CN102749920A - Cleaning-robot control system based on ARM7 microcontroller - Google Patents
Cleaning-robot control system based on ARM7 microcontroller Download PDFInfo
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- CN102749920A CN102749920A CN2012102419171A CN201210241917A CN102749920A CN 102749920 A CN102749920 A CN 102749920A CN 2012102419171 A CN2012102419171 A CN 2012102419171A CN 201210241917 A CN201210241917 A CN 201210241917A CN 102749920 A CN102749920 A CN 102749920A
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Abstract
The invention relates to a cleaning-robot control system based on an ARM7 microcontroller. The cleaning-robot control system comprises a sensor part, a human-computer interface module, a controller and a motor control part, wherein the sensor part comprises an ultrasonic sensor, an infrared proximity sensor and a collision switch sensor; the system adopts an infrared remote control mode to enable the use of a robot to be more convenient; the controller is used for receiving data sent by the sensors and a human-computer interface, comprehensively processing the data for the cleaning path planning, driving a left wheel and a right wheel to go forward and controlling a cleaning and dust collecting mechanism so as to finish various bottom-layer control actions; due to the design of the proper human-computer interface, the state and the operating time of the robot are displayed on an LCD (Liquid Crystal Display); the forward and reverse operation of a direct-current motor is realized by changing the polarity of the power voltage of the motor, the change of the polarity of the voltage and the time duration are realized by the controller; and a current driving circuit adopts an H-bridge type driving circuit.
Description
Technical field
The invention belongs to the Smart Home field, be specifically related to a kind of clean robot control system based on the ARM7 microcontroller.
Background technology
Perfect along with the aging of population and the social welfare system causes the rapid rising of labor cost, and manual labors of some simple repeatability are that service robot provides vast market.Clean robot is a kind of of service robot, can replace the people to clean room, workshop, wall etc.Propose a kind of design proposal that is applied to indoor mobile clean robot, it has practical value.The main task of indoor cleaning robot is to replace the people to carry out cleaning works, therefore needs certain intelligence.Clean robot should possess following ability: can the oneself navigate, detect wall, the barrier in the room and can avoiding; Can go over most of space in room, can detect the electric weight of battery and can independently return charging, require profile compact, stable simultaneously, noise is little; Interface with hommization is convenient to operation and control.
Summary of the invention
The object of the present invention is to provide a kind of dust-collecting robot control system, this method can realize the automated cleaning walking function of clean robot soon.
The technical scheme that realizes the object of the invention is: a kind of clean robot control system based on the ARM7 microcontroller, and this system comprises:
Sensor section comprises ultrasonic sensor in the system, infrared proximity transducer, impact switch sensor;
Human-machine interface module adopts the infrared remote control mode;
Controller, the data that receiving sensor and man-machine interface are transmitted, path planning is cleaned in overall treatment; Drive the left and right wheels walking of advancing, control cleaning, dust collection mechanism are accomplished bottom control and are moved; Man-machine interface is set, display device people state and working time on LCD;
Electric Machine Control realizes that through the polarity that changes motor power voltage the rotating of direct current generator moves, and the variation of polarity of voltage and time length are realized that by controller current driving circuit adopts the H bridge drive circuit.
As further improvement of the present invention; In native system, adopting LPC2210 is the ARM7TDMI-S microprocessor of Philip, and it adopts 3 level production lines technology; Can parallel processing instruct; Owing to have very little size and extremely low power consumption, a plurality of 32 bit timing devices, PWM output and 32 GPIO make it be specially adapted to Industry Control and small scale robot system, have satisfied the requirement of robot to the controller arithmetic speed.
As further improvement of the present invention, sensor comprises ultrasonic sensor, infrared proximity transducer, impact switch sensor.
As further improvement of the present invention, human-machine interface module comprises some position cleaning: some position cleaning is to be that 2m is carried out at the center with the existing position of robot
2Cleaning, scope cleaning: reach the path planning of local traversal at random, learn: be that the corner in house is cleaned, and can write down the coordinate of corner point, the size in estimation house along the limit.
