CN101446832A - Automatic obstacle-avoiding method of robot cleaner and control method thereof - Google Patents
Automatic obstacle-avoiding method of robot cleaner and control method thereof Download PDFInfo
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- CN101446832A CN101446832A CNA2007101906193A CN200710190619A CN101446832A CN 101446832 A CN101446832 A CN 101446832A CN A2007101906193 A CNA2007101906193 A CN A2007101906193A CN 200710190619 A CN200710190619 A CN 200710190619A CN 101446832 A CN101446832 A CN 101446832A
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Abstract
The invention relates to an automatic obstacle-avoiding method of a robot cleaner and a control method thereof. The robot cleaner comprises a dust collecting body, a base station and a control circuit. The dust collecting body is provided with a left wheel and a right wheel. The top of the base station is provided with an infrared emitter. The upper part of the dust collecting body is provided with an infrared receiver which receives an infrared communication signal emitted from the base station. The control circuit comprises a singlechip, a drive circuit, a current feedback circuit, an anti-dropping circuit, an infrared receiving circuit and a voltage monitoring circuit. The singlechip controls the operation of the robot cleaner according to the relative positions of the dust collecting body and the base station. When meeting obstacle, the singlechip judges and controls the dust collecting body to avoid the obstacle and next moving direction. After collecting dust for a period of time, the dust collecting body returns to the base station for pumping the dust and charging automatically. The robot cleaner manufactured by the invention has simple structure, reliable control and stable performance and can fulfill unattended intelligentized cleaning.
Description
Technical field
The present invention relates to a kind of robot cleaner automatic obstacle-avoiding and control method thereof.
Background technology
Robot cleaner commonly used when running into obstacle such as furniture or wall, often adopts ultrasonic sensor to keep away barrier.But the problem that this barrier-avoiding method runs into is: in order to determine the scope of perform region, must travel and unactual execution cleaning along the profile of perform region, so reduced the actual effectively running time of robot cleaner body.In addition, adopting infrared distance sensor also is a kind of comparatively general barrier-avoiding method, but adopts the clean robot of infrared distance sensor, except aforesaid problem, is subjected to the influence of environment easily.Simultaneously, it need set up photoelectric code disk or telepilot control, and its components and parts price is higher, algorithm routine is complicated, has increased the complicacy of robot cleaner system, and its reliability will be affected.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of robot cleaner automatic obstacle-avoiding and control method thereof.This robot cleaner is made up of dust suction body and base station.In the whole dust suction process of dust suction body, can keep away barrier, simultaneously also can and the base station between hold on a correspondence, make the dust suction of dust suction body, keep away barrier, and can independently get back to the base station and take out dirt and charging.
For solving the problems of the technologies described above, a kind of robot cleaner automatic obstacle-avoiding of the present invention and control method thereof, comprise dust suction body, base station and control circuit, the dust suction body is provided with left and right the wheel, automatically return the base station charging after the dust suction of dust suction body and take out dirt, its inventive point is: top, described base station is provided with infrared transmitter, constantly sends infrared wave to the dust suction body, be provided with four infrared remote receivers on dust suction body top, receive the infrared communication signal that sends from the base station.
As a kind of improvement of the present invention, described control circuit comprises single-chip microcomputer U5, driving circuit, current feedback circuit, fall arrest circuit, infrared receiving circuit, voltage monitoring circuit, described driving circuit is connected with single-chip microcomputer U5, is used to drive revolver motor D1, right turbin generator D2; Described current feedback circuit is connected with driving circuit and single-chip microcomputer U5 input interface respectively, is used to detect the armature supply of left and right turbin generator D1, D2, input single-chip microcomputer U5 after voltage amplifier amplifies; Described fall arrest circuit is connected with single-chip microcomputer U5, is used to judge whether the difference in height of dust suction body direction of motion exceeds the limit for height scope, prevents that the dust suction body is from high falling; Described infrared receiving circuit is connected with single-chip microcomputer U5, be used to receive the infrared communication signal that sends from the infrared transmitter on the base station, judge the relative position of dust suction body and base station by single-chip microcomputer U5, whether decision dust suction body needs to avoid obstacle and next step direction of motion thereof; Described voltage monitoring circuit is connected with single-chip microcomputer U5, is used for monitoring battery voltage, plays the charge protection effect.
