-movement robot.
In conclusion the present invention recycles stopper control transmitting by the way that an appropriate number of transmitter and receiver is arranged
The transceiving range of device and receiver marks off reasonable detection zone according to the size of machine, and fast according to the signal received
The specific location of fast efficient disturbance in judgement object, so that the planning walking path and execution avoidance movement for self-movement robot mention
For more accurate data.
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of self-movement robot of the present invention；
Fig. 2 is the structural schematic diagram of sound chamber component of the present invention；
Fig. 3 is the Structure explosion diagram of sound chamber component of the present invention.
Specific embodiment
Fig. 1 is the structural schematic diagram of self-movement robot of the present invention.As shown in Figure 1, self-movement robot of the present invention includes
Robot body 100, and robot body 100 is equipped with the components such as walking unit, detection unit and control unit, wherein controlling
Unit controls detection unit work, receives and processes the detection signal of detection unit, to control walking unit driving robot
Main body 100 is walked.
The detection unit includes multiple transmitter and receiver for being spaced apart from each other arrangement, and the transmitter and receiver can
Ultrasonic transmitter and receiver, infrared transmitter and receiver or laser emitter and receiver are thought, below with ultrasonic wave
It is described for transmitter.Specifically, the detection unit includes that three ultrasonic transmitters and two ultrasonic waves receive
Device, the signal that ultrasonic transmitter issues can be received after being reflected by an obstacle by ultrasonic receiver, and control unit is in addition to adopting
Collect outside the energy information of signal, can also further acquire range information, i.e. the distance between barrier and ultrasonic receiver.It is excellent
Choosing, in the present invention, the acquisition of energy information uses TOA algorithm (arrival time method), and the acquisition of range information uses TOF method
(transit time method), the distance between barrier and self-movement robot are measured as the prior art, such as " Li Jinhua robotics
Programmable array of ultrasonic sensors camera positioning system [J] the sensor and micro-system practised, 2011 (30): public in 79-82 "
The localization method opened, details are not described herein.
Ultrasonic receiver includes that the first ultrasonic transmitter 111 being arranged on robot body 100 and interval are set
Set the second ultrasonic transmitter 112 and third ultrasonic transmitter 113 in 111 two sides of the first ultrasonic transmitter；The first surpass
The first ultrasonic receiver 121, the transmitting of the first ultrasonic wave are equipped between pinger 111 and the second ultrasonic transmitter 112
The second ultrasonic receiver 122 is equipped between device 111 and third ultrasonic transmitter 113.Preferably, the first ultrasonic wave hair
The front of main body 100 is arranged in emitter 111.
Fig. 2 is the structural schematic diagram of sound chamber component of the present invention；Fig. 3 is the Structure explosion diagram of sound chamber component of the present invention.Such as Fig. 2
With shown in Fig. 3, the robot body 100 is equipped with multiple stoppers 200, for controlling and receiving the transmitting-receiving model of device and transmitter
It encloses, stopper 200 is sound chamber component in the present invention, and the sound chamber component successively includes sound chamber enclosure 201, sound chamber master from outside to inside
Body 202, ultrasonic receiver or ultrasonic transmitter (in figure by taking the first ultrasonic transmitter 111 as an example) and cover board 203 surpass
Acoustic receiver or ultrasonic transmitter are fixed in the cover board 203 being arranged in inside robot body by sealing element 204, sound
Chamber enclosure 201 and cover board 203 fix sound cavity main body 202, ultrasonic receiver or ultrasonic transmitter.Specifically, sound
Ultrasonic receiver or ultrasonic transmitter first can be packed into sealing element 204 in assembly by chamber component, be packed into cover board later
203.The front end of sound cavity main body 202 be resonant cavity and loudspeaker, be arranged resonant cavity purpose be in order to eliminate ultrasonic near field region blind spot,
Interference and middle low-frequency disturbance are eliminated, measurement accuracy, such as the ultrasonic wave for being 40kHz for frequency are improved, ultrasound resonance chamber
Internal diameter need to be greater than 3.0mm；Loudspeaker are the coverage areas in order to control ultrasonic probe, are designed, are eliminated out by the rim of a bowl in exit
Mouth transmitting influences.The basic law that the design of loudspeaker follows is that loudspeaker are lower, and the peak value of 40kHz ultrasonic wave is lower.Loudspeaker are harmonious
The annular radii of vibration chamber junction determines that sound field intensity and its effective coverage area at ultrasonic probe center, design follow
Basic law be annulus radius it is smaller, sound field intensity is stronger at center, and coverage area is smaller.
