CN111608124A - Autonomous navigation method for cleaning robot in high-speed service area - Google Patents
Autonomous navigation method for cleaning robot in high-speed service area Download PDFInfo
- Publication number
- CN111608124A CN111608124A CN202010397617.7A CN202010397617A CN111608124A CN 111608124 A CN111608124 A CN 111608124A CN 202010397617 A CN202010397617 A CN 202010397617A CN 111608124 A CN111608124 A CN 111608124A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- route
- service area
- module
- speed service
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- 238000004804 winding Methods 0.000 claims abstract description 4
- 239000000428 dust Substances 0.000 claims description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 14
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 abstract description 9
- 241001417527 Pempheridae Species 0.000 abstract description 3
- 230000008859 change Effects 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Images
Classifications
-
- 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
- E01H1/08—Pneumatically dislodging or taking-up undesirable matter or small objects; Drying by heat only or by streams of gas; Cleaning by projecting abrasive particles
- E01H1/0827—Dislodging by suction; Mechanical dislodging-cleaning apparatus with independent or dependent exhaust, e.g. dislodging-sweeping machines with independent suction nozzles ; Mechanical loosening devices working under vacuum
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an autonomous navigation method for a cleaning robot in a high-speed service area, which comprises the following operation steps: receiving a cleaning instruction, and planning a cleaning route by the processor according to the parking position information; driving a traveling mechanism to perform route traveling through a controller; periodically scanning the traveling direction and the side area by an ultrasonic distance sensor; scanning the size of the obstacle according to the camera and uploading the size to a processor to judge whether the obstacle needs to detour; and if the obstacle identification needs to be bypassed, combining the existing route to give a new route scheme for bypassing, and then driving the walking module to follow the new winding route. The technical scheme is that the sweeper robot is used for automatically sweeping the high-speed service area through a route formulated in the controller, obstacles and risks can be automatically avoided through uploading of automobile automatic positioning information and setting of an obstacle bypassing mechanism, and the sweeper robot can be well adapted to large automobile flow quantity and frequent change of automobile information in the high-speed service area.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to an autonomous navigation method for a cleaning robot in a high-speed service area.
Background
The expressway service area is a place special for passengers and drivers to rest, and facilities such as parking lots, public toilets, gas stations, vehicle repair centers, catering and canteens and the like are provided, and the average distance is about 50 kilometers. The scale of the service area is adapted to the future traffic growth.
The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
However, the existing sweeping robots perform walking sweeping through the original built-in sweeping map, but the existing sweeping robots cannot complete the sweeping task because the automobile flow volume in the high-speed service area is large and the automobile information changes frequently, and therefore, the problem is solved through the invention of the autonomous navigation method of the high-speed service area sweeping robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an autonomous navigation method of a cleaning robot in a high-speed service area to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a high-speed service area cleans machine people, includes and cleans module, image acquisition module, walking module and treater, the treater is connected in cleaning module, image acquisition module and walking module respectively, and parking information and the image acquisition module through the high in the clouds formulate and clean the route map, remove through running gear drive robot, accomplish the regional cleaning of robot process through cleaning the mechanism.
Further, clean the module including cleaning the mechanism, dust absorption mechanism, drag ground mechanism and water spray mechanism, at first clear up the back with the great debris in ground top through cleaning the module, place in the dust bag and store after the dust suction device inhales the dust on ground, drag the aforesaid ground through cleaning and dust absorption through dragging ground device, the afterbody that cleans the robot at last is provided with water spray mechanism, will clean the ground after the completion and spray water the dust fall, promote the environment of service area, through cleaning the multi-level processing of module, promote the quality of cleaning.
Further, the image acquisition module is including millimeter wave radar, infrared range finding and camera, and wherein the millimeter wave radar carries out the range finding use, measures the size of barrier, and subsequent judgement of being convenient for, infrared range finding can carry out distance measurement and simultaneously can measure the temperature of barrier, avoids being close to the high temperature object who surpasss the settlement scope, protects the robot and carries out real-time warning, the camera passes through image acquisition to the manual control center with the condition that control program can't discern and carries out artifical discernment and control, image acquisition's comprehensiveness and accuracy nature.
