CN102599862A - Dilemma identifying and solving method for automatic dust collector - Google Patents
Dilemma identifying and solving method for automatic dust collector Download PDFInfo
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- CN102599862A CN102599862A CN2012100974917A CN201210097491A CN102599862A CN 102599862 A CN102599862 A CN 102599862A CN 2012100974917 A CN2012100974917 A CN 2012100974917A CN 201210097491 A CN201210097491 A CN 201210097491A CN 102599862 A CN102599862 A CN 102599862A
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- predicament
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000000428 dust Substances 0.000 title abstract description 12
- 230000004888 barrier function Effects 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 238000010407 vacuum cleaning Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000013316 zoning Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 11
- 238000010408 sweeping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 244000017160 saligot Species 0.000 description 1
- 235000009165 saligot Nutrition 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a dilemma identifying and solving method for an automatic dust collector. The dilemma identifying and solving method includes a dilemma identifying portion and a dilemma solving portion, and has a plurality of steps of judging the size of a current region by means of calculating the length of a cleaning path at each time; judging that the automatic dust collector is in the narrow dilemma when multiple cleaning paths are smaller than a setting threshold value D; then calculating a straight light L passing through a region center Pc and a stored external point Po by the aid of the automatic dust collector, and determining the advancing direction of the automatic dust collector along a barrier according to relative positions of a current finished point Pj, the straight line L and the external point Po; and finally solving the dilemma by means of leading the automatic dust collector to advance along the barrier in a fast arc-shaped manner. The automatic dust collector continuously judges whether to repeatedly work in a narrow region or not in a working process, the relative positions of the automatic dust collector and a notch are calculated, and then the automatic dust collector can fast break away from the narrow region.
Description
Technical field
The method that the present invention relates to a kind of automatic cleaner predicament identification and break away from belongs to the intelligent domestic technical field of electric appliances.
Background technology
Automatic cleaner combines the conventional cleaners technical development to get up on the mobile robot basis, is used for the family floor is cleaned automatically.It utilizes self-contained rechargeable battery to give various electric power supplies; Wherein dust sucting motor is in the enough vacuum of the inner formation of automatic cleaner; The dust box that the rubbish on ground is absorbed through the bar shaped suction inlet, and drive motors and driving wheel can be realized the walking freely of automatic cleaner.Automatic cleaner has just been realized the cleaning to ground through the walking process of self.
Because the restriction of prior art and normal domestic use electrical equipment are to the harsh requirement of cost; Automatic cleaner does not also have abundant environmental information acquisition capacity at present; Can only gather local, very effective obstacle information through ultrasonic wave or infrared detection technology and collision detection technology.But under this destructuring environment of actual family; Automatic cleaner gets into local predicament through regular meeting; This environment have area little, go out young characteristics, in a single day automatic cleaner gets into such zone and just repeats work for a long time inside, greatly reduces cleaning efficiency.
Summary of the invention
The objective of the invention is in order to overcome weak point of the prior art; Length according to the cleaning path distance is judged local narrow and small zone; And calculate the outlet orientation, with shortest path above water, avoid repeating work and reducing whole sweeping efficiency at regional area.