As another kind of improvement the of the present invention, described infrared receiving circuit comprises infrared receiving module F1, F2, resistance R 41, R42, R43, capacitor C 23, described infrared receiving module F1 is connected with the P1.0 interface of resistance R 42, single-chip microcomputer U5 respectively, and described infrared receiving module F2 links to each other with the P1.1 interface of resistance R 43, single-chip microcomputer U5 respectively;
As another kind of improvement the of the present invention, described driving circuit comprises power integration module U6, revolver motor D1, right turbin generator D2, air compressor motor D3, described power integration module U6 is connected with single-chip microcomputer U5, and described left and right turbin generator D1, D2, air compressor motor D3 are connected to the input interface of single-chip microcomputer U5 respectively; Described current feedback circuit comprises sampling resistor R32, R33, voltage amplifier N1, N2, and sampled voltage is input to the A/D interface of single-chip microcomputer U5 again by the power integration module U6 in the driving circuit after amplifying; Described fall arrest circuit comprises infrared sensor S1, S2, S3, the S4 that is installed in dust suction body bottom, resistance R 4-R15, and amplifier O3-O6, the input interface by amplifier O3-O6 and single-chip microcomputer U5 joins.
Adopt after such technical scheme, the dust suction body of robot cleaner is by communicating by letter between the infrared transmitter on the infrared remote receiver on it and the base station, the infrared remote receiver that is the dust suction body receives from the infrared communication signal after ovennodulation that is installed in the infrared transmitter emission on the base station, through after the demodulation of infrared receiving circuit, be sent to single-chip microcomputer and storer, storer is used to store the control program of suction cleaner, automatic obstacle-avoiding algorithm and infrared communication algorithm, judge the relative position relation of robot cleaner body and base station by single-chip microcomputer, next step direction of motion with decision robot cleaner body, again by Single-chip Controlling, drive a left side, right wheel advances, retreat, turn left, turn right, finish the various barrier actions that keep away; Four infrared sensors are equipped with in the bottom, when the dust suction body runs into stair, step, are used to judge whether the difference in height of dust suction body direction of motion exceeds the limit for height scope, prevent that the dust suction body is from high falling; Dust suction body cleaning and dust suction will determine the dust suction body to move to the base station with communicating by letter between the base station after preset work time, and arrival is taken out dirt or charging behind the base station.Then, continue to detect infrared signal, repeat aforesaid operations at next point.The present invention is by communicating by letter between the infrared transmitter on the infrared remote receiver on the dust suction body and the base station, judges and finish the barrier of keeping away of suction cleaner by single-chip microcomputer, can realize unmanned, intelligentized cleaning.Compare with clean robot commonly used, the present invention does not use photoelectric code disk and telepilot, and its control circuit is simple in structure, and is stable and reliable for performance.
Description of drawings
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
Fig. 1 is the flow chart of a kind of robot cleaner automatic obstacle-avoiding of the present invention and control method thereof.
Fig. 2 is the electrical schematic diagram of a kind of robot cleaner automatic obstacle-avoiding of the present invention and control method thereof.
Fig. 3 keeps away the barrier synoptic diagram for dust suction body of the present invention when running into the dead ahead obstacle.
Fig. 4 keeps away the barrier synoptic diagram for dust suction body of the present invention when running into the left front obstacle.
Fig. 5 keeps away the barrier synoptic diagram for dust suction body of the present invention when running into the right front obstacle.
When running into the obstacle that the two sides forms for dust suction body of the present invention, Fig. 6 keeps away the barrier synoptic diagram.
Embodiment
Referring to Fig. 1 and Fig. 2, a kind of robot cleaner automatic obstacle-avoiding of the present invention and control method thereof, comprise dust suction body 1, base station 2 and control circuit, dust suction body 1 is provided with left and right the wheel, return base station 2 chargings behind dust suction body 1 automatic dust absorption and take out dirt, its inventive point is: 2 tops, described base station are provided with infrared transmitter 201, constantly send infrared wave to dust suction body 1, be provided with four infrared remote receivers 101,102,103,104 on dust suction body 1 top, receive the infrared communication signal that sends from base station 2.
