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TW201834604A - 移動式機器人及其控制方法 - Google Patents

移動式機器人及其控制方法 Download PDF

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Publication number
TW201834604A
TW201834604A TW107101905A TW107101905A TW201834604A TW 201834604 A TW201834604 A TW 201834604A TW 107101905 A TW107101905 A TW 107101905A TW 107101905 A TW107101905 A TW 107101905A TW 201834604 A TW201834604 A TW 201834604A
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TW
Taiwan
Prior art keywords
mobile robot
measured
controlling
rotary mop
slip ratio
Prior art date
Application number
TW107101905A
Other languages
English (en)
Other versions
TWI686163B (zh
Inventor
張宰源
尹盛湖
朴晶燮
Original Assignee
南韓商Ｌｇ電子股份有限公司
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Filing date
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Application filed by 南韓商Ｌｇ電子股份有限公司 filed Critical 南韓商Ｌｇ電子股份有限公司
Publication of TW201834604A publication Critical patent/TW201834604A/zh
Application granted granted Critical
Publication of TWI686163B publication Critical patent/TWI686163B/zh

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    • A47L11/408—Means for supplying cleaning or surface treating agents
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Abstract

本發明提供一種控制移動式機器人的方法。該控制移動式機器人的方法包括以下步驟：(a)執行該移動式機器人的一基本動作，該移動式機器人在一旋轉拖把上移動；(b)測量該移動式機器人的一滑動率；以及(c)控制該移動式機器人的行進。

Description

移動式機器人及其控制方法
本發明涉及一種移動式機器人及其控制方法，尤其涉及一種控制在旋轉拖把上移動之移動式機器人的行進的方法。
最近，機器人越來越多地被利用於家庭中。家庭式機器人的典型例子是清掃機器人。清掃機器人是一種移動式機器人，其透過在空間中自行行進時吸入地板上的灰塵、污垢、和碎屑，或者當旋轉拖把移動時用旋轉拖把擦拭地板，來自動清掃特定空間。
然而，當移動式機器人在旋轉拖把上移動時，微纖維或布拖把與地板產生的摩擦很小，這導致旋轉拖把旋轉的移動距離相對地更短──即打滑。
這種在作為移動裝置的旋轉拖把上移動的移動式機器人可能由於打滑很難以期望的速度或期望的距離行進。
