CN101770236A - Control system of sanitation robot - Google Patents

Control system of sanitation robot Download PDF

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Publication number
CN101770236A
CN101770236A CN200810189815A CN200810189815A CN101770236A CN 101770236 A CN101770236 A CN 101770236A CN 200810189815 A CN200810189815 A CN 200810189815A CN 200810189815 A CN200810189815 A CN 200810189815A CN 101770236 A CN101770236 A CN 101770236A
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China
Prior art keywords
module
robot
control
navigation
information
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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
Application number
CN200810189815A
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Chinese (zh)
Inventor
孙继元
刘强
付伟
苑广军
王威
田志禹
赵芝英
李君辉
金文哲
刘晓杰
黎妹红
刘佳斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
JILIN BEIHUA AEROSPACE TECHNOLOGY Co Ltd
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JILIN BEIHUA AEROSPACE TECHNOLOGY Co Ltd
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Application filed by JILIN BEIHUA AEROSPACE TECHNOLOGY Co Ltd filed Critical JILIN BEIHUA AEROSPACE TECHNOLOGY Co Ltd
Priority to CN200810189815A priority Critical patent/CN101770236A/en
Publication of CN101770236A publication Critical patent/CN101770236A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a control system of a sanitation robot, which achieves the automatic advance function of the sanitation robot by adopting a singlechip with an intelligent high-precision control chip as a processing core and using a GPS (Global Positioning System) navigation system. The cleaning function of small light garbage can be realized at fixed places by the following steps: using image acquisition and object recognition through a camera as main means for object acquisition and short-distance navigation; using a plurality of ultrasound wave probes as auxiliary navigation; then, processing the acquired image information through the singlechip; accurately positioning the collective position of objects; and grabbing an objective by calling a mechanical arm. The system is suitable for public squares 500 meters above a city proper and sidewalks around the public squares, residential districts, leisure pedestrian streets, sidewalks on two sides of the road and other more concentrated people stream areas. The system carries out environmental protection propaganda on passengers-by and travelers and has the remarkable characteristics of strong intellectualization, simple and convenient operation and favorable man-machine interactive interface.