An autonomous navigation method for a cleaning robot in a high-speed service area is characterized by comprising the following steps: the operation steps are as follows:
step one, receiving a cleaning instruction, and planning a cleaning route by a processor according to parking position information;
starting from an initial point, the cleaning robot drives the traveling mechanism to travel along a route through the controller, and meanwhile, the cleaning module is opened to clean;
step three, periodically scanning the traveling direction and the side area through an ultrasonic distance sensor, if the distance of the scanned obstacles is less than a set value, controlling the traveling device to decelerate or stop, and starting a camera;
step four, scanning the size of the obstacle according to the camera and uploading the size to a processor, judging whether the obstacle needs to be bypassed, and if the obstacle does not need to be bypassed, continuing to clean according to an original route;
step five, if the obstacle needs to be bypassed, combining the existing route to give a new bypassing route scheme, and then driving a walking module to walk and clean according to the new winding route;
and step six, controlling the walking device to continue walking according to the new cleaning route scheme until all cleaning tasks are completed, and then returning to the starting point for charging and maintaining.
Further, in the first step, the parked vehicles in the service area are firstly accurately sent to the control center, and the original map is appointed according to the combination of the information and the map of the service area, so that the map is the basis of a route map for subsequent cleaning.
Furthermore, in the fourth step, the judgment of the obstacles is carried out after the information of the obstacles is collected and compared with the database, and when the obstacles cannot be identified, the video images are collected by the camera for manual identification and judgment.
Further, the maintenance in step six includes regular machine inspection, dust bag cleaning and water tank filling.
In conclusion, the invention has the following beneficial effects:
1. the cleaning robot can automatically clean the high-speed service area through a route formulated in the controller, obstacles and risks can be automatically avoided through uploading of automatic positioning information of the automobile and setting of an obstacle bypassing mechanism, the automatic cleaning robot can well adapt to large automobile flow quantity and frequent change of automobile information in the high-speed service area, accordingly, labor cost can be saved, manual cleaning is not needed, and cleaning efficiency and quality are improved;
2. the ground which is cleaned and subjected to dust absorption is dragged by the floor dragging device, and finally, a water spraying mechanism is arranged at the tail of the cleaning robot, so that the cleaned ground is sprayed with water for dust reduction, the environment of a service area is improved, and the cleaning quality is improved by multi-level processing of the cleaning module;
3. the infrared distance measurement can be carried out the temperature that can measure the barrier when distance measurement, avoids being close to the high temperature object that surpasss the settlement scope, and the protection robot carries out real-time warning, and the camera passes through image acquisition with the condition that control program can't be discerned and carries out artifical discernment and control, image acquisition's comprehensiveness and accuracy nature to the manual control center.
Drawings
FIG. 1 is a flowchart of the overall control in the present embodiment;
FIG. 2 is a block diagram showing the components of the cleaning module in the present embodiment;
fig. 3 is a block diagram of the image capturing module according to the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1, a high-speed service area cleaning robot in a preferred embodiment of the present invention includes a cleaning module, an image collecting module, a walking module and a processor, where the processor is connected to the cleaning module, the image collecting module and the walking module, respectively, a cleaning route map is formulated by using parking information at a cloud and the image collecting module, the robot is driven by a walking mechanism to move, and the cleaning of an area where the robot passes is completed by a cleaning mechanism;
the cleaning module comprises a cleaning mechanism, a dust suction mechanism, a floor mopping mechanism and a water spraying mechanism, wherein after large sundries above the ground are cleaned through the cleaning module, dust on the ground is sucked through a dust suction device and then is placed in a dust bag for storage, the ground which is cleaned and subjected to dust suction is dragged through the floor mopping device, finally, the water spraying mechanism is arranged at the tail of the cleaning robot, the ground which is cleaned is sprayed with water, the environment of a service area is improved, and the cleaning quality is improved through multi-level treatment of the cleaning module;
the image acquisition module comprises a millimeter wave radar, an infrared distance measurement module and a camera, wherein the millimeter wave radar is used for distance measurement, the size of the obstacle is measured, subsequent judgment is facilitated, the infrared distance measurement module can measure the temperature of the obstacle while measuring the distance, the high-temperature object beyond a set range is prevented from approaching, the robot is protected, real-time alarm is carried out, the camera acquires the situation that a control program cannot be identified to a manual control center through an image, and the comprehensiveness and accuracy of image acquisition are achieved;
the operation steps of the autonomous navigation method of the cleaning robot in the high-speed service area are as follows:
firstly, vehicles parked in a service area accurately send positions to a control center, cleaning instructions are received, and a processor plans a cleaning route according to parking position information;
starting from an initial point, the cleaning robot drives the traveling mechanism to travel along a route through the controller, and meanwhile, the cleaning module is opened to clean;
step three, periodically scanning the traveling direction and the side area through an ultrasonic distance sensor, if the distance of the scanned obstacles is less than a set value, controlling the traveling device to decelerate or stop, and starting a camera;
step four, scanning the size of the obstacle according to the camera and uploading the size to a processor, comparing the acquired information of the obstacle with a database, judging whether the obstacle needs to be bypassed or not, and if the obstacle does not need to be bypassed, continuing to clean according to an original route;
step five, if the obstacle needs to be bypassed, combining the existing route to give a new bypassing route scheme, and then driving a walking module to walk and clean according to the new winding route;
and step six, controlling the walking device to continue walking according to a new cleaning route scheme until all cleaning tasks are completed, and then returning to the starting point for charging and maintaining, wherein the maintenance mainly comprises routine machine inspection, dust bag cleaning and water tank water adding.