韓國專利註冊第1578879 B1號揭露一種移動式機器人，用於在旋轉拖把上移動並清掃地板，但沒有揭露控制移動式機器人的行進的方法。
本發明提供一種藉由計算移動式機器人的滑動率控制移動式機器人行進的方法。
本發明還提供一種藉由根據移動環境計算移動式機器人的滑動率控制行進的控制移動式機器人的方法。
本發明的示例性實施例提供一種控制移動式機器人的方法，該方法包括以下步驟：(a)執行該移動式機器人的一基本動作，該移動式機器人在 一旋轉拖把上移動；(b)測量該移動式機器人的一滑動率；和(c)控制該移動式機器人的行進。因此，可以藉由計算該移動式機器人的滑動率，控制該移動式機器人的行進。
在步驟(a)中，該移動式機器人可以旋轉地移動，並且在步驟(b)中，該移動式機器人可以透過用於檢測該移動式機器人的旋轉速度的陀螺儀感測器測量該移動式機器人的滑動率。因此，可以在該移動式機器人的旋轉移動期間由該陀螺儀感測器計算滑動率。
在步驟(a)中，該移動式機器人可以線性地加速，並且在步驟(b)中，該移動式機器人可以透過用於檢測該移動式機器人的移動的加速度的一加速度感測器計算該移動式機器人的滑動率。因此，可以在該移動式機器人的線性加速期間計算出滑動率。
該方法可以進一步包括：(d)當該移動式機器人由於外部因素而加速或減速時，透過用於檢測該移動式機器人的移動的加速度的該加速度感測器測量該移動式機器人的滑動率；以及(e)基於在步驟(d)中所測量的該滑動率控制該移動式機器人的行進。因此，即使由於外部因素(例如移動過程中的地板材料的變化)導致滑動率改變，也可以檢測到滑動率的變化。
首先，根據本發明，控制移動式機器人的方法具有如下優點：藉由計算在旋轉拖把上移動的滑動率，控制在移動期間可能滑動的該移動式機器人的行進。
其次，根據本發明，該控制移動式機器人的方法具有如下優點：藉由通過使用陀螺儀感測器或加速度感測器計算移動式機器人的旋轉或線性加速度的滑動率，控制移動式機器人的行進。
第三，根據本發明，該控制移動式機器人的方法具有如下優點：如果該移動式機器人由於外部因素(例如移動過程中的地板材料的變化)而加速或減速，則藉由檢測滑動率的變化根據情況控制該移動式機器人的行進。
10‧‧‧移動式機器人
20‧‧‧主體
30‧‧‧旋轉拖把
40‧‧‧驅動馬達
100‧‧‧控制器
110‧‧‧陀螺儀感測器
120‧‧‧加速度感測器
130‧‧‧儲存器
θ0‧‧‧特定角度
θ1‧‧‧給定角度
R‧‧‧半徑
R’‧‧‧實際半徑
V1‧‧‧線性速度
V2‧‧‧線性速度
S100‧‧‧步驟
S110‧‧‧步驟
S120‧‧‧步驟
S200‧‧‧步驟
S210‧‧‧步驟
S215‧‧‧步驟
S220‧‧‧步驟
S300‧‧‧步驟
S310‧‧‧步驟
S320‧‧‧步驟
S400‧‧‧步驟
S500‧‧‧步驟
S600‧‧‧步驟
圖1是根據本發明一例示性實施例之移動式機器人的立體圖；圖2是根據本發明一例示性實施例之移動式機器人的前視圖；圖3A是說明根據本發明一示例性實施例當移動式機器人向前行進時旋轉拖把如何旋轉的視圖；圖3B是說明根據本發明另一示例性實施例當移動式機器人以大迴轉半徑轉彎時旋轉拖把如何旋轉的視圖；圖3C是說明根據本發明又一示例性實施例當移動式機器人以小迴轉半徑轉彎時旋轉拖把如何旋轉的視圖；圖4是說明根據本發明一示例性實施例之與地板表面接觸的移動式機器人的旋轉拖把的一部分的視圖；圖5是根據本發明一示例性實施例之涉及移動式機器人的移動的旋轉拖把的實際範圍的視圖；圖6是說明根據本發明一示例性實施例之與移動式機器人的控制器相關聯的組件的方塊圖；圖7是根據本發明一示例性實施例之控制移動式機器人的行進的方法的流程圖；圖8是根據本發明一示例性實施例藉由陀螺儀感測器控制移動式機器人的行進的方法的流程圖。
圖9是根據本發明另一示例性實施例藉由使用加速度感測器控制移動式機器人的行進的方法的流程圖；以及圖10是說明根據本發明一示例性實施例當移動式機器人由於外部因素而加速時控制移動式機器人的行進的方法的流程圖。
