A robot sweeper and a method of preventing collision

Abstract

The application relates to the related field of sweeping robots, and discloses a sweeping robot and a collision prevention method, the sweeping robot comprising: a body, a control unit and a power unit arranged in the body; a collision prevention detection unit for monitoring the state of the sweeping robot, the collision prevention detection unit being arranged at the front end edge of the body; a walking unit and a cleaning unit located at the bottom of the body; wherein the control unit is connected with the collision prevention detection unit, the walking unit and the cleaning unit respectively, and the control unit is responsible for controlling the robot body to execute corresponding different working modes according to different states of the robot; the application detects different states of the robot through the collision prevention detection unit, executes different working modes, so that the robot has the function of making the most appropriate response according to different collision conditions, avoids low working efficiency caused by frequent retreat, and improves the working efficiency of the sweeping robot.

Description

Technical Field

[0001] This invention belongs to the field of robotic vacuum cleaners, specifically a robotic vacuum cleaner and a collision avoidance method. Background Technology

[0002] With social development and technological advancements, intelligent robotic vacuum cleaners have entered ordinary households. To prevent frequent collisions that could scratch or damage furniture, infrared sensing is typically used for distance measurement. Multiple infrared sensors are installed in the front of the machine. These sensors emit and receive infrared signals, and the machine determines whether it is in a collision state based on changes in the received signals. However, this detection method judges a collision as soon as a signal change is detected. This means that even a mirror, a small plastic strip, or a light object will be considered an obstacle, and the machine will attempt to back away to avoid collisions.

[0003] The aforementioned collision avoidance method resulted in collision avoidance being executed in some situations where the robot should have been operating normally, causing the machine to frequently back up and turn, which greatly reduced the working efficiency of the robot vacuum cleaner.

[0004] Therefore, in view of the above situation, there is an urgent need to provide a robotic vacuum cleaner and a collision avoidance method to overcome the shortcomings in current practical applications. Summary of the Invention

[0005] In view of the above situation and to overcome the defects of the prior art, the present invention provides a sweeping robot and a collision avoidance method, which effectively solves the problems in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a sweeping robot, comprising:

[0007] The main body, and the control unit and power unit installed within the main body;

[0008] A collision avoidance detection unit is used to monitor the status of the robotic vacuum cleaner, including normal, deceleration, obstacle, and stuck states. The collision avoidance detection unit is located at the front edge of the main body.

[0009] The walking unit and cleaning unit are located at the bottom of the main body;

[0010] The control unit is connected to the collision avoidance detection unit, the walking unit, and the cleaning unit, respectively. The control unit is responsible for controlling the robot body to perform different working modes according to the different states of the robot.

[0011] Preferably, the power unit provides energy for the operation of the intelligent sweeping robot body;

[0012] The power unit provides energy from a rechargeable battery.

[0013] Preferably, the anti-collision detection unit includes three sets of infrared signal sensors, which are respectively located at the front end and the left and right ends of the main body in the forward direction.

[0014] All three sets of infrared signal sensors include an infrared signal transmitting device and a corresponding infrared signal receiving device.

[0015] Preferably, the walking unit includes a balancing unit and two drive wheels.

[0016] Preferably, the balancing unit includes a balancing wheel;

[0017] The balance wheel is a swivel wheel.

[0018] Preferably, the cleaning unit includes a cleaning sweeping brush and a cleaning roller brush;

[0019] The cleaning brushes are symmetrically arranged on both sides of the bottom of the main body.

[0020] A collision avoidance method for a robotic vacuum cleaner, the method comprising:

[0021] Step 1: The collision avoidance detection unit detects that the robot is in different states, including normal, deceleration, obstacle, and stuck state;

[0022] Step 2: The control unit receives information from the collision avoidance detection unit about the robot's different states, generates corresponding control information, and sends it to the walking unit and the cleaning unit.

[0023] Step 3: The walking unit and cleaning unit drive the robot to perform the corresponding working mode according to the different control information.

[0024] Preferably, the anti-collision detection unit includes infrared signal sensors at three positions: the front end and the left and right ends of the robot body in the forward direction. Each infrared signal sensor includes a pair of infrared emitting devices and infrared receiving devices.

