CN107260071A - Public sweeping robot system and automatic recharging method - Google Patents
Public sweeping robot system and automatic recharging method Download PDFInfo
- Publication number
- CN107260071A CN107260071A CN201610210194.7A CN201610210194A CN107260071A CN 107260071 A CN107260071 A CN 107260071A CN 201610210194 A CN201610210194 A CN 201610210194A CN 107260071 A CN107260071 A CN 107260071A
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- Prior art keywords
- robot
- cradle
- laser
- signal
- control unit
- 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.)
- Pending
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- 238000010408 sweeping Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims abstract description 15
- 239000000523 sample Substances 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000004070 electrodeposition Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present invention provides a kind of public sweeping robot system and automatic recharging method, and its public sweeping robot system includes：Robot and cradle, robot include：Walking unit, cleaning unit, driver element and control unit, control unit is connected with cleaning unit, driver element respectively, in control unit driving driver element control walking unit walking, laser pickoff and sonar probe unit are additionally provided with robot, cradle is provided with the generating laser corresponding with laser pickoff, laser pickoff receives the laser signal sent from generating laser, and the laser signal is sent into control unit, and control unit control machine people is close to cradle；Be when laser pickoff does not receive laser signal, sonar contact unit send Sonar Signal and by real-time reception to feedback Sonar Signal be sent to control unit, control unit control machine people is close to cradle.
Description
Technical field
The present invention relates to a kind of public sweeping robot system and automatic recharging method, more particularly to
A kind of public sweeping robot system and automatic recharging method for maying be used at large-scale public place.
Background technology
Intelligent sweeping machine device people's small volume in the market, enters primarily directed to home environment
Row is cleaned, and the target of cleaning is mainly dust, the small rubbish such as shredded paper bits, larger rubbish without
Method is cleaned, clean effect it is poor, in addition, it is existing can only sweeping robot be equipped with
Cradle, and the function with Automatic-searching cradle, robot is looked for by laser signal
The position of cradle is determined, and the function of Automatic-searching cradle is only useful in zonule, if
In large area, because there is the defect of signal attenuation, existing Intelligent sweeping machine device people in laser
Can not reach it is quick, accurately find cradle, and because such product is small using battery capacity,
Working time is short, so causing robot electric quantity to exhaust during cradle is looked for, stops
Walking, it is impossible to complete cleaning works or reduction sweeping efficiency.
The content of the invention
The technical problems to be solved by the invention are, provide a kind of in view of the shortcomings of the prior art
Public sweeping robot system and automatic recharging method, can reach fast in limited electricity
Speed, accurately find cradle, meet large-scale public place automatic cleaning demand.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of public sweeping robot system, including：Robot and cradle, the robot
Including：Walking unit, cleaning unit, driver element and control unit, walking unit and cleaning
Unit is separately positioned on the bottom of robot, described control unit respectively with cleaning unit, driving
Unit is connected, in the presence of described control unit, driver element control walking unit walking,
It is additionally provided with laser pickoff and sonar probe unit, the cradle and sets in the robot
There is the generating laser corresponding with the laser pickoff, wherein, the laser pickoff connects
The laser signal sent from the generating laser is received, and the laser signal is sent to the control
Unit processed, described control unit controls the robot close to cradle；Work as laser pickoff
When not receiving laser signal, the sonar contact unit sends Sonar Signal and by real-time reception
To feedback Sonar Signal be sent to control unit, described control unit control the robot to
Cradle is close.
Preferably, the cradle includes：Backboard, and it is separately positioned on the backboard two ends
Side plate, the angle between the side plate and the backboard is 90 °.
Preferably, the width of the backboard is identical with the diameter of the robot.
Preferably, the laser pickoff is arranged on the top of the robot, and positioned at edge
On the machine human organism's center line of robot ambulation direction；The generating laser is arranged on the back of the body
At the top of plate, and on the center line of the backboard.
Preferably, the robot also includes：It is separately positioned on the position of the side of robot two
Apparatus for correcting is put, device for aligning is electrically connected with described control unit.
Preferably, the device for aligning is displacement transducer.