Described control circuit comprises single-chip microcomputer U5, driving circuit 3, current feedback circuit 4, fall arrest circuit 5, infrared receiving circuit 6, voltage monitoring circuit 7, and described driving circuit 3 is connected with single-chip microcomputer U5, is used to drive revolver motor D1, right turbin generator D2; Described current feedback circuit 4 is connected with driving circuit 3 and single-chip microcomputer U5 input interface respectively, is used to detect the armature supply of left and right turbin generator D1, D2, input single-chip microcomputer U5 after voltage amplifier amplifies; Described fall arrest circuit 5 is connected with single-chip microcomputer U5, is used to judge whether the difference in height of dust suction body 1 direction of motion exceeds the limit for height scope, prevents that dust suction body 1 is from high falling; Described infrared receiving circuit 6 is connected with single-chip microcomputer U5, be used to receive the infrared communication signal that sends from the infrared transmitter on the base station 2 201, judge the relative position of dust suction body 1 and base station 2 by single-chip microcomputer U5, whether decision dust suction body 1 needs to avoid obstacle and next step direction of motion thereof; Described voltage monitoring circuit 7 is connected with single-chip microcomputer U5, is used for monitoring battery voltage, plays the charge protection effect.
Described infrared receiving circuit 6 comprises infrared receiving module F1, F2, resistance R 41, R42, R43, capacitor C 23, described infrared receiving module F1 is connected with the P1.0 interface of resistance R 42, single-chip microcomputer U5 respectively, and described infrared receiving module F2 links to each other with the P1.1 interface of resistance R 43, single-chip microcomputer U5 respectively.
Described driving circuit 3 comprises power integration module U6, revolver motor D1, right turbin generator D2, air compressor motor D3, described power integration module U6 is connected with single-chip microcomputer U5, and described left and right turbin generator D1, D2, air compressor motor D3 are connected to the input interface of single-chip microcomputer U5 respectively.Set described motor D 1, D2 just changes, suction cleaner advances; Described motor D 1, D2 counter-rotating, then suction cleaner retreats.
Described current feedback circuit 4 comprises sampling resistor R32, R33, voltage amplifier N1, N2, and sampled voltage is input to the A/D interface of single-chip microcomputer U5 after amplifying; Described fall arrest circuit 5 comprises infrared sensor S1, S2, S3, the S4 that is installed in dust suction body 1 bottom, resistance R 4-R15, and amplifier O3-O6 links to each other with the input interface of single-chip microcomputer U5 by amplifier O3-O6.
As seen from Figure 1, the barrier program of keeping away of the present invention is: energized, keep away barrier number of times K=0, infrared transmitter 201 on the base station 2 constantly sends the infrared communication signal, dust suction body 1 judges at first whether be installed in positive two infrared remote receivers 101,103 receives high level, if all receive high level, then drive dust suction body 1 and travel forward; If have only an infrared remote receiver to receive high level, dust suction body 1 is turned right earlier, and till two infrared remote receivers all receive high level, and then driving dust suction body 1 travels forward.Moving ahead, retreating of dust suction body 1 can transfer realization by controlling and driving motor D 1, D2 positive and negative, concrete grammar is: power integration module enable the P0.0 that control end EnableA meets single-chip microcomputer U5, by P0.0 output pulse width modulation signal, control the rotating speed of right turbin generator D2, the In1 of power integration module and In2 meet P3.7 and the P3.6 of single-chip microcomputer U5 respectively, when P3.7 output high level, during the P3.6 output low level, right turbin generator D2 just changes; Otherwise, when the P3.7 output low level, during P3.6 output high level signal, right turbin generator D2 counter-rotating; Equally, power integration module enable the P0.1 that control end EnableB meets single-chip microcomputer U5, by P0.1 output pulse width modulation signal, the rotating speed of control revolver motor, the In3 of power integration module and In4 meet P1.3 and the P1.4 of single-chip microcomputer U5 respectively, P1.4 exports high level signal, and during P1.3 mouth output low level, revolver motor just changes; Otherwise, P1.4 mouth output low level, during P1.3 output high level signal, the revolver motor counter-rotating.If left and right turbin generator D1, D2 just is controlled to be changes, then the dust suction body moves ahead, otherwise for retreating.By the control revolver motor just change with the stall of right turbin generator realize the dust suction body to right rotation, the stall of right wheel can realize by P0.0 mouth output low level; By control right turbin generator just change with the stall of revolver motor realize the dust suction body to anticlockwise, the revolver stall can realize by P0.1 mouth output low level.