[0025] In step one, the method for the anti-collision detection unit to detect that the robot is in different states includes:

[0026] The infrared transmitter emits an infrared signal perpendicular to the ground, and the infrared receiver receives the infrared signal reflected from the ground. When the signal received by the infrared receiver suddenly disappears or changes significantly, the received signal data from the three infrared receivers are sent to the control unit.

[0027] The control unit determines whether the robot is in a normal, decelerating, obstacle-prone, or stuck state based on the signal data received from the three infrared receivers, including:

[0028] When the signal data from the three infrared receiving devices simultaneously maintain the same waveform change, it is determined that the robot is in a normal state.

[0029] When the signal data from the three infrared signal sensors are simultaneously at their maximum, it is determined that the robot is in a deceleration state.

[0030] If the signal data of the infrared receiver is greater than the sum of the other two signal data for a set time, and the signal data of the infrared receiver has reached its maximum value, it is determined that the robot is in a collision state on the side in front of the infrared receiver.

[0031] If the signal data from the infrared receiver is consistently greater than the sum of the other two signal data within a set time, and the signal data from the infrared receiver exhibits a certain fluctuation range, it is determined that the robot is in a collision state on the side in front of the infrared receiver.

[0032] Preferably, in step one, the collision avoidance detection unit's detection of the robot being in different states also includes switching between wall material state and corner state;

[0033] When switching to different floor materials, the darker the floor, the weaker the infrared signal received, and vice versa.

[0034] When the signal data of the third infrared signal sensor changes and the change time is less than the set minimum value, it is determined that one side of the third infrared signal sensor is in a corner state.

[0035] Preferably, in step three, the walking unit and the cleaning unit drive the robot to execute corresponding working modes according to the different control information, which include:

[0036] When it is determined that the robot is in a normal state or has passed a side wall, the robot executes the normal mode, the walking unit walks normally, and the cleaning unit cleans normally;

[0037] When the robot is determined to be stuck, the robot initiates an alarm program to send an alarm signal, the walking unit stops walking, and the cleaning unit stops cleaning.

[0038] When it is determined that one side of the robot is in a collision state, the robot starts the automatic turning mode, the walking unit turns to walk, and the cleaning unit cleans normally.

[0039] When it is determined that one side of the robot is in a collision state, the robot starts the retreat mode. The walking unit walks in the opposite direction for a period of time and then turns to walk. The cleaning unit stops cleaning and then starts cleaning normally after turning to walk.

[0040] When the robot is in a normal ground switching state, it executes a switching cleaning mode. The walking unit walks normally, and the cleaning unit switches cleaning modes, for example, from floor to tile to a powerful cleaning mode.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] By setting up the anti-collision detection unit, the robot can be detected in different states, including normal, deceleration, obstacle, and stuck states. This allows the robot to perform different working modes and postures according to different states, avoiding the situation where the robot only retreats when encountering various complex obstacle environments. This enables the robot provided by the present invention to give the most appropriate response function according to different anti-collision conditions, avoiding low robot work efficiency due to frequent retreat, thereby saving cleaning time. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0044] In the attached diagram:

[0045] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0046] Figure 2 This is a bottom-view structural diagram of an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of the anti-collision detection unit in an embodiment of the present invention.

[0048] Figure 4 This is a flowchart of an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the signal waveform emitted by the infrared emitting device in an embodiment of the present invention.

[0050] Figure 6 This is a schematic diagram of the infrared receiving device receiving waveforms when it is in normal operation according to an embodiment of the present invention.

[0051] Figure 7 This is a schematic diagram of the waveform received by the infrared receiver when the device is in a deceleration state according to an embodiment of the present invention.

[0052] Figure 8 This is a schematic diagram of the waveform received by the infrared receiver when the device is in a collision state on one side according to an embodiment of the present invention.

[0053] Figure 9 This is a schematic diagram of the infrared receiving device receiving waveforms when the device is in a state of being blocked by an obstacle on one side, according to an embodiment of the present invention.

[0054] Figure 10 This is a schematic diagram of the waveform received by the infrared receiver when the device is in a stuck state detected on one side, according to an embodiment of the present invention.

[0055] Figure 11 This is a schematic diagram of the waveform received by the infrared receiving device when a collision is detected on three sides according to an embodiment of the present invention.