Preferably, the first charging electrode is additionally provided with the backboard position of center line, this first
Charging electrode is respectively equipped with positive and negative electrode, and the second charging electrode is additionally provided with the robot,
Second charging electrode is respectively equipped with positive and negative electrode, and the second charging electrode position and the
One charging electrode position is corresponding.
The present invention also provides a kind of automatic recharging method of sweeping robot system public as described above,
Comprise the following steps：
S1：When robot electric quantity is not enough, into searching cradle pattern；
S2：Robot receives the laser signal that cradle is sent, and judges whether to sense charging
Seat, S4 is performed if cradle is sensed, S3 is otherwise performed；
S3：Robot sends Sonar Signal, and according to the sonar of feedback close to cradle direction,
Until robot receives laser signal；
S4：Robot receives the laser signal that sends of cradle, and close to cradle, when with
During the side plane contact of cradle, direction of travel is adjusted；
S5：First charging electrode of the robot on cradle is close and interfaced.
Preferably, the robot in S2 is received by the laser pickoff being arranged in robot
The laser signal that the generating laser being arranged on cradle is sent.
Preferably, the side difference set location apparatus for correcting of robot two in S4, according to described
Device for aligning, robot adjusts the direction of motion in real time, specifically includes：
S41：Judge whether two device for aligning are simultaneously emitted by signal, if only one of which is sent
Signal then performs S42, if otherwise performing S5；
S42：The signal sent according to device for aligning, the direction advanced using robot as forward direction,
The direction of robot towards the device for aligning for sending the side of signal one rotates, and makes machine human organism's
The center line overlap of center line and cradle, then performs S41.
The present invention public sweeping robot system and automatic recharging method, longevity of service and
Can in limited electricity, reach it is quick, accurately find cradle, meet large-scale public
Place automatic cleaning demand.
Technical scheme is carried out in detail with specific embodiment below in conjunction with the accompanying drawings
It is bright.
Brief description of the drawings
Fig. 1 is the logical construction block diagram of the public sweeping robot system of this hair；
Fig. 2A is the structure front view of the robot of the public sweeping robot system of this hair；
Fig. 2 B are the structural side view of the robot of public sweeping robot system of the invention；
Fig. 3 is the structural representation of the cradle of public sweeping robot system of the invention；
Fig. 4 is the displacement sensor structure schematic diagram of robot of the present invention；
When Fig. 5 is that robot of the present invention is in return cradle charge mode, the action of robot
Flow chart of steps；
Fig. 6 A-6B are that after robot of the present invention is contacted with cradle, adjustment direction of motion process is shown
It is intended to.
Embodiment
Fig. 1 is the logical construction block diagram of the public sweeping robot system of this hair, and Fig. 2A is that this hair is public
The structure front view of the robot of common sweeping robot system, Fig. 2 B are public scavenging machine of the invention
The structural side view of the robot of device people's system, Fig. 3 is public sweeping robot system of the invention
Cradle structural representation, if Fig. 1 is simultaneously with reference to shown in Fig. 2A -2B, the present invention provides one
Public sweeping robot system, including robot and cradle are planted, the robot includes：OK
Walk unit 3, cleaning unit 2, driver element 4 and control unit 1, walking unit 3 and cleaning
Unit 2 is separately positioned on the bottom of robot, described control unit 1 respectively with cleaning unit 2,
Driver element 4 is connected, in the presence of described control unit 1, the control walking of driver element 4
Unit 3 is walked, and laser pickoff 5 and sonar probe unit 7 are additionally provided with the robot,
The laser pickoff 5 is arranged on the top of the robot, and is located at along robot ambulation
On the machine human organism's center line of direction；As shown in figure 3, the cradle includes：Backboard 11,
And it is separately positioned on the side plate 12 at the two ends of backboard 11, the side plate 12 and the backboard
Angle between 11 is 90 °, at the top of backboard 11, and positioned at the backboard 11
Center line is provided with the generating laser 6 corresponding with the laser pickoff 5, wherein, it is described
Laser pickoff 5 receives the laser signal sent from the generating laser 6, and by the laser
Signal is sent to described control unit 1, and described control unit 1 controls the robot to cradle
It is close；When laser pickoff 5 does not receive laser signal, the sonar contact unit 7 is sent out
Go out Sonar Signal and by real-time reception to feedback Sonar Signal be sent to control unit 1, the control
Unit 1 processed controls the robot close to cradle.