透過參考實施例的以下詳細描述和附圖，可以更容易地理解本發明以及實現本發明的方法。然而，本發明可以以許多不同的形式來體現，並且不應該被解釋為限於在此闡述的實施例。相反地，提供這些實施例是為了使本發明透徹和完整，並將本發明的概念完全傳達給本領域技術人員，並且本發明將僅由所附申請專利範圍限定。整個說明書中相同的附圖標記表示相同的元件。
在下文中，將參考附圖描述根據本發明示例性實施例的控制移動式機器人的行進的方法。
圖1為根據本發明一例示性實施例之移動式機器人的立體圖。
參考圖1，將簡要描述根據本示例性實施例之移動式機器人的配置。
根據本示例性實施例的移動式機器人10係基於相對於基本動作測量的滑動率控制移動式機器人10的行進，該移動式機器人10透過旋轉拖把的旋轉執行移動。
根據本示例性實施例的移動式機器人10包括形成外觀的主體20；用於移動主體20的旋轉拖把；以及用於驅動旋轉拖把的驅動馬達。
根據本示例性實施例之用於移動式機器人10的旋轉拖把具有裝入其中的微纖維或布拖把墊。因此，當旋轉拖把旋轉時，發生滑動──即移動式機器人10相對於旋轉拖把的實際旋轉不會移動太遠。旋轉拖把包括在平行於地板的旋轉軸線上驅動的滾動拖把或在幾乎垂直於地板的旋轉軸線上驅動的旋轉拖把30。以下將描述如何計算和補償相對於作為一種旋轉的拖把的旋轉拖把30的滑動率。
根據本發明的本示例性實施例的移動式機器人10進一步包括動作感測器，用於當旋轉拖把旋轉時測量主體20的基本動作。該動作感測器可以進一步包括用於檢測移動式機器人10的旋轉速度的陀螺儀感測器110(參見圖6)或用於檢測移動式機器人10的加速度的數值的加速度感測器120(參見圖6)。
如本示例性實施例中所使用的，「基本動作」是用於驅動移動式機器人10的旋轉拖把30的動作，以藉由使用陀螺儀感測器110或加速度感測器120計算移動式機器人10的滑動率。該動作可以分為移動式機器人10就地旋轉的就地動作和移動式機器人10線性地或旋轉地移動的行進動作。
在基本動作中，移動式機器人10在就地或以圓形旋轉時藉由使用陀螺儀感測器110測量滑動率。具體而言，藉由將相對於旋轉拖把30的旋轉量的移動式機器人10的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度進行比較來測量滑動率。
此外，移動式機器人10在基本動作時可以在移動式機器人10線性地加速或減速時藉由使用加速度感測器120來測量滑動率。可以藉由將相對於旋轉拖把30的旋轉量的移動式機器人10的理想線性加速度與由加速度感測器120測量的移動式機器人10的實際加速度進行比較來測量滑動率。
作為如上測量滑動率的方式，滑動率可以使用藉由實驗確定在移動式機器人10相對於旋轉拖把30的旋轉量的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度之間的相關性而創建的相關表單來估計，或者滑動率可以使用基於移動式機器人10的理想旋轉速度和移動式機器人10的測量旋轉速度的滑動率公式來計算。
類似地，當移動式機器人10線性地加速時，滑動率可以使用藉由實驗確定在移動式機器人10的實際線性速度與理想線性速度之間的相關性而創建的相關表單來估計，或者滑動率可以使用基於移動式機器人10的理想線性速度和移動式機器人10的測量線性速度的滑動率公式來計算。
如在本示例性實施例中所使用的那樣，行進動作是指移動式機器人10的旋轉拖把30的每個旋轉動作。因此，行進動作可以包括移動式機器人10允許旋轉拖把30就地或圓形地旋轉的全部範圍旋轉以及移動式機器人10以恆定速度、加速、或減速而線性地移動的全部範圍移動。
圖2是根據本發明一例示性實施例之移動式機器人的前視圖。圖3A、B、C是說明根據本發明一示例性實施例之移動式機器人的移動的視圖。圖4是說明根據本發明一示例性實施例之與地板表面接觸的移動式機器人的旋轉拖把的一部分的視圖。圖5說明根據本發明一示例性實施例之涉及移動式機器人的移動的旋轉拖把的實際範圍的視圖。