[0056] In the diagram: Body 1; Walking unit 2; Drive wheels 201, 203; Infrared receiver 202; Cleaning unit 3; Cleaning brushes 301, 302; Cleaning roller brush 303; Balancing unit 4; Balancing wheels 401, 402; Anti-collision detection unit 5; Infrared signal sensors 501, 502, 503. Detailed Implementation

[0057] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0058] Please see Figures 1-3 The present invention provides a sweeping robot, the sweeping robot comprising:

[0059] The main body 1 and the control unit and power unit (not shown in the figure) installed in the main body 1;

[0060] A collision avoidance detection unit 5 is used to monitor the status of the robotic vacuum cleaner, including normal, deceleration, obstacle, and stuck states. The collision avoidance detection unit 5 is located at the front edge of the main body 1.

[0061] The walking unit 2 and the cleaning unit 3 are located at the bottom of the main body 1;

[0062] The control unit is connected to the anti-collision detection unit 5, the walking unit 2 and the cleaning unit 3 respectively. The control unit is responsible for controlling the robot body 1 to perform different working modes according to the different states of the robot.

[0063] The power unit provides energy for the operation of the intelligent sweeping robot body 1;

[0064] The power unit provides energy from a rechargeable battery.

[0065] The anti-collision detection unit 5 includes three sets of infrared signal sensors 501, 502, and 503, which are respectively located at the front end and the left and right ends of the main body 1 in the forward direction.

[0066] The three sets of infrared signal sensors 501, 502, and 503 each include an infrared signal transmitting device and a corresponding infrared receiving device 202.

[0067] The walking unit 2 includes a balancing unit 4 and two drive wheels 201 and 203;

[0068] The balancing unit 4 includes balancing wheels 401 and 402;

[0069] The balance wheel 401 is a swivel wheel.

[0070] The cleaning unit 3 includes cleaning brushes 301 and 302 and a cleaning roller brush 303;

[0071] The cleaning brushes 301 and 302 are symmetrically arranged on both sides of the bottom of the main body 1.

[0072] Existing robots equipped with anti-collision systems will execute the same anti-collision instruction when encountering any suspected collision situation, generally either retreating or turning. The sweeping robot provided by this invention, however, incorporates an anti-collision detection unit 5 to detect the robot's different states, including normal, deceleration, obstacle, and stuck states. This allows the robot to execute different working modes according to different states, avoiding the situation where the robot only retreats when encountering various collision situations. The robot provided by this invention has the function of making the most appropriate response to different collision situations, avoiding low work efficiency caused by frequent retreating reactions.

[0073] The present invention further incorporates three infrared signal sensors, which can be connected to three detection ports respectively, thereby distinguishing collision conditions in a single direction and controlling the robot to take corresponding countermeasures when encountering various situations.

[0074] Please see Figures 4-11 The present invention provides a collision avoidance method for a robotic vacuum cleaner, the method comprising:

[0075] Step 1: The collision avoidance detection unit 5 detects that the robot is in different states, including normal, deceleration, obstacle, and stuck state;

[0076] Step 2: The control unit receives information from the anti-collision detection unit 5 about the robot being in different states, generates corresponding control information, and sends it to the walking unit 2 and the cleaning unit 3.

[0077] Step 3: The walking unit 2 and the cleaning unit 3 drive the robot to perform the corresponding working mode according to the different control information.

[0078] Furthermore, the anti-collision detection unit 5 includes infrared signal sensors 501, 502, and 503 at three positions: the front end and the left and right ends of the robot body 1 in the forward direction. Each of the infrared signal sensors 501, 502, and 503 includes a pair of infrared emitting devices and infrared receiving devices 202.

[0079] In step one, the method for the anti-collision detection unit 5 to detect that the robot is in different states includes:

[0080] The infrared transmitter emits an infrared signal perpendicular to the ground, and the infrared receiver 202 receives the infrared signal reflected from the ground. When the signal received by the infrared receiver 202 suddenly disappears or changes significantly, the received signal data of the three infrared receivers 202 are sent to the control unit.

[0081] The control unit determines whether the robot is in a normal, decelerating, obstacle-prone, or stuck state based on the signal data received from the three infrared receivers 202, including:

[0082] like Figure 5 As shown, the signal waveform emitted by the infrared emitting device is a square wave.