In the dust suction process, will bump with furniture or wall or people or pet, following several barrier situation of keeping away is arranged respectively, dotted portion represents to keep away the position of barrier back dust suction body among the figure:
One. obstacle is in the front of dust suction body
Referring to Fig. 1 and Fig. 3, four infrared remote receivers 101 on the dust suction body 1,102,103, two infrared remote receivers 101 in 104,103 receive infrared signal, sampling resistor R32, the signal of R33 is through voltage amplifier N1, after N2 amplifies, send into single-chip microcomputer U5 by the power integration module U6 in the driving circuit, work as a left side, right turbin generator sampled voltage U1 is greater than 3V and lasting above 0.3 second, then judge the dead ahead of obstacle at dust suction body 1, this moment, single-chip microcomputer U5 sent instruction, drive the dust suction body 1 a bit of distance of drawing back, then 5 ° of follow-up reforwarding row of ROT13 to the right.
Two. obstacle is in the left front of dust suction body
Referring to Fig. 1 and Fig. 4, four infrared remote receivers 101 on the dust suction body 1,102,103, two infrared remote receivers 101 in 104,103 receive infrared signal, sampling resistor R32, the signal of R33 is through voltage amplifier N1, after N2 amplifies, send into single-chip microcomputer U5 by the power integration module U6 in the driving circuit, when revolver motor sampled voltage U1 also continues above 0.3 second greater than 3V, though and right turbin generator sampled voltage not greater than 3V or voltage greater than 3V but the duration less than 0.3 second, then judge the left front of obstacle at dust suction body 1, this moment, single-chip microcomputer U5 sent instruction, drive the dust suction body 1 a bit of distance of drawing back, then the follow-up reforwarding row of half-twist to the right.
Three, obstacle is in the right front of dust suction body
Referring to Fig. 1 and Fig. 5, detect this moment right turbin generator sampled voltage greater than 3V and duration above 0.3 second, though left side motor sampled voltage less than 3V or voltage greater than 3V the duration less than 0.3 second, then show the right front of obstacle in robot, single-chip microcomputer U5 sends instruction, drive the dust suction body 1 a bit of distance of drawing back, then the follow-up reforwarding row of half-twist left.
Four, the dust suction body runs into the barrier that the two sides forms
Referring to Fig. 1 and Fig. 6, detect this moment left and right turbin generator sampled voltage all greater than 3V and duration above 0.3 second, show that then this obstacle is a barrier that is formed by the two sides, the instruction of single-chip microcomputer U5 drives the dust suction body and turns over 180 °, draws back and continues motion.
Eight C8051F015 chips of Cygnal company are adopted in single-chip microcomputer suggestion of the present invention, include the 64KFLASH program storage, and 16 programmable timer/counter arrays can be used for pulse-width modulation waveform generator and 12 hyperchannel ADC converters.
Claims (6)
1, a kind of robot cleaner automatic obstacle-avoiding and control method thereof, comprise dust suction body (1), base station (2) and control circuit, dust suction body (1) is provided with left and right the wheel, returning base station (2) behind dust suction body (1) automatic dust absorption charges and takes out dirt, it is characterized in that: top, described base station (2) is provided with infrared transmitter (201), constantly send the infrared communication signal to dust suction body (1), be provided with four infrared remote receivers (101,102,103,104) on dust suction body (1) top, receive the infrared communication signal that sends from base station (2).