參考圖2至圖5，下面將描述移動式機器人如何隨著旋轉拖把旋轉而行進以及如何計算和補償相對於移動式機器人的移動的滑動率。
根據本示例性實施例的移動式機器人10包括一對旋轉拖把30，並且藉由旋轉該對旋轉拖把30而移動。移動式機器人10可以藉由改變每對旋轉拖把30的旋轉方向和速度控制移動式機器人10的行進。
參考圖2，在根據本示例性實施例的移動式機器人10中，將旋轉拖30以相對於地板表面的特定角度θ0放置。旋轉拖把30可以以這樣的方式放置，使得地板表面與旋轉拖把30的一些部分以特定角度θ0接觸，而不是與旋轉拖把30的整個表面完全接觸。
參考圖3A，移動式機器人10可以隨著該對旋轉拖把30在不同方向上旋轉而線性地移動。在這種情況下，該對旋轉拖把30具有相同的旋轉速度，但具有不同的旋轉方向。藉由改變兩個旋轉拖把30的旋轉方向，移動式機器人10可以向前或向後移動。
參考圖3B和圖3C，移動式機器人10可以隨著該對旋轉拖把30在相同方向上旋轉而旋轉地移動。移動式機器人10可以藉由改變該對旋轉拖把30中的每一個的旋轉速度而就地或以圓形旋轉。圓形旋轉的半徑可以藉由改變該對旋轉拖把30的旋轉速度的比率來調節。
以下將描述給出如何計算移動式機器人10的滑動率。根據本發明的移動式機器人10可以藉由驅動旋轉拖把30並使用陀螺儀感測器110或加速度感測器120來測量滑動率。首先將描述使用陀螺儀感測器110的滑動率測量，然後將描述使用加速度感測器120的滑動率測量。
首先，將描述使用陀螺儀感測器110的滑動率測量。根據本發明的移動式機器人10可以藉由將相對於每個旋轉拖把30的旋轉的移動式機器人10的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度進行比較來計算滑動率。
移動式機器人10相對於每對旋轉拖把30的旋轉的理想旋轉速度意指：當滑動率為0時，相對於旋轉拖把30的旋轉速度的比率的移動式機器人10的理想旋轉速度。
移動式機器人10的旋轉速度取決於旋轉拖把30的半徑R和每個旋轉拖把30的旋轉速度。如圖5所示，如果旋轉拖把30向地板表面傾斜，則在連接該對旋轉拖把30的中心的假想線上的給定角度θ1處，涉及移動的旋轉拖把30的實際半徑R’可以按照下面的等式1來計算。
<等式1> R’=R * cosθ1
當旋轉拖把30實際地行進時，旋轉拖把30的與地面接觸的部分在給定角度θ1處具線性速度V1。因此，在行進的實際方向中的線性速度V2如以下等式2所示。
<等式2>V2=V1 * cosθ1
涉及移動的旋轉拖把30的實際半徑R’對應於在行進的實際方向上與線性速度V2垂直的部分，並且可以如上述等式1中所示。
以下是當移動式機器人10旋轉地或線性地移動時，計算移動式機器人10的滑動率的示例。
根據本示例性實施例之用於移動式機器人10的旋轉移動的滑動率Sr1可以如以下等式3，藉由使用相對於該對旋轉拖把30的每一個的旋轉的移動式機器人10的理想旋轉速度Rf和由陀螺儀感測器110測量的實際旋轉速度Rr來計算。
<等式3>Sr1=(Rf-Rr)/Rf * 100
可以基於由上述等式3所計算的滑動率控制移動式機器人10的行進。藉由控制移動式機器人10的行進，可以如等式4那樣補償由等式3所計算的滑動率。因此，可以計算移動式機器人10的速度Vn(以下也稱為「驅動速度」)，以實現移動式機器人10以期望速度Vw行進所需的0滑動率。
<等式4>VN=Vw/((1-SR/100))
可以基於由上述等式4控制移動式機器人10的行進。即，藉由通過由上述等式3所計算出的滑動率Sr代入上述等式4求出移動式機器人10具有所希望的行進速度Vw所需的驅動速度Vn，而能夠控制移動式機器人10的行進。
根據本示例性實施例之用於移動式機器人10的線性移動的滑動率Sr2可以藉由使用加速度感測器120來計算。根據本發明的移動式機器人10可以藉由將相對於每對旋轉拖把30的旋轉的移動式機器人10的理想速度與由加速度感測器120測量的移動式機器人10的實際速度相比較來計算滑動率。