[0083] After calibration by adjusting the fixture (fixed obstacle distance, white wall), the data received by the three infrared receivers 202 of the robot on the same ground is kept consistent. Abnormal data is first filtered (that is, the data received by the infrared lamps is stored separately when the infrared conduction is turned on and off at a fixed frequency).

[0084] like Figure 6 As shown, when the signal data of the three infrared receiving devices 202 simultaneously maintain the same waveform change, that is, present a waveform corresponding to the signal data waveform emitted by the infrared emitting device, it is determined that the robot is in a normal state.

[0085] like Figure 7 As shown, when the signal data 511, 512, and 513 of the three infrared signal sensors 501, 502, and 503 are all at their maximum, it is determined that the robot is in a deceleration state.

[0086] like Figure 8As shown, when the signal data 512 of the infrared receiver 202 is greater than the other two signal data 511 and 513 for a set time, and the signal data 512 of the infrared receiver 202 has reached its maximum value, it is determined that the robot is in a collision state on the infrared receiver 202, i.e., on the front side; similarly, the collision state on the left and right sides can be deduced.

[0087] like Figure 9 As shown, when the signal data 512 of the infrared receiver 202 is greater than the other two signal data 511 and 513 for a set time, and the signal data 512 of the infrared receiver 202 has a certain fluctuation range, it is determined that the robot is in a collision state on the infrared receiver 202, that is, on the front side; similarly, the collision avoidance state on the left and right sides can be deduced.

[0088] Furthermore, in step one, the collision avoidance detection unit 5 detects that the robot is in different states, including switching the wall material state and the corner state;

[0089] like Figure 10 As shown, when switching to different ground materials, the darker the ground, the weaker the infrared signal received, and vice versa.

[0090] When the signal data of the third infrared signal sensor changes and the change time is less than a set minimum value (e.g., less than 72 milliseconds), it is determined that one side of the third infrared signal sensor is in a corner state.

[0091] Furthermore, in step three, the walking unit 2 and the cleaning unit 3 drive the robot to execute corresponding working modes according to the different control information, including:

[0092] When it is determined that the robot is in a normal state or has passed a side wall, the robot executes the normal mode, the walking unit 2 walks normally, and the cleaning unit 3 cleans normally;

[0093] When the robot is determined to be stuck, the robot initiates an alarm program and sends an alarm signal, the walking unit 2 stops walking, and the cleaning unit 3 stops cleaning;

[0094] When it is determined that one side of the robot is in a collision state, the robot starts the automatic turning mode, the walking unit 2 turns to walk, and the cleaning unit 3 cleans normally;

[0095] When it is determined that one side of the robot is in a collision state, the robot starts the retreat mode. The walking unit 2 walks in the opposite direction for a period of time and then turns to walk. The cleaning unit 3 stops cleaning and then starts cleaning normally after turning to walk.

[0096] When the robot is in a normal ground switching state, it performs a cleaning mode switching. The walking unit 2 walks normally, and the cleaning unit 3 switches the cleaning mode, for example, from floor to tile to powerful cleaning mode.

[0097] As can be seen, the anti-collision method for the sweeping robot provided by the present invention, by setting up an anti-collision detection unit 5, is used to detect that the robot is in different states, including normal, deceleration, obstacle, and stuck states. This allows the robot to execute different working modes according to different states, avoiding the situation where the robot only retreats when encountering various collision situations. This enables the robot provided by the present invention to make the most appropriate response to different collision situations, avoiding low work efficiency caused by frequent retreating reactions. Furthermore, by setting up three infrared signal sensors 501, 502, and 503, which can be connected to three detection ports respectively, the collision situation in a single direction can be distinguished, thereby controlling the robot to make corresponding handling strategies when encountering various situations, improving the working efficiency of the sweeping robot.

[0098] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in the details for the sake of brevity.