To sum up, the cleaning robot can automatically clean the high-speed service area through the sweeper robot through the route established in the controller, obstacles and risks can be automatically avoided through uploading of automobile automatic positioning information and setting of an obstacle bypassing mechanism, the cleaning robot can be well adapted to large automobile flow amount and frequent change of automobile information in the high-speed service area, accordingly, labor cost can be saved, manual cleaning is not needed, and cleaning efficiency and quality are improved
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A high-speed service area cleaning robot is characterized in that: including cleaning module, image acquisition module, walking module and treater, the treater is connected in cleaning module, image acquisition module and walking module respectively, and parking information and the image acquisition module through the high in the clouds formulate and clean the route map, move through running gear drive robot, accomplish the regional cleaning of robot process through cleaning the mechanism.
2. The high-speed service area cleaning robot according to claim 1, wherein: the cleaning module comprises a cleaning mechanism, a dust suction mechanism, a mopping mechanism and a water spraying mechanism, after large sundries above the ground are cleaned through the cleaning module, dust on the ground is sucked through the dust suction device and then is placed in a dust bag for storage, the ground cleaned and sucked is dragged through the mopping device, and finally the water spraying mechanism is arranged at the tail of the cleaning robot.
3. The high-speed service area cleaning robot according to claim 1, wherein: the image acquisition module is including millimeter wave radar, infrared range finding and camera, and wherein the millimeter wave radar is carried out the range finding and is used, infrared range finding can carry out distance measurement and simultaneously can measure the temperature of barrier, the camera passes through image acquisition to the manual control center with the condition that control program can't discern and carries out artifical discernment and control.
4. An autonomous navigation method for a cleaning robot in a high-speed service area is characterized by comprising the following steps: the operation steps are as follows:
step one, receiving a cleaning instruction, and planning a cleaning route by a processor according to parking position information;
starting from an initial point, the cleaning robot drives the traveling mechanism to travel along a route through the controller, and meanwhile, the cleaning module is opened to clean;
step three, periodically scanning the traveling direction and the side area through an ultrasonic distance sensor, if the distance of the scanned obstacles is less than a set value, controlling the traveling device to decelerate or stop, and starting a camera;
step four, scanning the size of the obstacle according to the camera and uploading the size to a processor, judging whether the obstacle needs to be bypassed, and if the obstacle does not need to be bypassed, continuing to clean according to an original route;
step five, if the obstacle needs to be bypassed, combining the existing route to give a new bypassing route scheme, and then driving a walking module to walk and clean according to the new winding route;
and step six, controlling the walking device to continue walking according to the new cleaning route scheme until all cleaning tasks are completed, and then returning to the starting point for charging and maintaining.
5. The autonomous navigation method of the high-speed service area cleaning robot according to claim 4, characterized in that: in the first step, the parked vehicles in the service area accurately send the positions to the control center, and the original map is appointed according to the combination of the information and the map of the service area, so that the map is the basis of a route map for subsequent cleaning.
6. The autonomous navigation method of the high-speed service area cleaning robot according to claim 4, characterized in that: and in the fourth step, the judgment of the barrier is carried out after the information of the barrier is collected and compared with the database, and when the barrier cannot be identified, the video image is collected by the camera for manual identification and judgment.