In addition, being additionally provided with the first charging electrode 9 on the position of center line of backboard 11, this
One charging electrode 9 is respectively equipped with positive and negative electrode, and the second charging is additionally provided with the robot
Electrode 10, second charging electrode 10 is respectively equipped with positive and negative electrode, and the second charging electricity
The position of pole 10 is corresponding with the position of the first charging electrode 9.
In order that the second charging electrode 10 in robot and the first charging electrode 9 on cradle
Docking location is accurate, and device for aligning is respectively equipped with two sides of the robot, and
The width H of the backboard 11 is identical with the diameter R of the robot, the device for aligning
It is electrically connected with described control unit 1, the device for aligning is displacement transducer 8, Fig. 4
For the displacement sensor structure schematic diagram of robot of the present invention, as shown in figure 4, when robot with
When the side plate 12 of cradle is contacted, pressing plate 81 on displacement transducer 8 by side plate 12 to
Pressure in body, the spring 84 being connected with the pressing plate 81 produces deformation, makes to be arranged on
First position electrode 82 in pressing plate 81 and the second place electricity being arranged in machine human organism
Pole 83 contacts and sends signal, the signal that described control unit 1 is sent according to displacement transducer 8,
The direction of motion of the robot of adjustment in real time, makes the second charging electrode 10 be filled with the first charging electrode 9
Tap is touched.
When Fig. 5 is that robot of the present invention is in return cradle charge mode, the action of robot
Flow chart of steps, Fig. 6 A-6B are after robot of the present invention is contacted with cradle, to adjust motion side
To process schematic, such as Fig. 5 and with reference to shown in Fig. 6 A-6B, the present invention also provides a kind of above-mentioned
The automatic recharging method of public sweeping robot system, comprises the following steps：
S1：When robot electric quantity is not enough, into searching cradle pattern；
S2：Robot is by the laser pickoff 5 being arranged in robot, and reception, which is arranged on, fills
The laser signal that generating laser 6 on electric seat is sent, and judge whether to sense cradle,
S4 is performed if cradle is sensed, S3 is otherwise performed；
S3：Robot sends Sonar Signal by sonar contact unit 7, and according to the sound of feedback
Close to cradle direction, until robot receives laser signal；
S4：Robot receives the laser signal that cradle is sent, and close to cradle, due to
Laser pickoff 5 is arranged on the center line of machine human organism, and generating laser 6 is set
On the center line of cradle pedestal, therefore robot enters cradle according to generating laser 6
When, its direction of motion is substantially overlapping with the center line of cradle pedestal, but in the presence of some small errors,
Therefore when robot is contacted with the side plate 12 of cradle, it can extrude and be arranged on robot both sides
Device for aligning, the device for aligning is displacement transducer 8, and control unit 1 is according to institute
The signal that displacement sensors 8 are sent, is finely tuned in real time to robot motion direction, tool
Body includes：
S41：Judge whether two displacement transducers 8 are simultaneously emitted by signal, if only one of which is sent
Signal then performs S42, if otherwise performing S5；
S42：As shown in figures 6 a-6b, the signal sent according to displacement transducer 8, with machine
The direction A that people advances is forward direction, and court of robot sends the side of the displacement transducer 8 of the side of signal one
To rotation, make the center line of machine human organism and the center line overlap of cradle, then perform S41；
S5：Robot is close and interfaced to the first charging electrode 9 on cradle.
In summary, public sweeping robot system of the invention and automatic recharging method, work
Time length and can in limited electricity, reach it is quick, accurately find cradle, it is full
Sufficient large-scale public place automatic cleaning demand.