Description

Control system of sanitation robot
Technical field
This control system of sanitation robot is the intelligent robot that cleans than the area of concentration light garbage for the city stream of people.
Background technology
Along with the raising of the socio-economic development and the level of urbanization, people are more and more higher to the requirement of the city appearance of the city and environmental health quality.People wish oneself to work in a clean environment, live in the clean environment, and the design of sanitation robot just can be satisfied this development trend, are that society is built the living environment that cleaning is beautiful.
In China, environmental sanitation work generally all is to be finished by sanitationman and environmental sanitation car at present, and real practicality, intelligentized sanitation robot also do not have manufactured come out.But light garbages such as the polybag of public place, waste paper, cigarette end, pericarp in this control system of sanitation robot collector adfluxion; And the environmental consciousness of reminding reinforcement pedestrian, visitor with the form of voice; Have practicality widely, not only alleviating to a certain extent in the city is the input manpower of environmental sanitation work, and material resources are the living environment that society is created a cleaning; But also will become public place, tourist attractions beautiful scenery line.
This cover system is applicable to the walkway of inner city with interior public square more than 500 square metres and periphery; Public square in residential building sub-district, leisure shopping mall, Industry Development Area, the tourist district, walkway etc.; The stream of peoples such as vital area such as seat of government, big-and-middle-sized greenery patches, park, large-scale physical recreation place are than the area of concentration.
Along with development of science and technology, the maturation of technology, the raising of people's environmental consciousness, sanitation robot will really be realized environmental sanitation robotization, environmental sanitation diversification, environmental sanitation intellectuality, break away from of the dependence of sanitation worker's do completely, in the efforts at environmental protection in future, will highlight its advantage the people.
Summary of the invention
As power resources, be made up of main control module, navigation positioning module, driver module, outside input/output module four parts by its function system with sun power and nickel-cadmium battery for this control system of sanitation robot.
It is core that main control module is selected intelligent High Accuracy Control chip single-chip microcomputer for use, coordinates other each modules and works normally.
Navigation positioning module comprises: GPS module, ultrasonic wave module, camera.The effect of GPS module is the scope positioning function by GPS, and the work-yard is turned to a plurality of unit spaces, deposits the integral body foundation that E2PROM advances as robot in.Ultrasonic wave module act as utilization ultrasonic ranging function, makes robot in returning traveling process, can regularly detect the situation that exists of peripheral obstacle, and it can be advanced safely, and intelligence hides and be necessary the barrier hidden, mainly as assisting navigation equipment.The effect of camera is: gather the place ahead traffic information, as the existential foundation of rubbish.By certain object extraction algorithm, extract the characteristic information object size of object, object is apart from the position of robot.And by gathering the endpoint location and the closed-loop control of control section stroke of mechanical arm, to finish the accurate extracting of object.
Driver module comprises: drive motor, stepper motor, mechanical arm, angular transducer, steering engine, scrambler.Drive motor can be finished the various motion states of robot as the unique power-equipment of robot, as forward-reverse etc.Stepper motor is controlled the state of joint of mechanical arm by the control of single-chip microcomputer.The various duties of the step number may command mechanical arm by adjusting a plurality of stepper motors.Mechanical arm act as the extracting object.Consider that object is the less rubbish of quality, it is not very big requiring for the power of mechanical arm, and preliminary imagination is pricked by more sharp-pointed aciculiform metal object and got object.Angular transducer is used for the extraction of robot going direction changing information, can effectively proofread and correct the deviation of the direct of travel of robot.Steering engine: utilize the PWM module of single-chip microcomputer to modulate the PWM ripple of cycle about for 20MS.The corner of the dutycycle may command steering engine by changing PWM, and then change the traffic direction of robot.Scrambler: use incremental encoder, carry out pulse-code, the API function by single-chip microcomputer can be used for more accurately testing the speed, for the control of robot motion system provides important evidence.
Outside input/output module comprises: keyboard, radio receiving transmitting module, host computer, voice module, display module.Keyboard is used for the switching controls of mode of operation, the destination address input, and the later stage is as the control of operation address, as the parameter input scheme between limber up period.The radio receiving transmitting module effect is a transmission information in upper and lower computer, comprises the control information running state information.Upper computer module is can show various status informations under the manual control pattern, sends the control information that needs simultaneously.The voice module effect is the information that clocklike makes an appeal.Appeal that people cherish environment, conservation of nature improves people's environmental consciousness.Voice also comprise prompting, the warning message that some are commonly used.Display module is used for display device people's status information, debugging and modification when being convenient to develop.The performance that can also show task.
Description of drawings:
Fig. 1 control system of sanitation robot functional block diagram
Fig. 2 environmental sanitation Study of Intelligent Robot Control system works flow process figure
Embodiment
This control system of sanitation robot passes through navigation positioning module, read GPS and determine self-position, as the integral body foundation of independently advancing in the work-yard, the work-yard is turned to a plurality of unit spaces, main control module is numbered unit space by blas, and robot can have according to numbering advances for a short time to big order.The ultrasonic ranging of ultrasonic wave module utilization simultaneously function makes robot in coming and going traveling process, regularly detects the situation that exists of peripheral obstacle, barrier appears as the place ahead in the traveling process, main control module can drive steering engine and angular transducer, realizes turning to, with avoiding obstacles.Camera is in traveling process, constantly gather traffic information, when running into the article that need collection, main control module can be handled the information of being gathered, calculate the exact position at article place by certain algorithm, and the controlling and driving motor, the action of advancing of robot stopped, control step motor-driven mechanical arm grasps object, has promptly realized the process for the collection of object.
In the process of advancing, this robot can regularly play voice according to rule at intermittence regular hour, appeals that people cherish environment, and conservation of nature improves people's environmental consciousness.Voice also comprise prompting, the warning message that some are commonly used.
Sanitation robot can be in real-time being transferred to of self working state the staff of host computer in traveling process.When this robot broke down in traveling process, the staff can pass through the manual control function of the radio communication mold activation of block, returns by the image control robot safety of camera collection.
Down, staff's sanitation robot can make amendment for the duty of robot by host computer communication, also can make amendment by the keyboard input instruction in working order.

Claims (4)