7. The autonomous navigation method of the high-speed service area cleaning robot according to claim 4, characterized in that: the maintenance in step six includes routine machine inspection, dust bag cleaning and water tank filling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010397617.7A CN111608124A (en) | 2020-05-12 | 2020-05-12 | Autonomous navigation method for cleaning robot in high-speed service area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010397617.7A CN111608124A (en) | 2020-05-12 | 2020-05-12 | Autonomous navigation method for cleaning robot in high-speed service area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111608124A true CN111608124A (en) | 2020-09-01 |
Family
ID=72205126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010397617.7A Withdrawn CN111608124A (en) | 2020-05-12 | 2020-05-12 | Autonomous navigation method for cleaning robot in high-speed service area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111608124A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112482297A (en) * | 2020-11-17 | 2021-03-12 | 中铁十七局集团有限公司铺架分公司 | Detection and cleaning instrument and method for foreign matter in gap between floating plate and tunnel upper arch |
| CN112896102A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN113876246A (en) * | 2021-08-31 | 2022-01-04 | 洁博士南京环保设备有限公司 | Control method for visual obstacle avoidance of mechanical arm of intelligent cleaning robot |
| CN114645527A (en) * | 2022-05-23 | 2022-06-21 | 深圳市国天电子股份有限公司 | Intelligent industrial robot based on millimeter wave radar and method thereof |
| CN115185285A (en) * | 2022-09-06 | 2022-10-14 | 深圳市信诚创新技术有限公司 | Automatic obstacle avoidance method, device and equipment for dust collection robot and storage medium |
| CN115407764A (en) * | 2021-05-26 | 2022-11-29 | 苏州宝时得电动工具有限公司 | Self-moving equipment |
-
2020
- 2020-05-12 CN CN202010397617.7A patent/CN111608124A/en not_active Withdrawn
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112482297A (en) * | 2020-11-17 | 2021-03-12 | 中铁十七局集团有限公司铺架分公司 | Detection and cleaning instrument and method for foreign matter in gap between floating plate and tunnel upper arch |
| CN112482297B (en) * | 2020-11-17 | 2022-07-29 | 中铁十七局集团有限公司铺架分公司 | Instrument and method for detecting and cleaning foreign matters in gap between floating plate and tunnel upper arch |
| CN112896102A (en) * | 2021-03-27 | 2021-06-04 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN112896102B (en) * | 2021-03-27 | 2022-08-05 | 湖南凌翔磁浮科技有限责任公司 | High-efficiency intelligent purging method, storage medium, terminal and system for rail transit vehicle |
| CN115407764A (en) * | 2021-05-26 | 2022-11-29 | 苏州宝时得电动工具有限公司 | Self-moving equipment |
| CN113876246A (en) * | 2021-08-31 | 2022-01-04 | 洁博士南京环保设备有限公司 | Control method for visual obstacle avoidance of mechanical arm of intelligent cleaning robot |
| CN114645527A (en) * | 2022-05-23 | 2022-06-21 | 深圳市国天电子股份有限公司 | Intelligent industrial robot based on millimeter wave radar and method thereof |
| CN115185285A (en) * | 2022-09-06 | 2022-10-14 | 深圳市信诚创新技术有限公司 | Automatic obstacle avoidance method, device and equipment for dust collection robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111608124A (en) | Autonomous navigation method for cleaning robot in high-speed service area | |
| CN111736603B (en) | Unmanned sweeper and long-distance welt sweeping method thereof | |
| CN108733061B (en) | Path correction method for cleaning operation | |
| WO2021208380A1 (en) | Disinfection and cleaning operation effect testing method and device for epidemic prevention disinfection and cleaning robot | |
| CN107703930B (en) | The continuous of robot sweeps control method | |
| WO2021208381A1 (en) | Epidemic-prevention disinfection and cleaning robot | |
| CN205530067U (en) | Road is motor sweeper independently based on laser and vision | |
| WO2020114019A1 (en) | Sanitation intelligent cleaning and sweeping operation robot control system and cleaning machinery | |
| CN105291112B (en) | A kind of patrol robot | |
| CN110755002B (en) | Intelligent multifunctional outdoor cleaning robot | |
| CN106702937A (en) | Sanitation vehicle with automatic sweeping function and automatic driving method thereof | |
| WO2017133708A1 (en) | Automatic walking snow removal apparatus | |
| CN108716201B (en) | Collaborative sweeping method | |
| CN107544517A (en) | The control method of Intelligent cleaning robot | |
| CN108086214B (en) | Outdoor cleaning robot | |
| CN105705702A (en) | Walking type intelligent robot cleaning device | |
| CN110946508B (en) | Control method and device of sweeping robot using laser radar and camera | |
| CN211534259U (en) | Unmanned ground washing device | |
| CN210446911U (en) | Commercial automatic floor cleaning and sweeping machine | |
| CN113353499A (en) | Automatic cleaning system and method for vehicle-mounted dustbin of unmanned sweeper | |
| WO2023274339A1 (en) | Self-propelled working system | |
| CN110924341A (en) | Garbage cleaning system, cleaning equipment and cleaning method | |
| CN114281082A (en) | Unmanned sanitation vehicle | |
| CN206616503U (en) | A kind of cleaning car of automatic cleaning | |
| CN108762275B (en) | Collaborative sweeping method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200901 |
|
| WW01 | Invention patent application withdrawn after publication |