CN104000541B - Support sweeping robot and threshold detection method that threshold detects - Google Patents
Support sweeping robot and threshold detection method that threshold detects Download PDFInfo
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- CN104000541B CN104000541B CN201410266642.6A CN201410266642A CN104000541B CN 104000541 B CN104000541 B CN 104000541B CN 201410266642 A CN201410266642 A CN 201410266642A CN 104000541 B CN104000541 B CN 104000541B
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Abstract
The invention discloses a kind of sweeping robot and threshold detection method of supporting that threshold detects, threshold detection system comprises along wall detection components, universal wheel walking range finding assembly, collision detection assembly, microcontroller and walking driven unit; Be connected with the sampled signal input of microcontroller respectively with collision detection assembly along wall detection components, universal wheel walking range finding assembly, the control signal output of microcontroller connects walking driven unit. The present invention is by the architectural feature of threshold, and sweeping robot self structure feature designs threshold detection system, reasonable in design, increases any detection accessory without extra, and cost is lower. Comprehensive universal wheel move ahead information, three axle magnetoresistive transducer readings change, the infrared spy of front end ground sensor signal realizes threshold Intelligent Recognition and judgement, recognition accuracy is high, good reliability, and simple in structure, and cost is lower.
Description
Technical field
The present invention relates to Intelligent cleaning robot field, particularly relate to a kind of sweeping robot and threshold detection method of supporting that threshold detects.
Background technology
Along with improving constantly of people's living standard, the application of controlling intelligent household appliances is more and more extensive, and has boundless market prospects. Sweeping robot, claims again automatically to sweep machine, intellective dust collector, robot cleaner etc., is the one of controlling intelligent household appliances, can rely on certain artificial intelligence, automatically in room, completes floor cleaning work. General sweeping and the vacuum mode of adopting, first receives ground foreign material the rubbish accept box that enters self, thereby completes the function of land clearing. Sweeping robot is sold as far back as European & American Market, along with domestic growth in the living standard, progressively enters Chinese market.
Prevent that at present sweeping robot from running out of the method for door and mainly containing two kinds:
1) infrared wall mode, it is that robot arranges barrier that American I robot company adopts infrared wall mode, avoids it to stride across threshold and runs out of door. On the one hand, infrared wall mode is the patented technology of the said firm, has application restric-tion; On the other hand, infrared wall mode implementation algorithm complexity, and easily there is error.
2) shut door, although this mode can avoid robot to run out of door well, shutting door can affect machine and automatically get back to the function of charging on cradle, also cannot the multiple rooms of continuous-cleaning.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the sweeping robot and the threshold detection method that provide a kind of novel support threshold to detect, by detecting universal wheel move ahead information, three axle magnetoresistive transducer readings change, the infrared spy of front end ground sensor signal realizes threshold Intelligent Recognition, recognition accuracy is high, good reliability, and simple in structure, cost is lower.
The object of the invention is to be achieved through the following technical solutions: support the sweeping robot that threshold detects, comprise robot body and threshold detection system, on robot body, be provided with the universal wheel and the trailing wheel that match with the height of threshold, robot body bottom be provided with protrude chassis bottom suction nozzle or in sweep the lug boss of structure, boss is between universal wheel and trailing wheel;
Whether described threshold detection system comprises along wall detection components, universal wheel walking range finding assembly, collision detection assembly, microcontroller and walking driven unit: walk along wall for detection of robot body along wall detection components; Universal wheel walking range finding assembly is used for judging that whether robot body is at threshold crossing, simultaneously for measuring the width of threshold; Collision detection assembly is for detection of whether the walked terminal of threshold of robot body;
Be connected with the sampled signal input of microcontroller respectively with collision detection assembly along wall detection components, universal wheel walking range finding assembly, the control signal output of microcontroller connects walking driven unit.
The sweeping robot of supporting threshold to detect also comprises three axle magnetoresistive transducers, and three axle magnetoresistive transducers are fixedly mounted on the cover of robot body, and three axle magnetoresistive transducers are electrically connected with microcontroller; Described walking driven unit comprises multiple motors, and the outer surface of each motor is coated with magnetic screen assembly.
The sweeping robot of supporting threshold to detect also comprises the infrared spy of front end ground sensor, the infrared spy of front end ground sensor setting is on the chassis of robot body front end, the infrared spy of front end ground sensor arranges over the ground, and the infrared spy of front end ground sensor is electrically connected with microcontroller.
Described is arranged on two of the left and right side of robot body along wall detection components, comprises infrared transmitter and infrared remote receiver, and the direction that infrared transmitter transmits is towards metope, and infrared transmitter and infrared remote receiver are electrically connected with microcontroller respectively.
Described universal wheel walking range finding assembly is arranged on universal wheel, comprise the multi-pole magnet-ring being arranged on universal wheel axis and the Hall element that is arranged at multi-pole magnet-ring two ends, on the outer wall of multi-pole magnet-ring, be coated with magnetic masking layer, Hall element is electrically connected with microcontroller.
