CN102488481A - Design method of intelligent sweeping robot - Google Patents
Design method of intelligent sweeping robot Download PDFInfo
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- CN102488481A CN102488481A CN2011103800221A CN201110380022A CN102488481A CN 102488481 A CN102488481 A CN 102488481A CN 2011103800221 A CN2011103800221 A CN 2011103800221A CN 201110380022 A CN201110380022 A CN 201110380022A CN 102488481 A CN102488481 A CN 102488481A
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Abstract
The invention belongs to the field of intelligent household appliances, and relates to a design method of an intelligent sweeping robot, which is characterized in that: the front end of an outer shell is in an triangular shape, and the rear end of the outer shell is in a circular shape; sensing equipment comprises a photoelectric sensor and an sonic sensor; the photoelectric sensor and the sonic sensor are connected into a single-chip microcomputer by encoding; a detection head of the photoelectric sensor is arranged at the bottom of the outer shell, and the detection head of the sonic sensor is arranged in front of the outer shell; display equipment is a liquid crystal display (LCD) which is connected into the single-chip microcomputer by encoding; and driving equipment comprises a steering motor and a stepper motor, and is driven through the signals of the single-chip microcomputer. The intelligent sweeping robot can thoroughly sweep dead corners, accurately measure the distance and achieve the purpose of specific sweeping, is simultaneously prevented from falling down from stairs and other low places and empty places, and can sweep by following the activities of a master.
Description
Technical field
The invention belongs to the intelligent appliance field, is the sweep the floor method for designing of robot of a kind of intelligence.
Background technology
First robot is born and experienced over half a century till now, and the installation amount of industrial robot is above 1,000,000 at present.Nonmanufacturing industry also developed rapidly with robot in recent years, and progressively developed to practicability.
On December 25th, 2009, a intelligence robot of sweeping the floor exposes in Beijing.This intelligent robot is released by the electric group of Wals.The existing robot contour structures of sweeping the floor is circular mostly, in cleaning process, occurs dead angle and blind area easily, and the existing robot sensing technology of sweeping the floor is single, runs into stair or step and occurs the phenomenon that drops easily, causes the damage of machine.
Summary of the invention
The purpose of this invention is to provide the sweep the floor method for designing of robot of a kind of intelligence, realize thorough cleaning, and guarantee the security of machine the dead angle.
Technical scheme of the present invention is the sweep the floor method for designing of robot of a kind of intelligence; It is made up of shell and interior arrangement; Wherein aircleaning facility and LCD LCDs are arranged at the top of shell; Besom and wheel are arranged at the bottom, and interior arrangement comprises sensing equipment, display device, driving arrangement and single-chip microcomputer, it is characterized in that; Described shell front end is a triangle, and the rear end is circular; Sensing equipment comprises photoelectric sensor and sonic sensor, and photoelectric sensor and sonic sensor are connected into single-chip microcomputer through coding, and the detecting head of photoelectric sensor is positioned at outer casing bottom, and the detecting head of sonic sensor is positioned at shell the place ahead; Display device is the LCD LCDs that is connected into single-chip microcomputer through coding; Driving arrangement is made up of steer motor and walking motor, and drives through the single-chip microcomputer signal.
Described photoelectric sensor is an infrared photoelectric sensor.
Described LCD LCDs adopts DM-1602 Liquid Crystal Module.
Described sensing equipment also comprises dust detector and imageing sensor, and is connected into single-chip microcomputer through coding, and wherein the detecting head of dust detector is positioned at outer casing bottom.
Characteristics of the present invention are: 1, have the triangle front end, can thoroughly clean dead zones such as corners;
2, the accurate measuring distance of the sonic sensor in the place ahead reaches cleaning and specializes;
3, the photoelectric sensor of the bottom robot that can prevent to sweep the floor the time falls down lower, vacancies such as stair in cleaning;
4, the top aircleaning facility can effectively prevent to stir up a cloud of dust, and with after dust detector combines, can follow the movable tracking cleaning of owner.The imageing sensor at top can write down the intelligence moving line of robot of sweeping the floor, thereby can realize route planning.