根據本示例性實施例之用於移動式機器人10的加速或減速的滑動率SR2可以藉由使用相對於每對旋轉拖把30的旋轉的移動式機器人10的理想速度Vf和由加速度感測器120測量的移動式機器人10的實際速度Vr，透過例如下述的等式5的公式來計算。當移動式機器人10線性地行進時，移動式機器人10的理想速度Vf可以由透過上述等式2所計算的旋轉拖把30的線性速度V2來表示。
由加速度感測器120測量的移動式機器人10的速度Vr可以藉由整合由加速度感測器120測量的加速度數值來計算。
<等式5>Sr2=(Vf-Vr)/Vf * 100
可以基於由上述等式5所計算的滑動率控制移動式機器人10的行進。藉由控制移動式機器人10的行進，可以如等式4那樣補償由等式5所計算的滑動率，由此計算移動式機器人10以期望速度Vw行進所需的驅動速度Vn。
此外，可以藉由在由陀螺儀感測器測量的旋轉的變化角度內，計算旋轉拖把的理想旋轉數和由驅動馬達所驅動的旋轉拖把的實際旋轉數的比率來測量滑動率。
圖6是說明根據本發明一示例性實施例之與移動式機器人的控制器相關聯的組件的方塊圖。現在，將參考圖6描述根據本示例性實施例之移動式機器人的控制器。
根據本示例性實施例的移動式機器人10包括：控制器100，其透過陀螺儀感測器110或加速度感測器120測量移動式機器人10的滑動率並控制移動式機器人10的行進。根據本示例性實施例的移動式機器人10可以進一步包括儲存器130，用於儲存關於滑動率測量的資料。
控制器100藉由將相對於每對旋轉拖把30的旋轉的移動式機器人10的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度進行比較來測量滑動率。控制器100藉由將相對於每對旋轉拖把30的旋轉的移動式機器人10的理想線性速度與由加速度感測器120測量的移動式機器人10的實際線性速度進行比較來測量滑動率。
控制器100藉由運作驅動馬達40旋轉旋轉拖把30。控制器100根據移動式機器人10的行進方向控制每對旋轉拖把30的旋轉方向和旋轉速度。控制器100基於所測量的滑動率控制移動式機器人10的行進。控制器100基於所測量的滑動率補償移動式機器人10的移動速度。
儲存器130保存在相對於旋轉拖把30的旋轉量的移動式機器人10的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度之間的相關性的實驗資料記錄。即使當移動式機器人10線性加速時，儲存器130也保存在移動式機器人10的實際線性速度與理想線性速度之間的相關性的實驗資料記錄。
如果移動式機器人10具有用於線性移動和旋轉移動的不同滑動率，則儲存器130可以保存在用於線性移動的滑動率與用於旋轉移動的滑動率之間的比例關聯性的實驗資料記錄。
圖7是根據本發明一示例性實施例之控制移動式機器人的行進的方法的流程圖。圖8是根據本發明一示例性實施例藉由使用陀螺儀感測器控制移動式機器人的行進的方法的流程圖。圖9是根據本發明另一示例性實施例藉由使用加速度感測器控制移動式機器人的行進的方法的流程圖。圖10是根據本發明一示例性實施例當移動式機器人由於外部因素而加速時控制移動式機器人的行進的方法的流程圖。
現在，參考圖7至圖10，將描述根據本示例性實施例之控制移動式機器人的行進的方法。
根據本示例性實施例，移動式機器人10經歷執行基本動作的步驟S100。「基本動作」是用於驅動移動式機器人10的旋轉拖把30的動作，以藉由使用陀螺儀感測器110或加速度感測器120計算移動式機器人10的滑動率。該動 作可以包括移動式機器人10就地旋轉的就地動作和移動式機器人10線性地或旋轉地移動的行進動作。
移動式機器人10可以經歷旋轉移動的步驟S110或線性加速的步驟S120。
參考圖8，根據本示例性實施例，移動式機器人10經歷旋轉移動的步驟S110。移動式機器人10藉由使該對旋轉拖把30向相同方向旋轉來旋轉。移動式機器人10可以藉由改變每對旋轉拖把30的旋轉速度而就地或以圓形旋轉。