Claims (10)
1. a kind of public sweeping robot system, including：Robot and cradle, the machine
People includes：Walking unit, cleaning unit, driver element and control unit, walking unit and clear
Clean unit is separately positioned on the bottom of robot, described control unit respectively with cleaning unit, drive
Moving cell is connected, in the presence of described control unit, driver element control walking unit walking,
Characterized in that, laser pickoff and sonar probe unit are additionally provided with the robot, institute
Cradle is stated provided with the generating laser corresponding with the laser pickoff, wherein,
The laser pickoff receives the laser signal sent from the generating laser, and should
Laser signal is sent to described control unit, and described control unit controls the robot to charging
Seat against near；
When laser pickoff does not receive laser signal, the sonar contact unit sends sonar
Signal and by real-time reception to feedback Sonar Signal be sent to control unit, described control unit
Control the robot close to cradle.
2. public sweeping robot system as claimed in claim 1, it is characterised in that described
Cradle includes：Backboard, and it is separately positioned on the side plate at the backboard two ends, the side plate
Angle between the backboard is 90 °.
3. public sweeping robot system as claimed in claim 2, it is characterised in that described
The width of backboard is identical with the diameter of the robot.
4. public sweeping robot system as claimed in claim 2, it is characterised in that described
Laser pickoff is arranged on the top of the robot, and is located at along robot ambulation steering wheel
On device human organism's center line；The generating laser is arranged at the top of the backboard, and is located at
On the center line of the backboard.
5. public sweeping robot system as claimed in claim 1, it is characterised in that described
Robot also includes：It is separately positioned on the device for aligning of the side of robot two, position
Apparatus for correcting is electrically connected with described control unit.
6. public sweeping robot system as claimed in claim 5, it is characterised in that described
Device for aligning is displacement transducer.
7. public sweeping robot system as claimed in claim 2, it is characterised in that in institute
State and the first charging electrode is additionally provided with backboard position of center line, first charging electrode is respectively equipped with
Positive and negative electrode, is additionally provided with the second charging electrode in the robot, second charging electrode
It is respectively equipped with positive and negative electrode, and the second charging electrode position and the first charging electrode position
It is corresponding.
8. a kind of public sweeping robot system as described in claim any one of 1-7 is automatic
Charging method, it is characterised in that comprise the following steps：
S1：When robot electric quantity is not enough, into searching cradle pattern；
S2：Robot receives the laser signal that cradle is sent, and judges whether to sense charging
Seat, S4 is performed if cradle is sensed, S3 is otherwise performed；
S3：Robot sends Sonar Signal, and according to the sonar of feedback close to cradle direction,
Until robot receives laser signal；
S4：Robot receives the laser signal that sends of cradle, and close to cradle, when with
During the side plane contact of cradle, direction of travel is adjusted；
S5：First charging electrode of the robot on cradle is close and interfaced.
9. automatic recharging method as claimed in claim 8, it is characterised in that the machine in S2
Device people receives the laser being arranged on cradle by the laser pickoff being arranged in robot
The laser signal that transmitter is sent.
10. automatic recharging method as claimed in claim 8, it is characterised in that the machine in S4
Set location apparatus for correcting is distinguished in the side of device people two, according to the device for aligning, machine
People adjusts the direction of motion in real time, specifically includes：
S41：Judge whether two device for aligning are simultaneously emitted by signal, if only one of which is sent
Signal then performs S42, if otherwise performing S5；
S42：The signal sent according to device for aligning, the direction advanced using robot as forward direction,
The direction of robot towards the device for aligning for sending the side of signal one rotates, and makes machine human organism's
The center line overlap of center line and cradle, then performs S41.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210194.7A CN107260071A (en) | 2016-04-06 | 2016-04-06 | Public sweeping robot system and automatic recharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210194.7A CN107260071A (en) | 2016-04-06 | 2016-04-06 | Public sweeping robot system and automatic recharging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107260071A true CN107260071A (en) | 2017-10-20 |
Family
ID=60052255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210194.7A Pending CN107260071A (en) | 2016-04-06 | 2016-04-06 | Public sweeping robot system and automatic recharging method |
Country Status (1)
| Country | Link |
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| CN (1) | CN107260071A (en) |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171020 |
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| RJ01 | Rejection of invention patent application after publication |