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Invention Publication
CN105813528A 机器人清洁设备的障碍物感测爬行 有权

  • Patent Title: 机器人清洁设备的障碍物感测爬行
  • Patent Title (English): Sensing climb of obstacle of robotic cleaning device
  • Application No.: CN201380081548.7
    Application Date: 2013-12-19
  • Publication No.: CN105813528A
    Publication Date: 2016-07-27
  • Inventor: M·林德 , P·福斯贝里
  • Applicant: 伊莱克斯公司
  • Applicant Address: 瑞典斯德哥尔摩
  • Assignee: 伊莱克斯公司
  • Current Assignee: 伊莱克斯公司
  • Current Assignee Address: 瑞典斯德哥尔摩
  • Agency: 北京邦信阳专利商标代理有限公司
  • Agent 黄泽雄; 梁栋
  • International Application: PCT/EP2013/077387 2013.12.19
  • International Announcement: WO2015/090405 EN 2015.06.25
  • Date entered country: 2016-06-12
  • Main IPC: A47L9/28
  • IPC: A47L9/28
机器人清洁设备的障碍物感测爬行
Abstract:
本发明涉及一种控制机器人清洁设备的操作的方法以及一种执行该方法的机器人清洁设备。机器人清洁设备(10)包括主体(11)和被安排为使该机器人清洁设备移动的推进系统(12，13，15a，15b)。该机器人清洁设备进一步包括障碍物检测设备(22)、被安排为控制该推进系统使该机器人清洁设备移动的控制器(16)、以及被安排为测量该机器人清洁设备的多个倾斜角度的角度测量设备(24)。在该机器人清洁设备中，该控制器被安排为控制该角度测量设备来在横越检测到的障碍物之前测量该机器人清洁设备的第一倾斜角度，并且在该机器人清洁设备横越该障碍物时测量该机器人清洁设备的第二倾斜角度，该控制器被进一步安排为将该第二倾斜角度与该第一倾斜角度进行比较，并且基于该第二倾斜角度与该第一倾斜角度之间的差来控制该机器人清洁设备的操作。
Abstract(English):

The invention relates to a method of controlling operation of a robotic cleaning device and a robotic cleaning device performing the method. The robotic cleaning device (10) comprises a main body (11) and a propulsion system (12, 13, 15a, 15b) arranged to move the robotic cleaning device. The robotic cleaning device further comprises an obstacle detecting device (22), a controller (16) arranged to control the propulsion system to move the robotic cleaning device, and an angle-measuring device (24) arranged to measure tilt angles of the robotic cleaning device. In the robotic cleaning device, the controller is arranged to control the angle-measuring device to measure a first tilt angle of the robotic cleaning device before the obstacle is traversed, and to measure a second tilt angle of the robotic cleaning device while the robotic cleaning device traverses the obstacle, the controller further being arranged to compare the second tilt angle with the first tilt angle, and to control the operation of the robotic cleaning device based on a difference between the second tilt angle and the first tilt angle.

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