Method for floor mopping robot walking along wall based on double position sensitive detector (PSD) sensor

Abstract

The invention discloses a method for a floor mopping robot walking along a wall based on a double position sensitive detector (PSD) sensor. The method for the floor mopping robot walking along the wall based on the double PSD sensor comprises a supporting wheel, a left driving wheel and a right driving wheel, and a local coordinate system X-Y rectangular coordinate system is established with the center of the floor mopping robot as an origin; connection between the center and the supporting wheel is in the Y-axis direction, and the advancement direction of the supporting wheel is the positive direction of the Y-axis; the first PSD sensor and the second PSD sensor are separately disposed at the front position and the rear position of one of the driving wheels, the distance between the first PSD sensor and the wall surface is d1, the distance between the second PSD sensor and the wall surface is d2, when the Y-axis is parallel to the wall surface, d1 is equal to d2; the angle formed by connection between the first PSD sensor and the second PSD sensor and the center line is theta. It is guaranteed that the distance between the side surface of the floor mopping robot and the wall surface is maintained within a desired range, and the forward direction is as parallel as possible to the wall surface direction. As the floor mopping robot travels to the wall cliff, the floor mopping robot can judge in advance and can more efficiently rotate by certain angle for continuously walking along the wall.

Description

technical field [0001] The invention discloses a method for a sweeping robot to walk along a wall based on double PSD sensors, and relates to the technical field of robot movement control. Background technique [0002] The traditional intelligent sweeping robot is a mobile robot driven by two wheels, and a PSD (PositionSensitive Detector, Position Sensitive Detector) sensor is installed on one side, such as figure 1 shown. A common PSD sensor includes an infrared emitting and receiving part, which uses the triangulation distance measurement method to detect the distance to obstacles, and the output is an analog voltage signal. [0003] Comparing the real-time distance d_real of PSD feedback with the reference threshold d_ref, by changing the speed of the left and right driving wheels, the sweeping robot can walk along the wall. The conventional judgment method in the prior art is as follows: [0004] V_L and V_R are the linear speeds of the left and right driving wheels, s...

AI Technical Summary

Problems solved by technology

[0009] Since a single PSD sensor can only provide the distance between a certain point on the side of the sweeping robot and a certain point on the wall, it cannot provide information about the relationship between the forward direction of the sweeping robot and the direction of the wall. The existing methods cause the sweeping robot to walk along the wall. When the direction is switched frequently, the walking route is not smooth enough, and at the same time, it is easy to appear the phenomenon of snake-like progress, which affects the user's experience

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