The technical solution adopted for the present invention to solve the technical problems is:
Automatic cleaner predicament identification and the method that breaks away from; Two drive motors that described automatic cleaner comprises two driving wheels, is connected with said driving wheel are installed encoder on the described driving wheel, also comprise a support wheel; Obstacle detection system; Vacuum cleaning motor and bar shaped suction inlet, described drive motors, encoder, obstacle detection system and vacuum cleaning motor are connected with controller; The freely-movable that speed and the direction of described controller through two described driving wheels are set respectively realizes described automatic cleaner; And can calculate relative movement distance and detect the place ahead barrier situation, described controller is provided with predicament identification and breaks away from algorithm, and described predicament is discerned and broken away from algorithm and may further comprise the steps:
(1), described automatic cleaner is started working record start point P
iCoordinate (X
i, Y
i), advance with rectilinear motion mode then, and constantly detect barrier; Detect after the barrier record end point P
jCoordinate (X
j, Y
j);
(2), according to described starting point P
iWith end point P
jCoordinate Calculation displacement S, if described displacement S less than pre-set threshold D, i.e. S＜D, then counter C adds 1, and with described end point P
jCoordinate (X
j, Y
j) add up i.e. aggregate-value ∑ X=∑ X+X
j, aggregate-value ∑ Y=∑ Y+Y
jOtherwise counter C is changed to zero, aggregate-value ∑ X and aggregate-value ∑ Y zero clearing, and with the starting point P of step (1)
iCoordinate (X
i, Y
i) save as external point P
o(X
o, Y
o), i.e. X
o=X
i, Y
o=Y
iDescribed threshold value D sets the area size of predicament;
(3) if, the described counter C of judgement is less than preset threshold value K, then returns step (1); Otherwise judge that described automatic cleaner gets into predicament, continue to carry out following steps; Described threshold k is set described automatic cleaner and is confirmed predicament short walk number of times before;
(4), according to aggregate-value ∑ X and aggregate-value ∑ Y, center, zoning
(5), through external point P
oWith regional center P
cConfirm straight line L; Calculate end point P
jPosition relation with straight line L: as end point P
jBe positioned at the top of straight line L, promptly
Execution in step (6) is as end point P
jBe positioned at the below of straight line L, promptly
Execution in step (7);
(6), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (8); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (9);
(7), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (9); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (8);
(8), described automatic cleaner flicker 90 degree, then with revolver speed V
LLess than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1), described threshold value T sets described automatic cleaner needed time above water;
(9), described automatic cleaner flicker 90 degree, then with revolver speed V
LGreater than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1).
In described step (2), described displacement S equals
The good effect of embodiment of the present invention is: 1, judge the predicament in narrow and small zone automatically; 2, can calculate the general orientation of predicament outlet, adopt shortest path to break away from; 3, adopt reliable mode to break away from, success rate is high.
Description of drawings
Fig. 1 is the structural representation of automatic cleaner;
Fig. 2 is the sketch map of automatic cleaner predicament identification and disengaging method.
The specific embodiment
Combine accompanying drawing that the present invention is described further at present:
With reference to Fig. 1, described automatic cleaner comprises two driving wheels 1, two drive motors 2 that are connected with described driving wheel 1, on each driving wheel 1 encoder is installed, a support wheel 3, and wherein, described drive motors 2 is connected with controller with encoder.Described support wheel 3 plays the effect of support, is not used in driving.The freely-movable that speed and the direction of described controller through two described driving wheels 1 are set respectively realizes described automatic cleaner, and, can confirm the relative movement distance of described automatic cleaner according to the signal of described encoder output.
Also comprise obstacle detection system, be connected with described controller equally.Described obstacle detection system can adopt the set of sensor such as ultrasonic wave, infrared or impingement plate or two kinds or multiple sensors.
Also comprise, vacuum cleaning motor and bar shaped suction inlet 4, described vacuum cleaning motor is connected with described controller.Described vacuum cleaning motor is at a high speed rotation under the control of described controller, forms certain vacuum, the dust box that ground rubbish is absorbed through described suction inlet 4.
Said automatic cleaner has carried out cleaning in the process of walking simultaneously, so walking path has determined the height of sweeping efficiency to the coverage rate on ground.But in the home environment of complicacy, it is little often to have some areas, goes into youngly, and work in case described automatic cleaner gets into such predicament, will be repeated therein for a long time in the zone that Yi Jinnan goes out, and reduces overall sweeping efficiency greatly.
Therefore, predicament identification is set in the described controller and breaks away from algorithm, described predicament identification and disengaging algorithm may further comprise the steps:
(1), described automatic cleaner is started working record start point P
iCoordinate (X
i, Y
i), advance with rectilinear motion mode then, and constantly detect barrier; Detect after the barrier record end point P
jCoordinate (X
j, Y
j);
(2), according to described starting point P
iWith end point P
jCoordinate Calculation displacement S, if described displacement S less than pre-set threshold D, i.e. S＜D, then counter C adds 1, and with described end point P
jCoordinate (X
j, Y
j) add up i.e. aggregate-value ∑ X=∑ X+X
j, aggregate-value ∑ Y=∑ Y+Y
jOtherwise counter C is changed to zero, aggregate-value ∑ X and aggregate-value ∑ Y zero clearing, and with the starting point P of step (1)
iCoordinate (X
i, Y
i) save as external point P
o(X
o, Y
o), i.e. X
o=X
i, Y
o=Y
iDescribed threshold value D sets the area size of predicament.Wherein, described displacement S equals
(3) if, the described counter C of judgement is less than preset threshold value K, then returns step (1); Otherwise judge that described automatic cleaner gets into predicament, continue to carry out following steps; Described threshold k is set described automatic cleaner and is confirmed predicament short walk number of times before;
(4), according to aggregate-value ∑ X and aggregate-value ∑ Y, center, zoning
(5), through external point P
oWith regional center P
cConfirm straight line L; Calculate end point P
jPosition relation with straight line L: as end point P
jBe positioned at the top of straight line L, promptly
Execution in step (6) is as end point P
jBe positioned at the below of straight line L, promptly
Execution in step (7);
(6), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (8); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (9);
(7), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (9); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (8);
(8), described automatic cleaner flicker 90 degree, then with revolver speed V
LLess than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1);
(9), described automatic cleaner flicker 90 degree, then with revolver speed V
LGreater than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1); Described threshold value T sets described automatic cleaner needed time above water.