Be above based on software and hardware gain and driving power it is certain in the case where obtain, pass through change software and hardware design
Also it can be changed, the two cooperates, and achievees the purpose that the single ultrasonic overlay area of control and resolution ratio.The present invention not as
Limit, those skilled in the art can also change the structure of stopper without departing from inventive principle of the invention
Become to reach different restriction effects.
In the present embodiment, it sets the first ultrasonic receiver 121 to by stopper being only capable of receiving the first ultrasound
The signal that wave launcher 111 and the second ultrasonic transmitter 112 issue, the second ultrasonic receiver 122 is set as being only capable of connecing
Receive the signal that the first ultrasonic transmitter 111 and third ultrasonic transmitter 113 issue.In other words, the first ultrasonic wave is sent out
The signal that emitter 111 issues after being reflected by an obstacle can be by the first ultrasonic receiver 121 and the second ultrasonic receiver 122
It receives, the signal that the second ultrasonic transmitter 112 issues is only capable of being connect by the first ultrasonic receiver 121 after being reflected by an obstacle
It receives, the signal that third ultrasonic transmitter 113 issues is only capable of being received by the second ultrasonic receiver 122 after being reflected by an obstacle.
The present invention is not limited thereto, and those skilled in the art can according to need shape and the position of adjustment stopper, can also increase
If additional ultrasonic transmitter, ultrasonic receiver and stopper, further to refine detection range or realize different function
Energy.
As shown in Figure 1, the extended line of the center of self-movement robot and detection unit line will be before self-movement robot
Side be divided into six detection zones, according to clockwise direction be respectively first area 101, second area 102, third region 103,
The fourth region 104, the 5th region 105 and the 6th region 106.Table 1 shows barrier in different zones, and ultrasonic wave receives
The case where device receives, it should be noted that the "Yes" in table, which represents ultrasonic receiver, can receive ultrasonic transmitter hair
Signal after being reflected by an obstacle out, "No" represent ultrasonic receiver can not receive ultrasonic transmitter sending through obstacle
Signal after object reflection, the present invention do not compare the signal after barrier diffraction of ultrasonic transmitter sending.
Table 1
In order to enable ultrasonic receiver to differentiate the source for the signal that it is received, control unit controls three ultrasonic wave hairs
Emitter according to predetermined period interval transmitting signal, such as control unit can control the first ultrasonic transmitter 111 transmitting letter
Number, and the second ultrasonic transmitter 112 transmitting signal is controlled afterwards in the first interval time (preferably 10ms-30ms, such as 20ms), with
Third is controlled afterwards in the second interval time (can be identical or different with the first interval time, preferably 10ms-30ms, such as 20ms) afterwards
Ultrasonic transmitter 113 emits signal, at this point, three ultrasonic transmitters have emitted signal, control unit is according to ultrasonic wave
The time for the signal that receiver is received judges the source of signal.First interval time and the second interval time can be by
Technical staff is according to the parameters sets itself such as detecting distance of barrier.Further, in order to accurately detect barrier in real time
Position, after above three ultrasonic transmitter successively emits a cycle of signal, control unit can control super
Pinger passes through third interval time (can be identical or different with the first interval time, preferably 10ms-30ms, such as 20ms)
After repeat the above process.
In conjunction with upper table it is found that when self-movement robot works in the present invention, in a detection cycle, if the first ultrasonic wave
Receiver 121 only receives the signal of the second ultrasonic transmitter 112 sending, and the second ultrasonic receiver 122 is not received by
Signal, then control unit can directly disturbance in judgement level in first area 101；If the first ultrasonic receiver 121 receives
The signal issued to the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112, the second ultrasonic receiver 122 do not have
Receive signal, then control unit can directly disturbance in judgement level in second area 102；If the first ultrasonic receiver
121 are not received by signal, and the second ultrasonic receiver 122 receives the first ultrasonic transmitter 111 and third ultrasonic wave hair
Emitter 113 issue signal, then control unit can directly disturbance in judgement level in the 5th region 105；If the first ultrasonic wave
Receiver 121 is not received by signal, and the second ultrasonic receiver 122 only receives the sending of third ultrasonic transmitter 113
Signal, then control unit can directly disturbance in judgement level in the 6th region 106.Further, control unit can basis
The signal received further confirms that the distance between barrier and receiver.