參考圖9，根據本示例性實施例，移動式機器人10經歷加速的步驟S120。移動式機器人10可以藉由改變旋轉拖把30的實際旋轉速度來加速。移動式機器人10可以藉由沿著不同方向旋轉該對旋轉拖把30並且改變旋轉拖把30的驅動速度來加速。
之後，移動式機器人10經歷測量移動式機器人10的滑動率的步驟S200。如果移動式機器人10可旋轉地移動，則藉由使用陀螺儀感測器110測量滑動率，或者如果移動式機器人10線性地加速，則藉由使用加速度感測器120測量滑動率。
參考圖8，控制器100經歷藉由使用陀螺儀感測器110測量移動式機器人10的滑動率的步驟S210。控制器100藉由將相對於每對旋轉拖把30的旋轉的移動式機器人10的理想旋轉速度與由陀螺儀感測器110測量的移動式機器人10的實際旋轉速度進行比較來測量滑動率。
此外，參考圖8，在測量用於移動式機器人10的旋轉移動的滑動率之後，控制器100可以經歷步驟215，將測量的旋轉移動的滑動率改變為用於線性移動的滑動率。用於旋轉移動的滑動率和用於線性移動的滑動率可能不同。在這種情況下，基於關於在儲存在儲存器130中之用於直線移動的滑動率與用於旋轉移動的滑動率之間的比例關係的資料，將相對於旋轉移動測量的滑動率改變為用於線性移動的滑動率。
參考圖9，控制器100經歷藉由使用加速度感測器120測量移動式機器人10的滑動率的步驟S220。控制器100藉由將相對於旋轉拖把30的旋轉的移 動式機器人10的理想速度與由加速度感測器120測量的移動式機器人10的實際速度進行比較來測量滑動率。
控制器100經歷藉由補償滑動率控制移動式機器人10的行進的步驟S300。控制器100可以藉由補償測量的滑動率控制移動式機器人10的行進。藉由補償相對於移動式機器人10的旋轉移動測量的滑動率或相對於移動式機器人10的線性加速度測量的滑動率，於S310和S320步驟，控制移動式機器人10的移動。控制器100藉由計算出移動式機器人10具有行進速度Vw所需的驅動速度Vn控制移動式機器人10的行進。
根據本示例性實施例的移動式機器人10重複地執行上述步驟S100至S300。藉由重複地執行上述步驟，移動式機器人10更新隨著移動式機器人10移動而改變的滑動率，並且補償移動式機器人10的移動。因此，即使在移動式機器人10的移動過程中滑動率由於地板材料的變化而改變，也可以藉由重複上述步驟控制移動式機器人10的行進。
移動式機器人10的速度可能由於外部因素而加速。在一個示例中，如果地板材料在移動期間改變，則隨著旋轉拖把30與地板之間的摩擦力改變，移動式機器人10可加速或減速。移動式機器人10可能由於諸如地板材料等的變化的外部因素而經歷加速的步驟S400。
移動式機器人10執行透過加速度感測器120測量移動式機器人10的滑動率的步驟S500。如果移動式機器人10由於外部因素而加速或減速，則其根據加速度感測器120的加速或減速來估計當前速度。控制器100基於驅動馬達40旋轉旋轉拖把30的驅動速度和旋轉拖把30的半徑，藉由將0滑動率的理想速度與由加速度感測器120估計的當前速度進行比較來測量滑動率。
之後，移動式機器人10經歷藉由利用所測量的滑動率補償移動式機器人10的行進速度控制移動式機器人10的行進的步驟S600。透過上述步驟，可以更加精確地控制移動式機器人10的行進。
儘管以上參考附圖描述了本發明的較佳實施例，但是應該理解本領域技術人員可以在不改變本發明的技術精神和基本特徵的情況下，以其他具體形式來體現技術配置。因此，應該理解的是，上述實施例是示例性的，並且 在所有方面都不是限制性的，並且本發明的範圍由所附申請專利範圍限定，而不是由上述具體描述限定。應該理解的是，從申請專利範圍的含義、範圍、和均等概念中導出的所有改變和修改的形式都包括在本發明的範圍內。

Claims (13)

  1. 一種控制移動式機器人的方法，該方法包括以下步驟：(a)執行該移動式機器人的一基本動作，該移動式機器人在一旋轉拖把上移動；(b)測量該移動式機器人的一滑動率；以及(c)藉由補償在步驟(b)中所測量的該滑動率控制該移動式機器人的行進。