In step (1), starting point P
iWith end point P
jCoordinate to be described controller calculate gained according to the pulse signal of described encoder output.This localization method, owing to skid, reason such as the error of calculation, have cumulative errors, but within a short period of time, its locator data that provides has use value.
In step (2), the starting point P in one section cleaning path
iWith end point P
jJust can calculate the length in this section cleaning path: displacement
And compare with the threshold value D that characterizes the predicament area size, if less than calculator C would be added 1, stored count is in order to leach some accidentalia, to avoid false judgment, so end point P
jJust temporarily confirm as the internal point of predicament, add up, calculate aggregate-value ∑ X=∑ X+X
j, aggregate-value ∑ Y=∑ Y+Y
j, can be used to calculate the geometric parameter of predicament after adding up; Otherwise, think that current automatic cleaner is in proper working order, with the starting point P in this section cleaning path
iCoordinate save as external point P
o(X
o, Y
o).
In step (3); Carried out the predicament judgement: when counter C greater than preset threshold value K; That is to say that automatic cleaner cleaning path repeatedly all less than threshold value D, judges that then automatic cleaner has got into narrow and small predicament, handle to such environment then.
In step (4), the aggregate-value ∑ X and the aggregate-value ∑ Y that obtain according to step (2) calculate the geometric center P of predicament
c, can be used to like this instruct automatic cleaner to break away from from which direction.
In order to obtain shortest path or optimal path above water, need to confirm current point, just clean the end point P in path for the last time
jWith external point P
oWith regional center P
cRelative position relation.At first, in step (5), external point P
oWith regional center P
c2 definite straight line L, according to the principle of 2 definite straight lines,
Can try to achieve P
jThe coordinate of the subpoint of X axle does in straight line L upper edge
Obtain end point P then
jUpper and lower position relation with straight line L; Next, in step (6,7), confirm end point P again
jWith external point P
oLeft and right relation, thereby confirm automatic cleaner from current location be keep right, still keeping left breaks away from along barrier, thereby obtain a nearest path.
In step (7,8), a kind of path of circular arc walking has been described, like the curve among Fig. 25.If adopt the mode of being close to barrier to walk, can spend many times in the place of tiny water caltrop, thereby lower efficiency; If directly walk from predicament breach direction, can so also reduce efficient because the deviation of directivity from can not directly breaking away from from breach, gets into a difficult position once more and recomputates disengaging with linear fashion.Therefore, step (7,8) even the circular arc walking path be not that single is nearest, also be the nearest path on the average meaning that repeatedly breaks away from the basis.
In sum; Automatic cleaner is judged local narrow and small zone according to the length of cleaning path distance, and calculates the outlet orientation, with shortest path above water; Avoid repeating work and reducing whole sweeping efficiency, therefore have the characteristics of intelligent, high efficiency and practicality at regional area.
