CN106502241A - A kind of sweeping robot intelligent barrier avoiding and alignment system - Google Patents
A kind of sweeping robot intelligent barrier avoiding and alignment system Download PDFInfo
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- CN106502241A CN106502241A CN201510562461.2A CN201510562461A CN106502241A CN 106502241 A CN106502241 A CN 106502241A CN 201510562461 A CN201510562461 A CN 201510562461A CN 106502241 A CN106502241 A CN 106502241A
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- sweeping robot
- alignment system
- intelligent barrier
- barrier avoiding
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- 238000010408 sweeping Methods 0.000 title claims abstract description 33
- 230000004888 barrier function Effects 0.000 title claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims abstract description 11
- 230000008054 signal transmission Effects 0.000 claims abstract 3
- 238000002366 time-of-flight method Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 208000010877 cognitive disease Diseases 0.000 abstract 1
- 238000004140 cleaning Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The invention discloses a kind of sweeping robot intelligent barrier avoiding and alignment system, including housing, infrared light emission module, infrared light emission lens group, infrared optical receiver lens group, optical signal processing unit, wireless signal transmission module, single-phase DC motor, definite proportion parallel-shaft gearbox, slip ring and corresponding drive circuit composition.Present configuration is compact, can accurate, specific cognitive disorders thing distance and disturbance in judgement thing size, the intelligent decision for sweeping robot provides reliable physical basis.
Description
The present invention relates to a kind of sweeping robot intelligent barrier avoiding and positioning field, more particularly to a kind of sweeping robot avoidance alignment system and its method.
Background technology
Barrier is evaded, it is the important topic of robot field's research at present that environmental map is drawn with work planning, sweeping robot is in order to preferably complete task, generate its a working environment map, then most rational operating path is cooked up according to the understanding to this environmental map, improves cleaning efficiency.
The popular sweeping robot of existing market is that the contact based on crash sensor is navigated, sweeping robot i.e. conversion work path after colliding, due to making intelligent decision, the such as volume of barrier to barrier,, therefore there is the low shortcoming of cleaning coverage rate in type etc..And danger or loss can be caused with breakable object when colliding.
Existing sweeping robot intelligent barrier avoiding method, is mainly based upon ultrasonic ranging avoidance technology or laser ranging avoidance technology at present.
Ultrasonic ranging method sends ultrasound wave by supersonic generator first, returns in receptor when running into barrier, and according to the signal difference that transmitting is received, the spread speed based on sound wave is so as to calculating range-to-go；But ultrasonic ranging：1）The speed of sound is disturbed by temperature and direction；2）Principle is limited, and there is at least tens millimeters of range hole, and 3）And cannot normally transmission signal and reception signal on rough solidss such as indoor carpet.
Laser ranging avoidance technology is that according to certain angular emission infrared beam, after object is run into, light beam can be reflected laser based on principle of triangulation；After the light for reflecting is detected by CCD-detector, using triangle relation, calculated by geometrical relationship based on the distance of launch angle, angle f of filter, offset distance, sensor to barrier, and precision can reach grade；Principle from laser ranging：1）Laser ranging equally exists check frequency；2）The energy accumulating of laser easily causes safety hazard to people or animal in light beam.
In sum, for sweeping robot, the barrier of prior art is evaded, and environmental map is drawn and work planning, and effect is not highly desirable, in actual application still has a lot of problems to need to solve.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, a kind of sweeping robot is provided and accurately finds barrier, measurement obstacle distance, avoiding barrier and effective and reasonable planning route in the course of the work, the invention provides a kind of sweeping robot intelligent barrier avoiding and alignment system.
The technical solution adopted for the present invention to solve the technical problems, it is achieved through the following technical solutions, the present invention includes housing, infrared light emission module, infrared light emission lens group, infrared optical receiver lens group, optical signal processing unit (epc chips), wireless transmitter module, single-phase DC motor, definite proportion parallel-shaft gearbox, slip ring and corresponding drive circuit composition, the method comprising the steps of.