  2. 如申請專利範圍第1項所之述控制移動式機器人的方法，其中，重複地執行步驟(a)、步驟(b)、和步驟(c)。
  3. 如申請專利範圍第1項所述之述控制移動式機器人的方法，其中，在步驟(a)中，該移動式機器人可旋轉地移動，且在步驟(b)中，該移動式機器人藉由用於檢測該移動式機器人的一旋轉速度的一陀螺儀感測器測量該移動式機器人的該滑動率。
  4. 如申請專利範圍第3項所述之述控制移動式機器人的方法，其中，在步驟(b)中的該滑動率藉由使用相對於該旋轉拖把的旋轉的該移動式機器人的一理想旋轉速度和由該陀螺儀感測器測量的該移動式機器人的一實際旋轉速度來測量。
  5. 如申請專利範圍第3項所述之述控制移動式機器人的方法，進一步包括將用於旋轉移動之所測量的該滑動率改變為用於線性移動的一滑動率的步驟。
  6. 如申請專利範圍第1項所述之述控制移動式機器人的方法，其中，在步驟(a)中，該移動式機器人可旋轉地移動，且在步驟(b)中，在由該陀螺儀感測器測量到的旋轉的一變化角度內，該移動式機器人藉由計算出該旋轉拖把的一理想旋轉數和由用於驅動該旋轉拖把的一驅動馬達所驅動的該旋轉拖把的一實際旋轉數測量該移動式機器人的該滑動率。
  7. 如申請專利範圍第1項所述之述控制移動式機器人的方法，其中，在步驟(a)中，該移動式機器人線性地加速，且在步驟(b)中，該移動式機器人藉由用於檢測該移動式機器人的移動的一加速度的一加速度感測器計算該移動式機器人的該滑動率。
  8. 如申請專利範圍第7項所述之述控制移動式機器人的方法，其中，在步驟(b)中的該滑動率藉由使用相對於該旋轉拖把的旋轉的該移動式機器人的一理想速度和由該加速度感測器測量的該移動式機器人的一實際速度來測量。
  9. 如申請專利範圍第1項所述之述控制移動式機器人的方法，進一步包括在步驟(c)之後的以下步驟：(d)當該移動式機器人由於一外部因素而加速或減速時，藉由用於檢測該移動式機器人的移動的一加速度的一加速度感測器測量該移動式機器人的該滑動率；以及(e)基於在步驟(d)中所測量的該滑動率控制該移動式機器人的行進。
  10. 一種控制移動式機器人的方法，當一旋轉拖把旋轉時該移動式機器人執行動作，該方法基於相對於一基本動作所測量的一滑動率控制該移動式機器人的行進，在該基本動作中該旋轉拖把旋轉。
  11. 一種移動式機器人，包括：一主體，形成外觀；一旋轉拖把，用於移動該主體；一驅動馬達，用於驅動該旋轉拖把；一動作感測器，用於當該旋轉拖把旋轉時測量該主體的一基本動作；以及一控制器，藉由使用由該動作感測器相對於該基本動作測量的一實際值和相對於該驅動馬達的運轉的一理想值測量一滑動率，並且藉由使用該滑動率控制該移動式機器人的行進。
  12. 如申請專利範圍第11項所述的移動式機器人，其中，該動作感測器包括一陀螺儀感測器，用於檢測該主體的一旋轉速度， 其中，該控制器藉由使用相對於該旋轉拖把的旋轉的該主體的一理想旋轉速度和由該陀螺儀感測器測量的該主體的一實際旋轉速度測量該滑動率，並且藉由使用該滑動率控制該移動式機器人的行進。
  13. 如申請專利範圍第11項所述的移動式機器人，其中，該動作感測器包括一加速度感測器，用於檢測該主體的一加速度，其中，該控制器藉由使用相對於該旋轉拖把的旋轉的該主體的一理想速度和由該加速度感測器測量的該主體的一實際速度測量該滑動率，並且藉由使用該滑動率控制該移動式機器人的行進。
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US20190384306A1 (en) 2019-12-19
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TWI686163B (zh) 2020-03-01
EP3571022A1 (en) 2019-11-27

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