Sweeping robot threshold detection method, it comprises the following steps:
S1: sweeping robot is walked along wall, when microcontroller detect along wall detection components output along wall dropout time, microcontroller output control signal is given walking driven unit, controls sweeping robot and presses the direction rotation of wall, until regain along wall signal;
S2: sweeping robot continues along wall walking, and robot body is parallel to the ground, the now reading of three axle magnetoresistive transducers of record;
S3: sweeping robot runs into threshold, under the driving of trailing wheel reinforcing, universal wheel is climbed up threshold, and now robot body is no longer parallel with ground, and microcontroller detects that the reading of three axle magnetoresistive transducers changes;
S4: sweeping robot continues to move ahead, and universal wheel strides across threshold, threshold withstands on the lug boss that protrudes chassis, now sweeping robot front end perk, universal wheel does not land, and in vacant state, microcontroller detects the blackout of Hall element output;
S5: continue to move ahead, universal wheel lands again, microcontroller receives the signal of Hall element output again; Meanwhile, robot body is got back to state parallel to the ground, and microcontroller detects that the reading of three axle magnetoresistive transducers becomes initial value again;
S6: system identification sweeping robot is being crossed threshold, and universal wheel has been crossed threshold;
S7: microcontroller control sweeping robot retreats into threshold with interior or advance to complete machine and cross beyond threshold;
S8: control sweeping robot to 90 ° of the opposite spins of body of wall, and as the starting point of universal wheel walking range finding assembly range finding;
S9: control sweeping robot and move ahead along threshold, universal wheel walking range finding assembly detects the distance of sweeping robot walking in real time, until microcontroller receives the collision alarm of collision detection assembly output, the travel distance that now calculates acquisition is the width of threshold.
Sweeping robot threshold detection method also comprises that one according to the step of the signal auxiliary detection threshold of the infrared spy of front end ground sensor, the infrared spy of front end ground sensor has the detection distance of specified scope, in the time that sweeping robot proceeds to threshold position, distance between probe and the threshold of the infrared spy of front end ground sensor is less than the minimum threshold of its detection distance, microcontroller can't detect the signal of the infrared spy of front end ground sensor output, and system synthesis judges that front is threshold.
Sweeping robot threshold detection method also comprises the step of a preset threshold width range with auxiliary detection threshold, and whether the threshold width that calculates of judgement is in default width range.
Sweeping robot threshold detection method also comprises the step of the variation auxiliary detection threshold of a current value consuming according to motor, and sweeping robot is in the time bumping against and cross threshold, and the current value of motor consumption can increase.
The step that described universal wheel walking range finding assembly is realized range finding comprises following sub-step:
SS1: sweeping robot moves ahead along threshold, multi-pole magnet-ring rolls around universal wheel axis;
SS2: Hall element senses the magnetic field that multi-pole magnet-ring rolling produces;
SS3: microcontroller receives the signal of Hall element output;
SS4: rotate and export the number of pulse, actual pulse number that the unit interval receives and the external diameter girth of universal wheel for one week according to universal wheel, calculate the rotating speed of universal wheel;
SS5: the speed of travel that goes out sweeping robot in conjunction with the external diameter circumference calculating of universal wheel;
SS6: the distance that goes out sweeping robot walking in conjunction with the Time Calculation of walking.
The invention has the beneficial effects as follows:
1) by the architectural feature of threshold, and sweeping robot self structure feature designs threshold detection system, reasonable in design, increases any detection accessory without extra, and cost is lower.
2) comprehensively along wall detection components, universal wheel move ahead information, three axle magnetoresistive transducer readings change, the infrared spy of front end ground sensor signal realizes threshold Intelligent Recognition and judgement, recognition accuracy is high, good reliability, and simple in structure, and cost is lower.
3) can judge whether run-off the straight of robot body by the variation of three axle magnetoresistive transducer readings, aid identification threshold, simple in structure, with low cost, and the outer surface of each motor is coated with magnetic screen assembly, by the magnetic screen to motor, stop motor leakage field to disturb three axle magnetoresistive transducers are exerted an influence; Further, three axle magnetoresistive transducers are arranged on sweeping robot upper casing center away from interference source, have further reduced motor leakage field and have disturbed the impact on three axle magnetoresistive transducers.
4) adopt Hall element to coordinate universal wheel to detect robot front end and whether upwarp across threshold, and walking range finding, simple in structure and cost is lower, take strict magnetic screen processing, improve radial extension range accuracy.
Brief description of the drawings
Fig. 1 is sweeping robot structural representation;
Fig. 2 is threshold detection system structural representation block diagram;
Fig. 3 is along wall detection components structural representation;
Fig. 4 is universal wheel walking range finding modular construction schematic diagram;
Fig. 5 is threshold detection method flow chart;
Fig. 6 is the relative position structural representation of universal wheel sweeping robot and threshold while just having climbed up threshold;
Fig. 7 is the relative position structural representation of universal wheel sweeping robot and threshold while just having crossed threshold;
Fig. 8 is the relative position structural representation of universal wheel sweeping robot and threshold while again landing;
Fig. 9 is the relative position structural representation of sweeping robot sweeping robot and threshold while just having proceeded to threshold position;
In figure, the infrared spy of 1-front end ground sensor, 2-robot body, 3-infrared transmitter, 4-infrared remote receiver, 5-universal wheel, 6-multi-pole magnet-ring, 7-Hall element, 8-magnetic masking layer, 9-threshold, 10-trailing wheel, 11-lug boss.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail, but protection scope of the present invention is not limited to the following stated.