As further improvement of the present invention, sensor assembly is carried out the following step:
(1) ultrasonic sensor be used for surveying the place ahead with about wall, obstacle, two ultrasonic sensors on the left side and the right are placed perpendicular to direction of travel, the walking along the limit that is used for robot is planned; With the distance value on wall limit, regulate the direction of travel of robot when setting robot ambulation, make the distance on two ultrasound waves and wall limit be approximately equal to setting value, keep robot suitable distance of maintenance when wall is walked, can not bump against perhaps away from wall.
(2) two crash sensors in the place ahead and a ultrasound wave cooperate the environment that is used for surveying first half; Feeler has that sensing range is big, signal need not to nurse one's health, take the few advantage of resource, through contact-impact, detects those and fails by the detected shaft-like obstacle of ultrasonic sensor such as furniture leg etc.
Whether (3) proximity transducer is used for surveying ground has steep cliff, robot bottom just before, left front, right front and rear respectively arranges 1, except above-mentioned three kinds the sensor; A switch sensor of often opening all is housed on three wheels; When wheel was unsettled, switch will be closed, output low level; When wheel was unsettled, robot shut down.
The invention provides a kind of clean robot control system based on the ARM7 microcontroller.This system real time is high; Complete function; Comprise controller, Sensor section, Electric Machine Control part and man-machine interface part; By crash sensor, ultrasonic sensor and the proximity transducer environment around surveying, drive two driving wheels rotations by direct current generator, carry out path planning in conjunction with the feedback information of rotary encoder.
Beneficial effect of the present invention is:
(1) real-time is high, and complete function is realized clean robot control;
(2) be core with LPC2210, project organization is simple, stable performance.
(2) survey environment on every side by crash sensor, ultrasonic sensor and proximity transducer; Drive two driving wheel rotations by direct current generator; Feedback information in conjunction with rotary encoder carries out path planning, and system is reliable, can realize the automated cleaning walking function of clean robot;
(3) on the basis that does not increase cost for software provides good hardware supports, for better algorithm and software upgrading provide the good technical support.
Description of drawings
Fig. 1 is the control system structural drawing of the embodiment of the invention 1;
Fig. 2 is the ultrasonic wave module of the embodiment of the invention 1;
Fig. 3 is the infrared proximity transducer module of the embodiment of the invention 1;
Fig. 4 is the impact switch sensor synoptic diagram of the embodiment of the invention 1;
Fig. 5 is the transducer arrangements synoptic diagram of the embodiment of the invention 1;
Fig. 6 is the movable motor driving circuit figure of the embodiment of the invention 1.
Embodiment
Further specify below in conjunction with accompanying drawing and embodiment.
Fig. 1 is a kind of control system structural drawing provided by the invention.Robot control system comprises sensor assembly, motor drive module, infrared remote control receiver module, LED light and LCD MODULE.Mutual relationship is as shown in Figure 1 between The whole control system composition and each several part.Wherein extended out the data-carrier store SRAM (IS61LV25616AL) of 1 512 KB and the program storage FLASH (SST39VF1601) of 2MB, when having satisfied path planning to the demand of storage space.
Fig. 2 is the Ping28015 ultrasonic wave module.Clean robot is different with general mobile robot, and it requires the wall limit, and other object next doors in furniture and the room all are swept into, so other requirement can still not run near barrier very much.Based on this requirement, be proper with ultrasonic sensor, it can robot measurement and barrier between distance, the motion through control robot keeps cleaning along the limit of robot.Here the ultrasonic sensor that adopts is ultrasonic wave module Ping28015, module is integrated hyperacoustic a pair of transmitting and receiving and the test section, and volume ratio is less, is fit to clean robot and uses, and is as shown in Figure 2.
Fig. 3 is infrared proximity transducer module.The closely infrared proximity transducer of dust-collecting robot is made up of two groups of identical infrared emission, receiving circuits.Each group circuit can be divided into several sections such as high-frequency pulse signal generation, infrared emission adjusting and control, infrared emission driving, infrared reception.Obtain the modulated pulse signal of a 38kHz through 38 kHz crystal oscillators and not circuit; Utilize triode to drive the emission of infrared transmitting tube (TSAL6200).The infrared light that power valve sends is received by infrared receiving module behind reflection object, returns a digital signal through receiving after integrated circuit that head (HS0038B) inside carries is handled, and is input to micro controller I/O mouth, and is as shown in Figure 3.Output low level will be returned if receive an infrared pulse that receives 38kHz, otherwise high level will be exported.Through detection to the I/O mouth, just can judgment object have or not.