2, robot cleaner automatic obstacle-avoiding according to claim 1 and control method thereof, it is characterized in that: described control circuit comprises single-chip microcomputer U5, driving circuit (3), current feedback circuit (4), fall arrest circuit (5), infrared receiving circuit (6), voltage monitoring circuit (7), described driving circuit (3) is connected with single-chip microcomputer U5, is used to drive revolver motor D1, right turbin generator D2; Described current feedback circuit (4) is connected with driving circuit (3) and single-chip microcomputer U5 input interface respectively, is used to detect the armature supply of left and right turbin generator D1, D2, input single-chip microcomputer U5 after voltage amplifier amplifies; Described fall arrest circuit (5) is connected with single-chip microcomputer U5, is used to judge whether the difference in height of dust suction body (1) direction of motion exceeds the limit for height scope, prevents that dust suction body (1) is from high falling; Described infrared receiving circuit (6) is connected with single-chip microcomputer U5, be used for receiving the infrared communication signal that sends from the infrared transmitter (201) on base station (2), judge the relative position of dust suction body (1) and base station (2) by single-chip microcomputer U5, whether decision dust suction body (1) needs to avoid obstacle and next step direction of motion thereof; Described voltage monitoring circuit (7) is connected with single-chip microcomputer U5, is used for monitoring battery voltage, plays the charge protection effect.
3, robot cleaner automatic obstacle-avoiding according to claim 1 and 2 and control method thereof, it is characterized in that: described infrared receiving circuit (6) comprises infrared receiving module F1, F2, resistance R 41, R42, R43, capacitor C 23, described infrared receiving module F1 is connected with the P1.0 interface of resistance R 42, single-chip microcomputer U5 respectively, and described infrared receiving module F2 links to each other with the P1.1 interface of resistance R 43, single-chip microcomputer U5 respectively.
4, robot cleaner automatic obstacle-avoiding according to claim 1 and 2 and control method thereof, it is characterized in that: described driving circuit (3) comprises power integration module U6, revolver motor D1, right turbin generator D2, air compressor motor D3, described power integration module U6 is connected with single-chip microcomputer U5, and described left and right turbin generator D1, D2, air compressor motor D3 are connected to the input interface of single-chip microcomputer U5 respectively.
5, robot cleaner automatic obstacle-avoiding according to claim 1 and 2 and control method thereof, it is characterized in that: described current feedback circuit (4) comprises sampling resistor R32, R33, voltage amplifier N1, N2, and sampled voltage is input to the A/D interface of single-chip microcomputer U5 after amplifying.
6, robot cleaner automatic obstacle-avoiding according to claim 1 and 2 and control method thereof, it is characterized in that: described fall arrest circuit (5) comprises infrared sensor S1, S2, S3, the S4 that is installed in dust suction body (1) bottom, resistance R 4-R15, amplifier O3-O6 links to each other with the input interface of single-chip microcomputer U5 by amplifier O3-O6.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2007101906193A CN101446832B (en) | 2007-11-27 | 2007-11-27 | Control method of automatic obstacle-avoiding of robot cleaner |
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| CN2007101906193A CN101446832B (en) | 2007-11-27 | 2007-11-27 | Control method of automatic obstacle-avoiding of robot cleaner |
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| CN101446832B CN101446832B (en) | 2011-05-18 |
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| CN111887768A (en) * | 2020-06-20 | 2020-11-06 | 珠海市一微半导体有限公司 | Method for determining dust collection wind power and performing dust collection control of sweeping robot |
| CN111839331A (en) * | 2020-06-20 | 2020-10-30 | 珠海市一微半导体有限公司 | Method for predicting best working fan suction of robot |
| CN112020041A (en) * | 2020-08-27 | 2020-12-01 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN112020041B (en) * | 2020-08-27 | 2024-03-15 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN113324773A (en) * | 2021-04-08 | 2021-08-31 | 嘉鲁达创业投资管理有限公司 | Robot monitoring system |
| CN114793599A (en) * | 2022-04-14 | 2022-07-29 | 宁波市华代科技有限公司 | Intelligent operation system for intelligent mower |
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| CN101446832B (en) | 2011-05-18 |
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