1. the present invention is a kind of multifunctional environmental sanitation machine people control system, its function system by main control module, navigation positioning module, driver module, voice output module, PC, slave computer communication system, outside input/output module, camera, etc. eight parts form, it is characterized in that: use the GPS navigation system, by carrying out image acquisition and object identification, and as target collection and navigation means closely, a plurality of ultrasound waves are assisting navigation, increase the wireless calling function.
2. its navigation positioning module as claimed in claim 1 comprises: GPS module, ultrasonic wave module, camera.It is characterized in that scope positioning function, the integral body foundation of advancing as robot by GPS.Ultrasonic wave module act as utilization ultrasonic ranging function, and it can be advanced safely, and intelligence is hidden and is necessary the barrier hidden.Camera collection the place ahead traffic information is as the main foundation of rubbish existence, location.And by gathering the endpoint location and the closed-loop control of control section stroke of mechanical arm, to finish the accurate extracting of object.
3. driver module as claimed in claim 1 comprises: moving motor, stepper motor, mechanical arm, angular transducer, steering engine, scrambler.Drive motor is the unique power-equipment of robot, finishes the various motion states of robot.Stepper motor is controlled the state of joint of mechanical arm by the control of single-chip microcomputer.Mechanical arm act as the extracting object.Angular transducer is used for the extraction of robot going direction changing information, can effectively proofread and correct the deviation of the direct of travel of robot.By the corner of control steering engine, and then the traffic direction of change robot.Scrambler can be used for more accurately testing the speed, for the control of robot motion system provides important evidence.
4. outside input/output module as claimed in claim 1 comprises: keyboard, radio receiving transmitting module, host computer, voice module, display module.Keyboard is used for the switching controls of mode of operation, the destination address input, and the later stage is as the control of operation address, as the parameter input scheme between limber up period.The radio receiving transmitting module effect is a transmission information in upper and lower computer, comprises the control information running state information.Upper computer module is can show various status informations under the manual control pattern, sends the control information that needs simultaneously.The voice module effect is the information that clocklike makes an appeal.Appeal that people cherish environment, conservation of nature improves people's environmental consciousness.Voice also comprise prompting, the warning message that some are commonly used.Display module is used for display device people's status information, debugging and modification when being convenient to develop.The performance that can also show task.The wireless calling function: if robot is called out, then can interrupt present task in executing the task, finish the calling task after, if allow it to continue to execute the task up to finishing from the tasks interrupt point automatically.If conditions permit, we will make it can finish indoor hygienic cleaning.
CN200810189815A 2008-12-31 2008-12-31 Control system of sanitation robot Pending CN101770236A (en)

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Application Number Priority Date Filing Date Title
CN200810189815A CN101770236A (en) 2008-12-31 2008-12-31 Control system of sanitation robot

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Application Number Priority Date Filing Date Title
CN200810189815A CN101770236A (en) 2008-12-31 2008-12-31 Control system of sanitation robot

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102013589A (en) * 2010-09-08 2011-04-13 蔡世奇 Socket and plug easy to install and maintain
CN102691320A (en) * 2012-06-07 2012-09-26 泰安科创矿山设备有限公司 Garbage sorting and loading excavator robot
CN102689313A (en) * 2012-06-11 2012-09-26 长安大学 High-altitude dangerous environment article clearing system and clearing method based on flying robot
CN102880176A (en) * 2012-05-22 2013-01-16 浙江大学 Smart trolley and visual smart home control method based on smart trolley
CN102914967A (en) * 2012-09-21 2013-02-06 浙江工业大学 Autonomous navigation and man-machine coordination picking operating system of picking robot
CN103194991A (en) * 2013-04-03 2013-07-10 西安电子科技大学 Road cleaning system and method through intelligent robot
CN103455032A (en) * 2012-05-28 2013-12-18 李寅雪 Intelligent sanitation trolley and control system thereof
CN104213206A (en) * 2014-09-19 2014-12-17 江苏恒科新材料有限公司 Full-automatic plate cleaning system
CN104369188A (en) * 2014-11-20 2015-02-25 中国计量学院 Workpiece grabbing device and method based on machine vision and ultrasonic transducer
CN104775377A (en) * 2015-04-08 2015-07-15 郭淑华 Intelligent road sweeping robot and using method
CN104771118A (en) * 2015-05-08 2015-07-15 上海思岚科技有限公司 Intelligent floor sweeping robot with touch input function
CN104836948A (en) * 2015-05-11 2015-08-12 国家电网公司 Follow-up camera and real-time ranging method
CN105573314A (en) * 2015-09-29 2016-05-11 洛阳博智自动控制技术有限公司 AGV trolley control method
CN105890516A (en) * 2014-11-14 2016-08-24 北京方道环保科技有限公司 Long-range three-dimensional robot measurement control system
CN106598044A (en) * 2016-11-15 2017-04-26 江苏智石科技有限公司 Magazine transport vehicle
DE202016008129U1 (en) 2016-02-09 2017-04-26 Universität Stuttgart Körperschaft des öffentlichen Rechts Device for determining the three-dimensional pose of rigid bodies using opto-acoustic code division multiplexing and carrier phase distance measurements
CN108214498A (en) * 2016-12-21 2018-06-29 李汉忠 A kind of supermarket's rubbish automatic cleaning method
CN108829083A (en) * 2018-06-04 2018-11-16 北京智行者科技有限公司 Control unit for vehicle
CN109440699A (en) * 2018-12-07 2019-03-08 长沙中联重科环境产业有限公司 Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine
CN109483533A (en) * 2018-11-05 2019-03-19 长沙中联重科环境产业有限公司 Control method, device and the robot of robot for environmental sanitation operation
CN112589766A (en) * 2020-12-02 2021-04-02 浙江博城机器人科技有限公司 Automatic patrol garbage recognition and sorting robot for roads