(1) infrared transmission module drives infrared LED to send 860 nm infrared ray in current-modulation mode in transmitting terminal after receiving measuring command, after focusing on through stationary lens group, is emitted directly toward in environment.
(2) infrared light is propagated in atmosphere, runs into barrier and reflected and scattered in way, and infrared light receiver receives reflected light and sends the signal to OSP（Epc chips）.
（3）OSP carries out the above-mentioned infrared light for receiving and the light for sending than phase, obtain transmitting infrared light and receive the phase contrast of infrared light, relative distance is calculated using TOF methods, and by the data calibration of ambient light and temperature be accurate distance numerical value, then send distance value to robot ambulation control module, realize that smart machine automatic range avoids the function of barrier.
In the present invention, TOF range-measurement systems can be always maintained at quick rotation, and during rotation, system can complete 360 degree of quick scannings of effective radius to around, so as to find obstacle, then the instruction of adjustment position is sent to sweeping robot, it is to avoid the people or property of surrounding are damaged.
In the present invention, signal processing module is made up of photoelectric switching circuit, amplifier etc., realizes the functions such as opto-electronic conversion, amplification, input impedance matching, automatic growth control.Focus on after epc chips through the infrared waveses that barrier is reflected, optical signal is converted into the signal of telecommunication, couple with main amplifier through impedance transformation amplifier, complementary output is made by differential amplifier.Simultaneously in order that system keeps steady-working state, by single-chip microcomputer, large range of automatic growth control is employed, carry out dynamic compensation.
Compared with prior art, the invention has the beneficial effects as follows.
A kind of sweeping robot intelligent barrier avoiding of the present invention and alignment system, measure the information such as the distance and size of barrier accurately, and the intelligent decision for sweeping robot provides reliable physical basis.
A kind of sweeping robot intelligent barrier avoiding of the present invention and alignment system so that sweeping robot automated intelligent, without the need for behavior adjustment management, you can effectively completes the function of expected cleaning automatically, and can cook up rational cleaning region.
A kind of sweeping robot intelligent barrier avoiding of the present invention and alignment system, compact conformation, low manufacture cost can modulate optimization and upgrading with later stage program.
Description of the drawings
Fig. 1 is the fundamental diagram of the present invention.
Fig. 2 is the schematic diagram of the present invention.
Fig. 3 is a kind of exploded perspective view of example of the present invention.
Fig. 4 is a kind of structure chart of example of the present invention.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to described below.
As shown in Figure 2, in an example of the present invention, including housing, infrared light emission module 1, infrared light emission lens group 2, infrared optical receiver lens group 3, optical signal processing unit (epc chips) 4, single-phase DC motor 5, definite proportion parallel-shaft gearbox, slip ring and corresponding drive circuit composition.
(1) after infrared transmission module 1 receives measuring command, drive infrared LED to send infrared ray in current-modulation mode, after focusing on through infrared light emission lens group 2, be emitted directly toward in environment.
(2) infrared light is propagated in atmosphere, is run into barrier and is reflected and scattered, receive reflected light and send the signal to OSP through infrared optical receiver lens group in way.
（3）OSP carries out the infrared light for receiving and the light for sending than phase, obtain transmitting infrared light and receive the phase contrast of infrared light, relative distance is calculated using TOF methods, and by the data calibration of ambient light and temperature be accurate distance numerical value, then distance value is sent to sweeping robot travelling control module, the intelligent decision for sweeping robot provides reliable physical basis.
In the present invention, TOF range-measurement systems can be always maintained at quick rotation, and during rotation, system can complete 360 degree of quick scannings of effective radius to around, so as to find obstacle, then the instruction of adjustment position is sent to sweeping robot, it is to avoid the people or property of surrounding are damaged.
Above-described is only actual embodiment of the invention, the invention is not restricted to above practical embodiments.It is appreciated that the oher improvements and changes that those skilled in the art directly derive without departing from the spirit and concept in the present invention or associate, are considered as being included within protection scope of the present invention.
