CN105773626A - Robotic vacuum cleaner control platform with real-time road detection function - Google Patents
Robotic vacuum cleaner control platform with real-time road detection function Download PDFInfo
- Publication number
- CN105773626A CN105773626A CN201610305704.9A CN201610305704A CN105773626A CN 105773626 A CN105773626 A CN 105773626A CN 201610305704 A CN201610305704 A CN 201610305704A CN 105773626 A CN105773626 A CN 105773626A
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- robot
- sweeping
- controller
- floor
- transport
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40512—Real time path planning, trajectory generation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a robotic vacuum cleaner control platform with a real-time road detection function. The robotic vacuum cleaner control platform comprises an ultrasonic sensor, a plurality of ultrasonic distance measuring sensors, an infrared sensor, a moving trajectory planning module, a real-time road state acquiring module and a 360-degree panoramic camera, wherein the ultrasonic sensor is used for detecting whether an obstacle exists on the moving path of a robotic vacuum cleaner or not; the ultrasonic distance measuring sensors are used for preventing the robotic vacuum cleaner from falling off; the infrared sensor is arranged at the top of a garbage storage bin in the robotic vacuum cleaner, and used for detecting the garbage storage bin; the moving trajectory planning module is arranged inside the robotic vacuum cleaner, and used for planning the moving trajectory; a controller is used for correcting the moving path of the robotic vacuum cleaner in real time according to the positioning information of a positioning module and the moving trajectory planned by the moving trajectory planning module; the real-time road state acquiring module is used for acquiring the road information; the 360-degree panoramic camera is arranged on the robotic vacuum cleaner; and the output signals of the ultrasonic sensor, the ultrasonic distance measuring sensors and the infrared sensor are transmitted to the controller through a filter circuit, an amplifying circuit and an analog-digital conversion circuit in sequence. By adoption of the robotic vacuum cleaner control platform, the purpose of improving the cleaning efficiency is fulfilled.
Description
Technical field
The present invention relates to field of intelligent control, in particular it relates to a kind of robot parametric controller of sweeping the floor with road real-time detection function.
Background technology
At present, robot of sweeping the floor generally is applied in the family, and in avenue, the main or mode of employing sweeper or hand sweeping, and adopt sweeper to be also required to pilot steering, therefore there is the problem that sweeping efficiency is low.
Summary of the invention
It is an object of the invention to, for the problems referred to above, it is proposed to a kind of robot parametric controller of sweeping the floor with road real-time detection function, to realize the advantage improving sweeping efficiency.
For achieving the above object, the technical solution used in the present invention is:
A kind of robot parametric controller of sweeping the floor with road real-time detection function, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, and controller sends instruction and reminds cleaning garbage storing storage；
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges 360 degree of full-view cameras, the image information of 360 degree of full-view camera collections preserves and is uploaded to remote control center by wireless network while the bin that robot of sweeping the floor is built-in, robot of sweeping the floor remotely is controlled by the remote control module that remote control center can pass through to be arranged in controller, and the priority level that remote control center remotely controls is the highest；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullPreferably，Described filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
Preferably, the resistance of described resistance R1 is 10K Ω, the resistance of described resistance R2 and resistance R3 is 200 Ω, the resistance of described resistance R4 is 10K Ω, and the resistance of described resistance R5 is 54.1K Ω, and the capacitance of described electric capacity C1 is 103pF, the capacitance of described electric capacity C2 is 10 μ F, the capacitance of described electric capacity C3 is 4700 μ F, and the capacitance of described electric capacity C4 is 103pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
Technical scheme has the advantages that
Technical scheme, realizes the Based Intelligent Control to cleaning machine people by various sensors, because adopting mechanized operation, intelligentized control method, thus reaching to improve the purpose of sweeping efficiency.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the robot parametric controller of sweeping the floor with road real-time detection function described in the embodiment of the present invention；
Fig. 2 is the electronic circuitry of the filter circuit described in the embodiment of the present invention；
Fig. 3 is the electronic circuitry of the amplifying circuit described in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, is not intended to limit the present invention.
As it is shown in figure 1, a kind of robot parametric controller of sweeping the floor with road real-time detection function, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, controller sends instruction and reminds cleaning garbage storing storage, when controller sends instruction prompting cleaning garbage storing storage, controller need to look for nearest rubbish set-point according to built-in map, thus the rubbish in garbage storing storage is placed into rubbish set-point, then the location information preserved according to controller, return the original cleaning point cleaned on path to continue to clean.
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges 360 degree of full-view cameras, the image information of 360 degree of full-view camera collections preserves and is uploaded to remote control center by wireless network while the bin that robot of sweeping the floor is built-in, robot of sweeping the floor remotely is controlled by the remote control module that remote control center can pass through to be arranged in controller, and the priority level that remote control center remotely controls is the highest；
The output signal of ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullAs shown in Figure 2，Filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
Preferably, the resistance of resistance R1 is 10K Ω, the resistance of resistance R2 and resistance R3 is 200 Ω, the resistance of resistance R4 is 10K Ω, and the resistance of resistance R5 is 54.1K Ω, and the capacitance of electric capacity C1 is 103pF, the capacitance of electric capacity C2 is 10 μ F, the capacitance of electric capacity C3 is 4700 μ F, and the capacitance of electric capacity C4 is 103pF, and the size of inductance L1 and inductance L2 is 33 μ H.