If the first ultrasonic receiver 121 and the second ultrasonic receiver 122 receive the first ultrasonic transmitter 111
The signal of sending, control unit is only capable of disturbance in judgement level in third region 103 or the fourth region 104 at this time, control unit
The distance between barrier and receiver are calculated according to the signal that receiver receives, and then determines region locating for barrier.
Specifically, when the distance between the first ultrasonic receiver 121 and barrier the second ultrasonic receiver of < 122
When the distance between barrier, control unit disturbance in judgement level is in third region 103, when the first ultrasonic receiver
When the distance between the second ultrasonic receiver of the distance between 121 and barrier > 122 and barrier, control unit judgement barrier
Hinder level in the fourth region 104, when the distance between the first ultrasonic receiver 121 and barrier=second ultrasonic wave receive
When the distance between device 122 and barrier, control unit disturbance in judgement level is immediately ahead of self-movement robot.
Those skilled in the art are accurately fixed to ensure after the size and travel speed for comprehensively considering self-movement robot
Position, can increase the quantity of ultrasonic transmitter and ultrasonic receiver.
Certainly, those skilled in the art may be used also to enable ultrasonic receiver to differentiate the source for the signal that it is received
To use other modes, if control unit controls the signal of multiple transmitter transmitting different codings, the different coding can be
Frequency, time division multiplexing, carrier wave etc..
Control unit successively judges whether two ultrasonic receivers can receive signal, and obstacle is calculated after receiving signal
The distance between object and receiver, to carry out barrier positioning, more accurately more accurately to control self-movement robot
Work.As after determining region locating for barrier, if the distance between receiver and barrier≤10cm, control from moving machine
Device people is along the direction walking first distance rear steering far from barrier, it is preferred that the first distance >=self-movement robot
Fuselage radius.
It can be seen from the above, the control unit of self-movement robot determines receiver and barrier according to signal in the present invention
The distance between, and then position of the barrier relative to self-movement robot can be accurately identified, to control walking unit drive
Mobile robot main body 100 is walked, the generation avoided collision.You need to add is that traditional robot is after recognizing barrier,
The movement of the avoidances such as rollback, steering, but the position due to not can determine that barrier are often executed, avoidance movement is inaccurate,
It such as turns to and is only rotated by 90 ° to the left or to the right, and in the present invention, since self-movement robot accurately identifies barrier
Position, control unit can more accurately execute avoidance movement, such as slow down and rotate by a certain angle that (angle can be by this field
Technical staff's angle sets itself according to locating for barrier) after walk on, improve its wheel efficiency.
Further, in order to effectively prevent ultrasonic crosstalk phenomenon, the working efficiency of range accuracy and ultrasonic system, institute are improved
It states and is equipped with anti-crosstalk barriers (not shown), the anti-crosstalk barriers between ultrasonic transmitter and ultrasonic receiver
It on outer surface for robot body 100 is arranged in and protrudes or is depressed in outer surface, such as anti-crosstalk barriers can be straight
It is linear, ultrasonic transmitter and receiver are segmented in two sides, using it as center almost symmetry；Anti-crosstalk barriers can also be
It is arc-shaped, ultrasonic transmitter or ultrasonic receiver are at least partly surrounded inside it；Alternatively, the anti-crosstalk barriers
It can be salient point or the pit etc. being intensively arranged on the outer surface of body.
Preferably, preferably three ultrasonic transmitters and two ultrasonic receivers are arranged in same level in the present invention
On face, i.e. the height of three ultrasonic transmitters and two ultrasonic receivers on robot body 100 is identical, or can also
Any two in three ultrasonic transmitters and two ultrasonic receivers to be arranged on different horizontal planes, in order to
The extraction of range information and the division in region.
