CN106020185A - Floor sweeping robot control system having real-time road detection function - Google Patents
Floor sweeping robot control system having real-time road detection function Download PDFInfo
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- CN106020185A CN106020185A CN201610305713.8A CN201610305713A CN106020185A CN 106020185 A CN106020185 A CN 106020185A CN 201610305713 A CN201610305713 A CN 201610305713A CN 106020185 A CN106020185 A CN 106020185A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 55
- 238000001514 detection method Methods 0.000 title claims abstract description 5
- 238000004140 cleaning Methods 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 3
- 238000011086 high cleaning Methods 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a floor sweeping robot control system having a real-time road detection function. The method comprises an ultrasonic sensor, a plurality of ultrasonic range finder sensors, an infrared sensor, a moving track planning module, and a real-time road state obtaining module. The ultrasonic sensor is used for detecting whether an obstacle exists on a marching road of a floor sweeping robot. The multiple ultrasonic range finder sensors are used for preventing the floor sweeping robot from falling. The infrared sensor arranged at the top of a garbage storage cabin of the floor sweeping robot is used for detecting the garbage storage cabin. The moving track planning module arranged in a controller inside the floor sweeping robot is used for planning a driving path; and the controller corrects a moving track of the floor sweeping robot in real time based on positioning information of a positioning module and the driving path planned by the moving track planning module. The real-time road state obtaining module is used for obtaining road information in real time. Besides, a temperature sensor is arranged inside the floor sweeping robot. Therefore, an objective of realization of a high cleaning efficiency is achieved.
Description
Technical field
The present invention relates to field of intelligent control, in particular it relates to a kind of control system for robot of sweeping the floor with road real-time detection function.
Background technology
At present, robot of sweeping the floor is applied the most in the family, and in avenue, main or employing sweeper or the mode of hand sweeping, and use 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, propose a kind of control system for robot 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 control system for robot 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 have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
Sweep the floor robot built-in temperature sensor, the temperature signal swept the floor on robot circuit board of detection is transmitted to controller by temperature sensor, when temperature signal reaches the temperature upper limit set, controller controls to sweep the floor robot break-off, by the time temperature signal reach to set at a temperature of in limited time, the controller robot that controls to sweep the floor works on；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted 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, and the resistance of described resistance R2 and resistance R3 is 200 Ω, and the resistance of described resistance R4 is 10K Ω, and the resistance of described resistance R5 is 54.1
K Ω, the capacitance of described electric capacity C1 is 10 pF, and the capacitance of described electric capacity C2 is 10 μ F, and the capacitance of described electric capacity C3 is 4700 μ F, and the capacitance of described electric capacity C4 is 10 pF, 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 using mechanized operation, intelligentized control method, thus reaches 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 control system for robot 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 control system for robot 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 have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
Sweep the floor robot built-in temperature sensor, the temperature signal swept the floor on robot circuit board of detection is transmitted to controller by temperature sensor, when temperature signal reaches the temperature upper limit set, controller controls to sweep the floor robot break-off, by the time temperature signal reach to set at a temperature of in limited time, the controller robot that controls to sweep the floor works on；
The output signal of ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted 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, and the resistance of resistance R2 and resistance R3 is 200 Ω, and the resistance of resistance R4 is 10K Ω, and the resistance of resistance R5 is 54.1
K Ω, the capacitance of electric capacity C1 is 10 pF, and the capacitance of electric capacity C2 is 10 μ F, and the capacitance of electric capacity C3 is 4700 μ F, and the capacitance of electric capacity C4 is 10 pF, 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 colelctor electrode of audion T202 is sequentially connected in series swept resistance R206 and resistance R208 with the transmitting interpolar of audion T203，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 on the colelctor electrode of audion T203, connect electric capacity C204，The emitter stage of audion T203 is connected with resistance 208 ground connection.
The size of resistance R201 is 680K Ω, the size of resistance R202 is 22K Ω, and the size of resistance R203 is 220K Ω, and the size of resistance R204 is 10K Ω, the size of resistance R205 is 3.3K Ω, the size of resistance R206 is 47K Ω, and the size of resistance R207 is 220K Ω, and the size of resistance R208 is 100 Ω, the size of electric capacity C201 is 0.1 μ F, the size of electric capacity C202 is 0.1 μ F, and the size of electric capacity C203 is 4.7 μ F, and the size of electric capacity C204 is 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 is carried out equivalent.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (3)
1. the control system for robot 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 have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
Sweep the floor robot built-in temperature sensor, the temperature signal swept the floor on robot circuit board of detection is transmitted to controller by temperature sensor, when temperature signal reaches the temperature upper limit set, controller controls to sweep the floor robot break-off, by the time temperature signal reach to set at a temperature of in limited time, the controller robot that controls to sweep the floor works on；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullThe control system for robot of sweeping the floor with road real-time detection function the most 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.
The control system for robot of sweeping the floor with road real-time detection function the most 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 54.1 K Ω, the capacitance of described electric capacity C1 is 10 pF, 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 10 pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610305713.8A CN106020185A (en) | 2016-05-10 | 2016-05-10 | Floor sweeping robot control system having real-time road detection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610305713.8A CN106020185A (en) | 2016-05-10 | 2016-05-10 | Floor sweeping robot control system having real-time road detection function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108360428A (en) * | 2018-04-20 | 2018-08-03 | 吉林大学 | It is a kind of to be used for rubbish automatic Picking, carrying and the sanitation robot of unloading and its control method |
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| CN204799077U (en) * | 2015-06-25 | 2015-11-25 | 蓝海娟 | Air purifier |
| CN105182980A (en) * | 2015-09-23 | 2015-12-23 | 上海物景智能科技有限公司 | Automatic cleaning equipment control system and control method |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
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2016
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101299154A (en) * | 2008-05-23 | 2008-11-05 | 深圳职业技术学院 | Unmanned cleaning device |
| CN203807993U (en) * | 2014-04-11 | 2014-09-03 | 东北林业大学 | Waste containing barrel for automatic cleaning robot |
| CN204071961U (en) * | 2014-09-15 | 2015-01-07 | 湖南格兰博智能科技有限责任公司 | A kind of purification of air sweeping robot |
| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| CN204799077U (en) * | 2015-06-25 | 2015-11-25 | 蓝海娟 | Air purifier |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108360428A (en) * | 2018-04-20 | 2018-08-03 | 吉林大学 | It is a kind of to be used for rubbish automatic Picking, carrying and the sanitation robot of unloading and its control method |
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