[0099] Additionally, to simplify the description and discussion, and to avoid obscuring the invention, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the invention, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the invention will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) are set forth to describe exemplary embodiments of the invention, it will be apparent to those skilled in the art that the invention may be practiced without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0100] Although the invention has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic vacuum cleaner, comprising a body and a control unit and a power unit disposed within the body, characterized in that, Also includes: A collision avoidance detection unit is used to monitor the status of the robotic vacuum cleaner, including normal, deceleration, obstacle, and stuck states. The collision avoidance detection unit is located at the front edge of the main body. The walking unit and cleaning unit are located at the bottom of the main body; The control unit is connected to the collision avoidance detection unit, the walking unit and the cleaning unit respectively. The control unit is responsible for controlling the robot body to perform different working modes according to the different states of the robot. The anti-collision detection unit includes infrared signal sensors at three positions: the front end and the left and right ends of the robot body in the forward direction. Each infrared signal sensor includes a pair of infrared transmitters and infrared receivers. A method for a collision avoidance detection unit to detect that the robot is in different states, the method comprising: The infrared transmitter emits an infrared signal perpendicular to the ground, and the infrared receiver receives the infrared signal reflected from the ground. When the signal received by the infrared receiver suddenly disappears or changes significantly, the received signal data from the three infrared receivers are sent to the control unit. The control unit determines whether the robot is in a normal, decelerating, obstacle-prone, or stuck state based on the signal data received from the three infrared receivers, including: When the signal data from the three infrared receiving devices simultaneously maintain the same waveform change, it is determined that the robot is in a normal state. When the signal data from the three infrared signal sensors are simultaneously at their maximum, it is determined that the robot is in a deceleration state. If the signal data of the infrared receiver is greater than the sum of the other two signal data for a set time, and the signal data of the infrared receiver has reached its maximum value, it is determined that the robot is in a collision state on the side in front of the infrared receiver. If the signal data of the infrared receiver is greater than the sum of the other two signal data for a set time, and the signal data of the infrared receiver has a certain fluctuation range, it is determined that the robot is in a collision state on the side in front of the infrared receiver. The collision avoidance detection unit also detects that the robot is in different states by switching between wall material states and corner states; When switching to the wall material mode, the darker the floor color, the weaker the infrared signal received, and vice versa. When the signal data of the third infrared signal sensor changes and the change time is less than the set minimum value, it is determined that one side of the third infrared signal sensor is in a corner state. The walking unit and cleaning unit drive the robot to execute corresponding working modes based on the different control information, including: When it is determined that the robot is in a normal state or has passed a side wall, the robot executes the normal mode, the walking unit walks normally, and the cleaning unit cleans normally; When the robot is determined to be stuck, the robot initiates an alarm program to send an alarm signal, the walking unit stops walking, and the cleaning unit stops cleaning. When it is determined that one side of the robot is in a collision state, the robot starts the automatic turning mode, the walking unit turns to walk, and the cleaning unit cleans normally. When it is determined that one side of the robot is in a collision state, the robot starts the retreat mode. The walking unit walks in the opposite direction for a period of time and then turns to walk. The cleaning unit stops cleaning and then starts cleaning normally after turning to walk. When the robot is in a normal ground switching state, it executes a switching cleaning mode. The walking unit walks normally, and the cleaning unit switches cleaning modes, from floor to tile to powerful cleaning mode.

2. A sweeping robot according to claim 1, characterized in that, The power unit provides energy for the operation of the intelligent sweeping robot body; The power unit provides energy from a rechargeable battery.

3. A sweeping robot according to claim 1, characterized in that, The anti-collision detection unit includes three sets of infrared signal sensors, which are respectively located at the front end and the left and right ends of the main body in the forward direction. All three sets of infrared signal sensors include an infrared signal transmitting device and a corresponding infrared signal receiving device.

4. A sweeping robot according to claim 1, characterized in that, The walking unit includes a balancing unit and two drive wheels.

5. A sweeping robot according to claim 4, characterized in that, The balancing unit includes a balancing wheel; The balance wheel is a swivel wheel.

6. A sweeping robot according to claim 1, characterized in that, The cleaning unit includes a cleaning sweeping brush and a cleaning roller brush; The cleaning brushes are symmetrically arranged on both sides of the bottom of the main body.

7. A collision avoidance method for a robotic vacuum cleaner, characterized in that, Applied to the robotic vacuum cleaner as described in any one of claims 1 to 6, the method comprises: Step 1: The collision avoidance detection unit detects that the robot is in different states, including normal, deceleration, obstacle, and stuck state; Step 2: The control unit receives information from the collision avoidance detection unit about the robot's different states, generates corresponding control information, and sends it to the walking unit and the cleaning unit. Step 3: The walking unit and cleaning unit drive the robot to perform the corresponding working mode according to the different control information.

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