Fig. 4 is an impact switch sensor synoptic diagram.Two grooved correlation optoelectronic switches are distributed on the left front and right front of robot.So layout can make the barrier of robot perception from the place ahead, left front, right front three directions, thereby makes different reactions according to the difference of barrier direction.When barrier was run into by robot, spring was inwardly oppressed the impact switch swing arm under the effect of barrier, impelled reed to block the light of optoelectronic switch, output low level.When not having obstacle effect, reed recovers under the effect of spring, and the light of optoelectronic switch is not blocked, the output high level.
Fig. 5 is the transducer arrangements synoptic diagram.Ultrasonic sensor be used for surveying the place ahead with about wall, obstacle.Two ultrasonic sensors on the left side and the right are placed perpendicular to direction of travel, are used for the walking planning along the limit of robot; With the distance value on wall limit, regulate the direction of travel of robot when setting robot ambulation, make the distance on two ultrasound waves and wall limit be approximately equal to setting value, keep robot suitable distance of maintenance when wall is walked, can not bump against perhaps away from wall.Two crash sensors in the place ahead and a ultrasound wave cooperate the environment that is used for surveying first half; Feeler has that sensing range is big, signal need not to nurse one's health, take the few advantage of resource, through contact-impact, detects those and fails by the detected shaft-like obstacle of ultrasonic sensor such as furniture leg etc., and the position between the sensor is as shown in Figure 5.
Fig. 6 is movable motor driving circuit figure.Two travel driving motor of this design adopt discrete device power field effect pipe and fly-wheel diode to build, and cost is low, are convenient to heat radiation.
Claims (8)
1. clean robot control system based on the ARM7 microcontroller is characterized in that this system comprises:
Sensor section comprises ultrasonic sensor in the system, infrared proximity transducer, impact switch sensor;
Human-machine interface module adopts the infrared remote control mode;
Controller, the data that receiving sensor and man-machine interface are transmitted, path planning is cleaned in overall treatment; Drive the left and right wheels walking of advancing, control cleaning, dust collection mechanism are accomplished bottom control and are moved; Man-machine interface is set, display device people state and working time on LCD;
Electric Machine Control realizes that through the polarity that changes motor power voltage the rotating of direct current generator moves, and the variation of polarity of voltage and time length are realized that by controller current driving circuit adopts the H bridge drive circuit.
2. a kind of clean robot control system based on the ARM7 microcontroller according to claim 1 is characterized in that, adopting LPC2210 is the ARM7TDMI-S microprocessor of Philip.
3. a kind of clean robot control system based on the ARM7 microcontroller according to claim 1 is characterized in that sensor comprises ultrasonic sensor, infrared proximity transducer, impact switch sensor.
4. according to a kind of clean robot control system based on the ARM7 microcontroller described in claim 1 or 3, sensor is carried out following steps:
(1) ultrasonic sensor be used for surveying the place ahead with about wall, obstacle; Two ultrasonic sensors on the left side and the right are placed perpendicular to direction of travel, are used for the walking planning along the limit of robot; With the distance value on wall limit, regulate the direction of travel of robot when setting robot ambulation, make the distance on two ultrasound waves and wall limit be approximately equal to setting value, the maintenance robot is the suitable distance of maintenance when wall is walked;
(2) two crash sensors in the place ahead and a ultrasound wave cooperate the environment that is used for surveying first half; Feeler has that sensing range is big, signal need not conditioning, through contact-impact, detects those and fails by the detected shaft-like obstacle of ultrasonic sensor;
Whether (3) proximity transducer is used for surveying ground has steep cliff, robot bottom just before, left front, right front and rear arranges 1 respectively; Except above-mentioned three kinds the sensor, a switch sensor of often opening all is installed on three wheels, when wheel is unsettled, switch closure, output low level, robot shuts down.