5, adopt Multi-sensor Fusion; Carry out fusion treatment to a large amount of sensors observe information effectively; Thereby make robot obtain the information of the working environment of maximum, the utilization multi-sensor fusion technology has important function to the precision that improves localization for Mobile Robot, barrier identification, environmental modeling, keeps away barrier.
Description of drawings
To gather embodiment below is further described the present invention.
Fig. 1 is the sweep the floor interior arrangement hardware syndeton sketch map of robot of intelligence.
Fig. 2 is the sweep the floor vertical view of robot of intelligence.
Fig. 3 is the sweep the floor upward view of robot of intelligence.
Fig. 4 is the sweep the floor front view of robot of intelligence.
Among the figure: 1, shell; 2, the triangle front end of shell; 3, LCD LCDs; 4, aircleaning facility; 5, wheel; 6, the detecting head of photoelectric sensor; 7, besom; 8, dust detector; 9, the detecting head of sonic sensor; 10, the detecting head of imageing sensor.
Specific embodiment
As shown in Figure 1, the sweep the floor method for designing of robot of a kind of intelligence, interior arrangement is to be made up of sensing equipment, display device and driving arrangement and single-chip microcomputer.
Display device adopts LCD LCDs 3, and the DM-1602 Liquid Crystal Module of selecting 2 row, 16 words here for use is through being connected with single-chip microcomputer, and Presentation Function is accomplished in programming, has plurality of advantages such as low-power consumption, volume is little, displaying contents is abundant.
Sensing equipment adopts multi-sensor information fusion technology for improving precision, has comprised photoelectric sensor, sonic sensor, dust detector and imageing sensor, and they are encoded respectively and are connected into single-chip microcomputer.
Photoelectric sensor adopts infrared photoelectric sensor, and model is TCRT5000.It is a kind of Hall element that is received and exported by photodiode emission triode.The E end ground connection of the C end of diode and triode, the A end of diode is connected to form biasing circuit through resistance and power supply.
Sonic sensor, dust detector and imageing sensor adopt common sensor, also are this area technology and equipments commonly used, do not do special requirement and introduction at this.
Driving arrangement is made up of steer motor and walking motor, and the sweep the floor wheel of robot bottom of connection of intelligent, and their carry out the instruction that single-chip microcomputer sends, thus the advancing and turn to function of the robot that realizes sweeping the floor.
Like Fig. 2, shown in 3 and 4, the shell front end is a triangle 2, and the rear end is circular, and there is the detecting head 9 of two sonic sensors in shell the place ahead.It is circular mostly present domestic robot is; This is not easy cleaning for places such as corners very much; Its repacking is become the triangle of the place ahead point; Confirm by the sonic sensor in the place ahead that when running into the corner selecting required cleaning modes, sharp corner is still circular locates to clean as the place ahead thereby select to use.
There is the detecting head 10 of LCD LCDs 3, aircleaning facility 4 and imageing sensor the shell top.LCD LCDs 3 is used for showing the sweep the floor duty of robot of present intelligence; What aircleaning facility 4 can effectively prevent to occur in the process of sweeping the floor stirs up a cloud of dust; Imageing sensor 10 can write down intelligence the sweep the floor moving line and the process of robot; Thereby realizing route planning; Path planning is exactly the information of the working environment that perceives according to robot, optimizes index according to certain, cooks up one and the collisionless path of environment obstacle at starting point and impact point; And realize the path covering fully rationally in the zone of required cleaning, its essence is exactly the navigation in the moveable robot movement process and keeps away barrier.