Claims (2)
1. automatic cleaner predicament identification and the method that breaks away from; Two drive motors that described automatic cleaner comprises two driving wheels, is connected with said driving wheel are installed encoder on the described driving wheel, also comprise a support wheel; Obstacle detection system; Vacuum cleaning motor and bar shaped suction inlet, described drive motors, encoder, obstacle detection system and vacuum cleaning motor are connected with controller; The freely-movable that speed and the direction of described controller through two described driving wheels are set respectively realizes described automatic cleaner; And can calculate relative movement distance and detect the place ahead barrier situation, described controller is provided with predicament identification and breaks away from algorithm, it is characterized in that: described predicament is discerned and is broken away from algorithm and may further comprise the steps:
(1), described automatic cleaner is started working record start point P
iCoordinate (X
i, Y
i), advance with rectilinear motion mode then, and constantly detect barrier; Detect after the barrier record end point P
jCoordinate (X
j, Y
j);
(2), according to described starting point P
iWith end point P
jCoordinate Calculation displacement S, if described displacement S less than pre-set threshold D, i.e. S＜D, then counter C adds 1, and with described end point P
jCoordinate (X
j, Y
j) add up i.e. aggregate-value ∑ X=∑ X+X
j, aggregate-value ∑ Y=∑ Y+Y
jOtherwise counter C is changed to zero, aggregate-value ∑ X and aggregate-value ∑ Y zero clearing, and with the starting point P of step (1)
iCoordinate (X
i, Y
i) save as external point P
o(X
o, Y
o), i.e. X
o=X
i, Y
o=Y
iDescribed threshold value D sets the area size of predicament;
(3) if, the described counter C of judgement is less than preset threshold value K, then returns step (1); Otherwise judge that described automatic cleaner gets into predicament, continue to carry out following steps; Described threshold k is set described automatic cleaner and is confirmed predicament short walk number of times before;
(4), according to aggregate-value ∑ X and aggregate-value ∑ Y, center, zoning
(5), through external point P
oWith regional center P
cConfirm straight line L; Calculate end point P
jPosition relation with straight line L: as end point P
jBe positioned at the top of straight line L, promptly
Execution in step (6) is as end point P
jBe positioned at the below of straight line L, promptly
Execution in step (7);
(6), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (8); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (9);
(7), as external point P
oCoordinate X
oGreater than end point P
jCoordinate X
jThe time, execution in step (9); As external point P
oCoordinate X
oLess than end point P
jCoordinate X
jThe time, execution in step (8);
(8), described automatic cleaner flicker 90 degree, then with revolver speed V
LLess than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1), described threshold value T sets described automatic cleaner needed time above water;
(9), described automatic cleaner flicker 90 degree, then with revolver speed V
LGreater than right side wheel speed V
RMode advance, run into after the barrier, repeat this step; Write down t running time simultaneously, when described running time t greater than pre-set threshold T, finish and return step (1).
2. automatic cleaner predicament identification according to claim 1 and the method that breaks away from; It is characterized in that: in described step (2), described displacement S equals
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210097491 CN102599862B (en) | 2012-03-26 | 2012-03-26 | Dilemma identifying and solving method for automatic dust collector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210097491 CN102599862B (en) | 2012-03-26 | 2012-03-26 | Dilemma identifying and solving method for automatic dust collector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102599862A true CN102599862A (en) | 2012-07-25 |
| CN102599862B CN102599862B (en) | 2013-12-18 |
Family
ID=46517928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210097491 Expired - Fee Related CN102599862B (en) | 2012-03-26 | 2012-03-26 | Dilemma identifying and solving method for automatic dust collector |
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| Country | Link |
|---|---|
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103142187A (en) * | 2013-03-18 | 2013-06-12 | 慈溪迈思特电子科技有限公司 | Work place recognition system of automatic dust collector |
| CN110432832A (en) * | 2019-07-03 | 2019-11-12 | 平安科技（深圳）有限公司 | Method of adjustment, device and the robot of robot motion track |
| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111714028A (en) * | 2019-03-18 | 2020-09-29 | 北京奇虎科技有限公司 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
| WO2021008611A1 (en) * | 2019-07-18 | 2021-01-21 | 广东宝乐机器人股份有限公司 | Robot trapping detection and de-trapping method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103142187A (en) * | 2013-03-18 | 2013-06-12 | 慈溪迈思特电子科技有限公司 | Work place recognition system of automatic dust collector |
| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111714028A (en) * | 2019-03-18 | 2020-09-29 | 北京奇虎科技有限公司 | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium |
| CN110432832A (en) * | 2019-07-03 | 2019-11-12 | 平安科技（深圳）有限公司 | Method of adjustment, device and the robot of robot motion track |
| CN110432832B (en) * | 2019-07-03 | 2022-05-10 | 平安科技（深圳）有限公司 | Robot motion track adjusting method and device and robot |
| WO2021008611A1 (en) * | 2019-07-18 | 2021-01-21 | 广东宝乐机器人股份有限公司 | Robot trapping detection and de-trapping method |
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| Publication number | Publication date |
|---|---|
| CN102599862B (en) | 2013-12-18 |
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