5. according to a kind of clean robot control system based on the ARM7 microcontroller described in the claim 1, human-machine interface module comprises a position cleaning, and the scope cleaning is learnt along the limit.
6. according to a kind of clean robot control system based on the ARM7 microcontroller described in claim 1 or 5, some position cleaning is to be that 2m is carried out at the center with the existing position of robot
2The cleaning of scope.
7. according to a kind of clean robot control system based on the ARM7 microcontroller described in claim 1 or 5, scope cleaning scope is the path planning that reaches local traversal at random.
8. according to a kind of clean robot control system based on the ARM7 microcontroller described in claim 1 or 5, study is that the corner in house is cleaned along the limit, writes down the coordinate of corner point, estimates the size in house.
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Cited By (11)
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| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
| CN104867297A (en) * | 2013-04-23 | 2015-08-26 | 张磊 | Multifunctional operation method of intelligent cleaning robot device |
| CN105303902A (en) * | 2015-11-25 | 2016-02-03 | 蔡润龙 | Intelligent teaching system |
| CN105739497A (en) * | 2016-02-19 | 2016-07-06 | 上海钧工智能技术有限公司 | Intelligent robot air purification system |
| CN106406298A (en) * | 2015-07-27 | 2017-02-15 | 深圳市智宝人工智能科技有限公司 | Cleaning device and control method thereof |
| CN107791232A (en) * | 2016-08-31 | 2018-03-13 | 科沃斯机器人股份有限公司 | Self-movement robot |
| CN107802210A (en) * | 2016-09-08 | 2018-03-16 | 杭州匠龙机器人科技有限公司 | A kind of collision on the ground detection module and the floor-treating device for installing the module |
| CN108983788A (en) * | 2018-08-15 | 2018-12-11 | 上海海事大学 | The unmanned sanitation cart intelligence control system and method excavated based on big data |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN110123208A (en) * | 2019-03-27 | 2019-08-16 | 深圳乐行天下科技有限公司 | A kind of method and robot controlling robot cleaner |
| CN111374591A (en) * | 2018-12-29 | 2020-07-07 | 惠州市蓝微电子有限公司 | Control system and method of dust collector |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104867297A (en) * | 2013-04-23 | 2015-08-26 | 张磊 | Multifunctional operation method of intelligent cleaning robot device |
| CN104867297B (en) * | 2013-04-23 | 2018-05-22 | 广州万粤知识产权运营有限公司 | Intelligent cleaning robot apparatus multifunction operating method |
| CN104765369A (en) * | 2015-04-10 | 2015-07-08 | 长春理工大学 | Sweeping device and sweeping method using sweeping device |
| CN106406298A (en) * | 2015-07-27 | 2017-02-15 | 深圳市智宝人工智能科技有限公司 | Cleaning device and control method thereof |
| CN105303902A (en) * | 2015-11-25 | 2016-02-03 | 蔡润龙 | Intelligent teaching system |
| CN105739497A (en) * | 2016-02-19 | 2016-07-06 | 上海钧工智能技术有限公司 | Intelligent robot air purification system |
| CN107791232B (en) * | 2016-08-31 | 2023-12-19 | 科沃斯机器人股份有限公司 | Self-moving robot |
| CN107791232A (en) * | 2016-08-31 | 2018-03-13 | 科沃斯机器人股份有限公司 | Self-movement robot |
| CN107802210A (en) * | 2016-09-08 | 2018-03-16 | 杭州匠龙机器人科技有限公司 | A kind of collision on the ground detection module and the floor-treating device for installing the module |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN108983788A (en) * | 2018-08-15 | 2018-12-11 | 上海海事大学 | The unmanned sanitation cart intelligence control system and method excavated based on big data |
| CN111374591A (en) * | 2018-12-29 | 2020-07-07 | 惠州市蓝微电子有限公司 | Control system and method of dust collector |
| CN110123208A (en) * | 2019-03-27 | 2019-08-16 | 深圳乐行天下科技有限公司 | A kind of method and robot controlling robot cleaner |
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Application publication date: 20121024 |