nullAs shown in Figure 3，Amplifying circuit: include audion T201、Audion T202 and audion T203，Series capacitance C201 in the base stage of audion T201，Series capacitance R201 between the base stage of audion T201 and power supply VCC，Series capacitance R202 between the colelctor electrode of audion T201 and power supply VCC，Series capacitance R204 between the colelctor electrode of audion T202 and power supply VCC，Series capacitance R205 between the colelctor electrode of audion T203 and power supply VCC，Series capacitance C202 between the colelctor electrode of audion T201 and the base stage of audion T202,The base stage of audion T202 and inter-collector series resistance R203,The emitter stage of audion T201 and the emitter stage series connection ground connection of audion T202，The transmitting interpolar of the colelctor electrode of audion T202 and audion T203 is sequentially connected in series swept resistance R206 and resistance R208，And series capacitance C203 between the base stage of the sliding end of swept resistance R206 and audion T203，The base stage of audion T203 and inter-collector series resistance R207，And the colelctor electrode of audion T203 connects electric capacity C204，The emitter stage of audion T203 is connected with resistance 208 ground connection.
Resistance R201 is sized to 680K Ω, resistance R202 be sized to 22K Ω, resistance R203 be sized to 220K Ω, resistance R204 be sized to 10K Ω, resistance R205 is sized to 3.3K Ω, resistance R206 be sized to 47K Ω, resistance R207 be sized to 220K Ω, resistance R208 be sized to 100 Ω, electric capacity C201 is sized to 0.1 μ F, electric capacity C202 be sized to 0.1 μ F, electric capacity C203 be sized to 4.7 μ F, electric capacity C204 be sized to 10 μ F.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature carries out equivalent replacement.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (3)
1. a robot parametric controller of sweeping the floor with road real-time detection function, it is characterised in that including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, and controller sends instruction and reminds cleaning garbage storing storage；
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges 360 degree of full-view cameras, the image information of 360 degree of full-view camera collections preserves and is uploaded to remote control center by wireless network while the bin that robot of sweeping the floor is built-in, robot of sweeping the floor remotely is controlled by the remote control module that remote control center can pass through to be arranged in controller, and the priority level that remote control center remotely controls is the highest；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
null2. the robot parametric controller of sweeping the floor with road real-time detection function according to claim 1，It is characterized in that，Described filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
3. the robot parametric controller of sweeping the floor with road real-time detection function according to claim 2, it is characterized in that, the resistance of described resistance R1 is 10K Ω, the resistance of described resistance R2 and resistance R3 is 200 Ω, the resistance of described resistance R4 is 10K Ω, the resistance of described resistance R5 is 54.1K Ω, the capacitance of described electric capacity C1 is 103pF, the capacitance of described electric capacity C2 is 10 μ F, the capacitance of described electric capacity C3 is 4700 μ F, the capacitance of described electric capacity C4 is 103pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
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| CN201610305704.9A CN105773626A (en) | 2016-05-10 | 2016-05-10 | Robotic vacuum cleaner control platform with real-time road detection function |
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| CN201610305704.9A CN105773626A (en) | 2016-05-10 | 2016-05-10 | Robotic vacuum cleaner control platform with real-time road detection function |
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Cited By (8)
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| CN106272331A (en) * | 2016-09-21 | 2017-01-04 | 苏州瑞得恩自动化设备科技有限公司 | The method for path navigation that robot travels in rectangular slope |
| CN106313046A (en) * | 2016-09-27 | 2017-01-11 | 成都普诺思博科技有限公司 | Multi-level obstacle avoidance system of mobile robot |
| CN106493730A (en) * | 2016-10-14 | 2017-03-15 | 广东技术师范学院 | Patrol and examine intelligent robot in a kind of athletic ground based on Internet of Things |
| CN106584454A (en) * | 2016-09-21 | 2017-04-26 | 苏州瑞得恩光能科技有限公司 | Path navigation control method for travelling of robot on rectangular slope |
| CN108431715A (en) * | 2016-07-21 | 2018-08-21 | 苏州宝时得电动工具有限公司 | Automatic identification objects in front from mobile device and its recognition methods |
| CN108894162A (en) * | 2018-06-07 | 2018-11-27 | 深圳市中科智诚科技有限公司 | A kind of new-energy automobile of automatic parking safety |
| WO2020094145A1 (en) * | 2018-11-09 | 2020-05-14 | 苏州瑞得恩光能科技有限公司 | Robot scheduling method |
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| CN108431715B (en) * | 2016-07-21 | 2021-08-10 | 苏州宝时得电动工具有限公司 | Self-moving equipment for automatically identifying front object and identification method thereof |
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| CN106313046A (en) * | 2016-09-27 | 2017-01-11 | 成都普诺思博科技有限公司 | Multi-level obstacle avoidance system of mobile robot |
| CN106493730A (en) * | 2016-10-14 | 2017-03-15 | 广东技术师范学院 | Patrol and examine intelligent robot in a kind of athletic ground based on Internet of Things |
| CN108894162A (en) * | 2018-06-07 | 2018-11-27 | 深圳市中科智诚科技有限公司 | A kind of new-energy automobile of automatic parking safety |
| CN108894162B (en) * | 2018-06-07 | 2020-06-09 | 广东骏凯智能科技集团有限公司 | Automatic safe new energy automobile parks |
| WO2020094145A1 (en) * | 2018-11-09 | 2020-05-14 | 苏州瑞得恩光能科技有限公司 | Robot scheduling method |
| US12053804B2 (en) | 2018-11-09 | 2024-08-06 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Robot scheduling method |
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Application publication date: 20160720 |