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102013589A (en) * 2010-09-08 2011-04-13 蔡世奇 Socket and plug easy to install and maintain
CN102880176B (en) * 2012-05-22 2015-05-27 浙江大学 Smart trolley and visual smart home control method based on smart trolley
CN102880176A (en) * 2012-05-22 2013-01-16 浙江大学 Smart trolley and visual smart home control method based on smart trolley
CN103455032A (en) * 2012-05-28 2013-12-18 李寅雪 Intelligent sanitation trolley and control system thereof
CN102691320B (en) * 2012-06-07 2015-05-13 泰安科创矿山设备有限公司 Garbage sorting and loading excavator robot
CN102691320A (en) * 2012-06-07 2012-09-26 泰安科创矿山设备有限公司 Garbage sorting and loading excavator robot
CN102689313A (en) * 2012-06-11 2012-09-26 长安大学 High-altitude dangerous environment article clearing system and clearing method based on flying robot
CN102914967A (en) * 2012-09-21 2013-02-06 浙江工业大学 Autonomous navigation and man-machine coordination picking operating system of picking robot
CN103194991B (en) * 2013-04-03 2016-01-13 西安电子科技大学 Intelligent robot road cleaning system and method for cleaning
CN103194991A (en) * 2013-04-03 2013-07-10 西安电子科技大学 Road cleaning system and method through intelligent robot
CN104213206B (en) * 2014-09-19 2016-05-04 江苏恒科新材料有限公司 Full-automatic clear plate system
CN104213206A (en) * 2014-09-19 2014-12-17 江苏恒科新材料有限公司 Full-automatic plate cleaning system
CN105890516A (en) * 2014-11-14 2016-08-24 北京方道环保科技有限公司 Long-range three-dimensional robot measurement control system
CN104369188A (en) * 2014-11-20 2015-02-25 中国计量学院 Workpiece grabbing device and method based on machine vision and ultrasonic transducer
CN104369188B (en) * 2014-11-20 2015-11-11 中国计量学院 Based on workpiece gripper device and the method for machine vision and ultrasonic sensor
CN104775377A (en) * 2015-04-08 2015-07-15 郭淑华 Intelligent road sweeping robot and using method
CN104771118A (en) * 2015-05-08 2015-07-15 上海思岚科技有限公司 Intelligent floor sweeping robot with touch input function
CN104836948A (en) * 2015-05-11 2015-08-12 国家电网公司 Follow-up camera and real-time ranging method
CN105573314A (en) * 2015-09-29 2016-05-11 洛阳博智自动控制技术有限公司 AGV trolley control method
DE202016008129U1 (en) 2016-02-09 2017-04-26 Universität Stuttgart Körperschaft des öffentlichen Rechts Device for determining the three-dimensional pose of rigid bodies using opto-acoustic code division multiplexing and carrier phase distance measurements
DE102016001678A1 (en) 2016-02-09 2017-08-10 Universität Stuttgart, Körperschaft Des Öffentlichen Rechts Method and apparatus for determining the three-dimensional pose of rigid bodies using opto-acoustic code division multiplexing and carrier phase distance measurements
CN106598044A (en) * 2016-11-15 2017-04-26 江苏智石科技有限公司 Magazine transport vehicle
CN108214498A (en) * 2016-12-21 2018-06-29 李汉忠 A kind of supermarket's rubbish automatic cleaning method
CN108829083A (en) * 2018-06-04 2018-11-16 北京智行者科技有限公司 Control unit for vehicle
CN109483533A (en) * 2018-11-05 2019-03-19 长沙中联重科环境产业有限公司 Control method, device and the robot of robot for environmental sanitation operation
WO2020093767A1 (en) * 2018-11-05 2020-05-14 长沙中联重科环境产业有限公司 Robot control method and device for sanitation work, and robot
CN109440699A (en) * 2018-12-07 2019-03-08 长沙中联重科环境产业有限公司 Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine
WO2020114019A1 (en) * 2018-12-07 2020-06-11 长沙中联重科环境产业有限公司 Sanitation intelligent cleaning and sweeping operation robot control system and cleaning machinery
CN112589766A (en) * 2020-12-02 2021-04-02 浙江博城机器人科技有限公司 Automatic patrol garbage recognition and sorting robot for roads

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Application publication date: 20100707