Claims (8)
1. a kind of sweeping robot intelligent barrier avoiding and alignment system, it is characterised in that：The present invention includes housing, infrared light emission module, infrared light emission lens group, infrared optical receiver lens group, optical signal processing unit, wireless signal transmission module, single-phase DC motor, definite proportion parallel-shaft gearbox, slip ring and corresponding drive circuit composition.
2. a kind of sweeping robot intelligent barrier avoiding according to claim 1 and alignment system, it is characterised in that：Sweeping robot accurately measures the distance between itself and barrier, the position of disturbance in judgement thing based on TOF methods, and transmits signals to the travelling control module of sweeping robot.
3. a kind of sweeping robot intelligent barrier avoiding according to claim 2 and alignment system, it is characterised in that：Range-measurement system can be always maintained at quickly at the uniform velocity rotating, and during rotation, system can complete 360 degree of effective radius to around and scan continuously and healthily, so as to find obstacle.
4. a kind of sweeping robot intelligent barrier avoiding according to claim 3 and alignment system, it is characterised in that：The data signal that range-measurement system is obtained can pass through the travelling control module of wireless device transmissions to sweeping robot, can be without slip ring；Wireless signal transmission can be bluetooth module, Wi-Fi module, NRF24L01 modules and infrared module etc..
5. a kind of sweeping robot intelligent barrier avoiding according to claim 3 and alignment system, it is characterised in that：Single-phase DC motor drives TOF system to carry out 360 degree of rotations by definite proportion parallel-shaft gearbox, has magnetic shield component, for avoiding the leakage field of motor from disturbing outside single-phase DC motor.
6. a kind of sweeping robot intelligent barrier avoiding according to claim 3 and alignment system, it is characterised in that：The single-phase DC motor encoder that rotates a circle exports multiple test point signals, and definite proportion parallel-shaft gearbox speed reducing ratio is 1: x（X is the natural number more than 1）, that is, the multiple test points that uniformly obtain that rotate a circle of popping one's head in.
7. a kind of sweeping robot intelligent barrier avoiding according to claim 2 and alignment system, it is characterised in that：The infrared light emission peak that infrared emission end sends is located at the near infrared region of 780 nm-1500nm.
8. a kind of sweeping robot intelligent barrier avoiding according to claim 1 and alignment system, it is characterised in that：Chip of the optical signal processing unit for TOF computed ranges.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510562461.2A CN106502241A (en) | 2015-09-07 | 2015-09-07 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
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| CN201510562461.2A CN106502241A (en) | 2015-09-07 | 2015-09-07 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
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| CN201510562461.2A Pending CN106502241A (en) | 2015-09-07 | 2015-09-07 | A kind of sweeping robot intelligent barrier avoiding and alignment system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842956A (en) * | 2017-03-17 | 2017-06-13 | 葛辰雨 | Obstacle Avoidance and system |
| CN107745381A (en) * | 2017-09-29 | 2018-03-02 | 南京昱晟机器人科技有限公司 | A kind of robot and its method for identifying roadblock |
| CN108236434A (en) * | 2018-02-13 | 2018-07-03 | 深圳市昊宇世纪科技有限公司 | The steering structure of automated steering device |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106842956A (en) * | 2017-03-17 | 2017-06-13 | 葛辰雨 | Obstacle Avoidance and system |
| CN106842956B (en) * | 2017-03-17 | 2018-02-23 | 葛辰雨 | Obstacle Avoidance and system |
| CN107745381A (en) * | 2017-09-29 | 2018-03-02 | 南京昱晟机器人科技有限公司 | A kind of robot and its method for identifying roadblock |
| CN108236434A (en) * | 2018-02-13 | 2018-07-03 | 深圳市昊宇世纪科技有限公司 | The steering structure of automated steering device |
| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN109932726B (en) * | 2019-04-18 | 2020-08-18 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
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Application publication date: 20170315 |