The course of work of self-movement robot is as follows in the present invention:
Self-movement robot is switched on after work, and control unit controls three ultrasonic transmitters according to predetermined period interval
Emit signal, if there are barriers in second area 102 in front of self-movement robot in walking process, in a detection cycle
First ultrasonic receiver 121 can receive the letter that the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112 issue
Number, and the second ultrasonic receiver 122 will not receive signal, control unit determines barrier according to the signal condition received at this time
Hinder level in second area 102, so that controlling walking unit retreats avoiding barrier after steering certain angle to the right.Walking process
If there are barrier in self-movement robot front third region 103 in, the first ultrasonic receiver 121 and the second ultrasonic wave are connect
Receive device 122 can receive the first ultrasonic transmitter 111 sending signal, at this point, control unit again to its range information into
Row comparison, to determine the position of barrier.That is, the foundation of control unit judgement is not according to the difference of Obstacle Position
Together, in the present embodiment, in the case where three ultrasonic transmitters and two ultrasonic receivers is only arranged, if at barrier
When first area 101, second area 102, the 5th region 105 and six regions 106, control unit passes through energy information just
The position that barrier can be directly determined reduces the workload of control unit without carrying out the comparison of range information.
You need to add is that the present invention does not limit setting position and the number of ultrasonic transmitter and ultrasonic receiver
Amount, is described in detail embodiments of the present invention above in conjunction with attached drawing, but the present invention is not limited thereto, in affiliated skill
In the indicating range that the technical staff in art field has, without departing from the purpose of the present invention, it can also make various
Variation.
The present invention provides a kind of self-movement robot and its control method, passes through an appropriate number of transmitter of setting and reception
Device recycles the transceiving range of stopper control transmitter and receiver to mark off reasonable detection zone according to the size of machine
Domain, and the specific location of the disturbance in judgement object according to the signal received rapidly and efficiently, to be the walking of self-movement robot
Path planning and execution avoidance movement provide more accurate data.
Claims (13)
1. a kind of self-movement robot, including robot body (100), robot body is equipped with detection unit and control is single
Member, the detection unit include multiple transmitters and receiver for being spaced apart from each other arrangement, which is characterized in that the robot body
It is equipped with stopper (200), for controlling and receiving the transceiving range of device and transmitter, the transmitter and receiver are respectively set
In respective stopper, described control unit emits signal, and the signal received according to receiver for control transmitter
Determine region locating for barrier.
2. self-movement robot as described in claim 1, which is characterized in that the signal received according to receiver determines
Region locating for barrier further includes the signal received according to receiver, calculate between barrier and self-movement robot away from
From, and then determine region locating for barrier.
3. self-movement robot as claimed in claim 2, which is characterized in that described control unit control transmitter emits signal
Multiple transmitters are controlled according to the transmitting signal at predetermined period interval for control unit；Or multiple transmittings are controlled for control unit
The signal of device transmitting different coding.
4. self-movement robot as claimed in claim 3, which is characterized in that the detection unit includes being arranged in robot master
The first ultrasonic transmitter (111) on body (100), the second ultrasonic wave hair for being arranged at intervals on the first ultrasonic transmitter two sides
Emitter (112) and third ultrasonic transmitter (113) are arranged between the first ultrasonic transmitter and the second ultrasonic transmitter
The first ultrasonic receiver (121), and be arranged between the first ultrasonic transmitter and third ultrasonic transmitter
Two ultrasonic receivers (122)；
Wherein, the signal that the first ultrasonic transmitter issues can surpass after being reflected by an obstacle by the first ultrasonic receiver and the second
Acoustic receiver receives, and the signal that the second ultrasonic transmitter issues is only capable of after being reflected by an obstacle by the first ultrasonic receiver
It receives, the signal that third ultrasonic transmitter issues is only capable of being received by the second ultrasonic transmitter after being reflected by an obstacle.
5. self-movement robot as claimed in claim 4, first ultrasonic transmitter (111) is arranged in main body (100)
Front.
6. self-movement robot as claimed in claim 4, which is characterized in that the ultrasonic transmitter and ultrasonic receiver
Between be equipped with anti-crosstalk barriers.
7. self-movement robot as described in claim 1, which is characterized in that the stopper (200) is sound chamber component, described
Sound chamber component successively includes sound chamber enclosure (201), sound cavity main body (202) from outside to inside, and ultrasonic receiver or ultrasonic wave emit
Device and cover board (203), ultrasonic receiver or ultrasonic transmitter are fixed on by sealing element to be arranged in robot body
In the cover board in portion, sound chamber enclosure and cover board fix sound cavity main body, ultrasonic receiver or ultrasonic transmitter.
