CN105786005A - Sweeping robot control system - Google Patents
Sweeping robot control system Download PDFInfo
- Publication number
- CN105786005A CN105786005A CN201610305723.1A CN201610305723A CN105786005A CN 105786005 A CN105786005 A CN 105786005A CN 201610305723 A CN201610305723 A CN 201610305723A CN 105786005 A CN105786005 A CN 105786005A
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- robot
- sweeping
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- transport
- electric capacity
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- 238000010408 sweeping Methods 0.000 title claims abstract description 51
- 230000004888 barrier function Effects 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a sweeping robot control system, and the system comprises a supersonic sensor which is used for detecting whether there is a barrier on the moving path of a sweeping robot or not; a plurality of supersonic distance measuring sensors which prevent the sweeping robot from falling off; an infrared sensor which is disposed at the top of a garbage storage bin of the sweeping robot, and is used for detecting the garbage storage bin; and a moving trajectory planning module which is disposed in a controller in the sweeping robot and used for planning a driving path. The controller carries out the real-time correction of the moving trajectory of the sweeping robot according to the positioning information of the positioning module and the moving trajectory planned by the moving trajectory planning module. The output signals of the supersonic sensor, the supersonic distance measuring sensors and the infrared sensor sequentially pass through a filtering circuit, an amplifying circuit and an analog-digital conversion circuit, and then are transmitted to the controller. The system achieves the purpose of improving the sweeping efficiency.
Description
Technical field
The present invention relates to field of intelligent control, in particular it relates to one is swept the floor, robot controls system.
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 one sweep the floor robot control system, with realizes raising sweeping efficiency advantage.
For achieving the above object, the technical solution used in the present invention is:
One sweep the floor robot control system, 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 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 that the robot of sweeping the floor described in the embodiment of the present invention controls system；
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, one is swept the floor, robot controls system, 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 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 of sweeping the floor controls system, 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 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. robot of sweeping the floor according to claim 1 controls system，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. robot of sweeping the floor according to claim 2 controls system, it is characterized in that, the resistance of described resistance R1 is 10K Ω, and the resistance of described resistance R2 and resistance R3 is 200 Ω, and 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, and the capacitance of described electric capacity C2 is 10 μ F, and 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305723.1A CN105786005A (en) | 2016-05-10 | 2016-05-10 | Sweeping robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305723.1A CN105786005A (en) | 2016-05-10 | 2016-05-10 | Sweeping robot control system |
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| Publication Number | Publication Date |
|---|---|
| CN105786005A true CN105786005A (en) | 2016-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610305723.1A Pending CN105786005A (en) | 2016-05-10 | 2016-05-10 | Sweeping robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020207173A1 (en) * | 2019-04-08 | 2020-10-15 | 速感科技（北京）有限公司 | Ground detection method, ground detector, and autonomous mobile device |
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|---|---|---|---|---|
| KR20000002310A (en) * | 1998-06-18 | 2000-01-15 | 배길성 | Cleaning control device of robot cleaner and method thereof |
| CN101313829A (en) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | Cleaning robot |
| CN201404156Y (en) * | 2009-04-16 | 2010-02-17 | 泰怡凯电器(苏州)有限公司 | Mobile intelligent robot |
| CN201861567U (en) * | 2010-11-04 | 2011-06-15 | 长安大学 | Intelligent floor cleaning device |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN104181925A (en) * | 2014-09-15 | 2014-12-03 | 湖南格兰博智能科技有限责任公司 | Automatic ground cleaning robot capable of automatically calibrating running route |
| CN104887155A (en) * | 2015-05-21 | 2015-09-09 | 南京创维信息技术研究院有限公司 | Intelligent sweeper |
| CN105212840A (en) * | 2015-09-07 | 2016-01-06 | 河池学院 | Clean robot and control method thereof |
-
2016
- 2016-05-10 CN CN201610305723.1A patent/CN105786005A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20000002310A (en) * | 1998-06-18 | 2000-01-15 | 배길성 | Cleaning control device of robot cleaner and method thereof |
| CN101313829A (en) * | 2007-05-31 | 2008-12-03 | 三星光州电子株式会社 | Cleaning robot |
| CN201404156Y (en) * | 2009-04-16 | 2010-02-17 | 泰怡凯电器(苏州)有限公司 | Mobile intelligent robot |
| CN201861567U (en) * | 2010-11-04 | 2011-06-15 | 长安大学 | Intelligent floor cleaning device |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN104181925A (en) * | 2014-09-15 | 2014-12-03 | 湖南格兰博智能科技有限责任公司 | Automatic ground cleaning robot capable of automatically calibrating running route |
| CN104887155A (en) * | 2015-05-21 | 2015-09-09 | 南京创维信息技术研究院有限公司 | Intelligent sweeper |
| CN105212840A (en) * | 2015-09-07 | 2016-01-06 | 河池学院 | Clean robot and control method thereof |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020207173A1 (en) * | 2019-04-08 | 2020-10-15 | 速感科技（北京）有限公司 | Ground detection method, ground detector, and autonomous mobile device |
| CN111796290A (en) * | 2019-04-08 | 2020-10-20 | 速感科技（北京）有限公司 | Ground detection method, ground detector and autonomous mobile device |
| CN111796290B (en) * | 2019-04-08 | 2023-10-10 | 速感科技（北京）有限公司 | Ground detection method, ground detector and autonomous mobile device |
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Application publication date: 20160720 |
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