Outer casing bottom has the detecting head 6 of two photoelectric sensors, four wheels 5, a dust detector 8 and a besom 7.Photoelectric sensor 6 robot that can prevent to sweep the floor the time falls down low, vacancies such as stair in cleaning; Four wheels 5 is by steer motor and walking motor-driven; Dust detector 8 combines can realize following the movable tracking cleaning of owner with aircleaning facility 4.The besom that is centered around outer casing bottom has been realized comprehensive, large-area cleaning.
Arranging can realize that function is a purpose of the position of shell 1 motor internal, single-chip microcomputer etc. and winding displacement do not done special requirement at this.
Claims (4)
1. the intelligence method for designing of robot of sweeping the floor; It is made up of shell and interior arrangement, and wherein aircleaning facility and LCD LCDs are arranged at the top of shell, and besom and wheel are arranged at the bottom; Interior arrangement comprises sensing equipment, display device, driving arrangement and single-chip microcomputer, it is characterized in that; Described shell front end is a triangle, and the rear end is circular; Sensing equipment comprises photoelectric sensor and sonic sensor, and photoelectric sensor and sonic sensor are connected into single-chip microcomputer through coding, and the detecting head of photoelectric sensor is positioned at outer casing bottom, and the detecting head of sonic sensor is positioned at shell the place ahead; Display device is the LCD LCDs that is connected into single-chip microcomputer through coding; Driving arrangement is made up of steer motor and walking motor, and drives through the single-chip microcomputer signal.
2. the sweep the floor method for designing of robot of a kind of intelligence according to claim 1, it is characterized in that: described photoelectric sensor is an infrared photoelectric sensor.
3. the sweep the floor method for designing of robot of a kind of intelligence according to claim 1, it is characterized in that: described LCD LCDs adopts DM-1602 Liquid Crystal Module.
4. the sweep the floor method for designing of robot of a kind of intelligence according to claim 1, it is characterized in that: described sensing equipment also comprises dust detector and imageing sensor, and is connected into single-chip microcomputer through coding, wherein the detecting head of dust detector is positioned at outer casing bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103800221A CN102488481A (en) | 2011-11-25 | 2011-11-25 | Design method of intelligent sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103800221A CN102488481A (en) | 2011-11-25 | 2011-11-25 | Design method of intelligent sweeping robot |
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| CN102488481A true CN102488481A (en) | 2012-06-13 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014190919A1 (en) * | 2013-05-31 | 2014-12-04 | 科沃斯机器人有限公司 | Self-moving device and control method therefor |
| CN105066263A (en) * | 2015-06-01 | 2015-11-18 | 上海电力学院 | Wedge-shaped hybrid-power indoor air formaldehyde intelligent purifying robot |
| CN107157393A (en) * | 2017-06-28 | 2017-09-15 | 合肥超赢工业设计有限公司 | A kind of industrial dust collection equipment of intelligentized control method |
| WO2019080500A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN114271738A (en) * | 2022-01-06 | 2022-04-05 | 湖南工业大学 | Intelligent indoor cleaner |
-
2011
- 2011-11-25 CN CN2011103800221A patent/CN102488481A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014190919A1 (en) * | 2013-05-31 | 2014-12-04 | 科沃斯机器人有限公司 | Self-moving device and control method therefor |
| CN105066263A (en) * | 2015-06-01 | 2015-11-18 | 上海电力学院 | Wedge-shaped hybrid-power indoor air formaldehyde intelligent purifying robot |
| CN107157393A (en) * | 2017-06-28 | 2017-09-15 | 合肥超赢工业设计有限公司 | A kind of industrial dust collection equipment of intelligentized control method |
| WO2019080500A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| US11347232B2 (en) | 2017-10-26 | 2022-05-31 | Shenzhen Silver Star Intelligent Technology Co., Ltd. | Mobile robot |
| CN114271738A (en) * | 2022-01-06 | 2022-04-05 | 湖南工业大学 | Intelligent indoor cleaner |
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Application publication date: 20120613 |