8. a kind of control method of self-movement robot, which is characterized in that the self-movement robot includes robot body
(100), the robot body is equipped with stopper (200) and multiple transmittings being separately positioned in respective stopper
Device and receiver, the control method include:
It controls multiple transmitters and emits different codings according to the transmitting signal at predetermined period interval, or the multiple transmitters of control
Signal；
The distance between barrier and receiver are calculated according to the signal that receiver receives, and then determines area locating for barrier
Domain.
9. control method as claimed in claim 8, which is characterized in that the transmitter and receiver are including being arranged in robot
The first ultrasonic transmitter (111) immediately ahead of main body (100) is arranged at intervals on the second surpassing for the first ultrasonic transmitter two sides
Pinger (112) and third ultrasonic transmitter (113), setting emit in the first ultrasonic transmitter and the second ultrasonic wave
The first ultrasonic receiver (121) between device, and setting the first ultrasonic transmitter and third ultrasonic transmitter it
Between the second ultrasonic receiver (122)；
Wherein, the signal that the first ultrasonic transmitter issues can surpass after being reflected by an obstacle by the first ultrasonic receiver and the second
Acoustic receiver receives, and the signal that the second ultrasonic transmitter issues is only capable of after being reflected by an obstacle by the first ultrasonic receiver
It receives, the signal that third ultrasonic transmitter issues is only capable of being received by the second ultrasonic transmitter after being reflected by an obstacle.
10. control method as claimed in claim 9, which is characterized in that the control ultrasonic transmitter is according to predetermined period
The transmitting signal at interval specifically: control the first ultrasonic transmitter (111) emits signal, and the is controlled after the first interval time
Two ultrasonic transmitters (112) emit signal, and third ultrasonic transmitter (113) transmitting letter is controlled after the second interval time
Number, it is repeated the above process after third interval time.
11. control method as claimed in claim 9, which is characterized in that first interval time, the second interval time and
The value range of three time intervals is 10ms-30ms.
12. control method as claimed in claim 9, which is characterized in that the center of self-movement robot and ultrasonic transmitter
And the extended line of the line between ultrasonic receiver will be divided into six detection zones in front of self-movement robot, according to suitable
Clockwise is respectively defined as first area (101), second area (102), third region (103), the fourth region (104),
Five regions (105) and the 6th region (106)；In a detection cycle,
When the first ultrasonic receiver (121) only receives the signal of the second ultrasonic transmitter (112) sending, the second ultrasonic wave
Receiver (122) is not received by signal, and disturbance in judgement level is in first area；
When the first ultrasonic receiver receives the letter that the first ultrasonic transmitter (111) and the second ultrasonic transmitter issue
Number, the second ultrasonic receiver is not received by signal, and disturbance in judgement level is in second area；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver receive the first ultrasonic transmitter and
The signal that third ultrasonic transmitter (113) issues, disturbance in judgement level is in the 5th region；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver only receives third ultrasonic transmitter
The signal of sending, disturbance in judgement level is in the 6th region；
When the first ultrasonic receiver and the second ultrasonic receiver receive the signal of the first ultrasonic transmitter sending, meter
Calculate the distance between barrier and receiver:
When the distance between the second ultrasonic receiver of the distance between the first ultrasonic receiver and barrier < and barrier,
Disturbance in judgement level is in third region, when the distance between the first ultrasonic receiver and barrier the second ultrasonic wave of > receive
The distance between device and barrier, disturbance in judgement level is in the fourth region, when between the first ultrasonic receiver and barrier
Distance=the distance between the second ultrasonic receiver and barrier, control unit disturbance in judgement level is in self-movement robot
Front.
13. control method as claimed in claim 8, which is characterized in that the control method further include: determining barrier institute
Behind the region at place, if the distance between receiver and barrier≤10cm, control self-movement robot is along the side far from barrier
To walking first distance rear steering, wherein the fuselage radius of the first distance >=self-movement robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043653.8A CN109719736B (en) | 2017-10-31 | 2017-10-31 | Self-moving robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043653.8A CN109719736B (en) | 2017-10-31 | 2017-10-31 | Self-moving robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109719736A true CN109719736A (en) | 2019-05-07 |
| CN109719736B CN109719736B (en) | 2024-03-26 |
Family
ID=66294377
Family Applications (1)
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| CN109719736B (en) | 2024-03-26 |
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