As shown in Figure 1, support the sweeping robot that threshold detects, comprise robot body 2 and threshold detection system, on robot body 2, be provided with the universal wheel 5 and the trailing wheel 10 that match with the height of threshold 9, the height of threshold 9, universal wheel 5 and trailing wheel 10 is 10mm left and right, robot body 2 bottoms be provided with protrude chassis bottom suction nozzle or in sweep the lug boss 11 of structure, lug boss 11 is between universal wheel 5 and trailing wheel 10. Lug boss 11 is Collapsible structure, and while cleaning on level land, lug boss 11 protrudes machine chassis, is almost attached to ground; While being pressed on threshold 9, lug boss 11 shrinks 5 ~ 6mm.
Whether as shown in Figure 2, described threshold detection system comprises along wall detection components, universal wheel walking range finding assembly, collision detection assembly, microcontroller and walking driven unit: walk along wall for detection of robot body 2 along wall detection components; Universal wheel walking range finding assembly is used for judging that whether robot body 2 is at threshold crossing 9, simultaneously for measuring the width of threshold 9; Collision detection assembly is for detection of whether the walked terminal of threshold 9 of robot body 2; Be connected with the sampled signal input of microcontroller respectively with collision detection assembly along wall detection components, universal wheel walking range finding assembly, the control signal output of microcontroller connects walking driven unit.
Support the sweeping robot that threshold detects, also comprise three axle magnetoresistive transducers, three axle magnetoresistive transducers are fixedly mounted on the cover of robot body 2, and three axle magnetoresistive transducers are electrically connected with microcontroller; Described walking driven unit comprises multiple motors, and the outer surface of each motor is coated with magnetic screen assembly.
Support the sweeping robot that threshold detects, also comprise the infrared spy of front end ground sensor 1, the infrared spy of front end ground sensor 1 is arranged on the chassis of robot body 2 front ends, and the infrared spy of front end ground sensor 1 arranges over the ground, and the infrared spy of front end ground sensor 1 is electrically connected with microcontroller.
As shown in Figure 3, described is arranged on two of the left and right side of robot body 2 along wall detection components, comprise infrared transmitter 3 and infrared remote receiver 4, the direction that infrared transmitter 3 transmits is towards metope, and infrared transmitter 3 and infrared remote receiver 4 are electrically connected with microcontroller respectively.
As shown in Figure 4, described universal wheel walking range finding assembly is arranged on universal wheel 5, comprise the multi-pole magnet-ring 6 being arranged on universal wheel 5 axis and the Hall element 7 that is arranged at multi-pole magnet-ring 6 two ends, on the outer wall of multi-pole magnet-ring 6, be coated with magnetic masking layer 8, Hall element 7 is electrically connected with microcontroller.
The step that described universal wheel walking range finding assembly is realized range finding comprises following sub-step:
SS1: sweeping robot moves ahead along threshold 9, multi-pole magnet-ring 6 rolls around universal wheel 5 axis;
SS2: Hall element 7 senses the magnetic field that multi-pole magnet-ring 6 rollings produce;
SS3: microcontroller receives the signal that Hall element 7 is exported;
SS4: rotate number, actual pulse number that the unit interval receives and the external diameter girth of universal wheel 5 of output pulse in a week according to universal wheel 5, calculate the rotating speed of universal wheel 5;
SS5: the speed of travel that goes out sweeping robot in conjunction with the external diameter circumference calculating of universal wheel 5;
SS6: the distance that goes out sweeping robot walking in conjunction with the Time Calculation of walking.
As shown in Figure 5, sweeping robot threshold detection method, it comprises the following steps:
S1: sweeping robot is walked along wall, when microcontroller detect along wall detection components output along wall dropout time, microcontroller output control signal is given walking driven unit, controls sweeping robot and presses the direction rotation of wall, until regain along wall signal;
S2: sweeping robot continues along wall walking, and robot body 2 is parallel to the ground, the now reading of three axle magnetoresistive transducers of record;
S3: as shown in Figure 6, sweeping robot runs into threshold 9, under the driving of trailing wheel 10 reinforcings, universal wheel 5 is climbed up threshold 9, and now robot body 2 is no longer parallel with ground, and microcontroller detects that the reading of three axle magnetoresistive transducers changes;
S4: as shown in Figure 7, sweeping robot continues to move ahead, and universal wheel 5 strides across threshold 9, threshold 9 withstands on the lug boss 11 that protrudes chassis, now sweeping robot front end perk, and universal wheel 5 does not land, in vacant state, microcontroller detects the blackout that Hall element 7 is exported;
S5: as shown in Figure 8, continue to move ahead, universal wheel 5 lands again, and microcontroller receives the signal that Hall element 7 is exported again; Meanwhile, robot body 2 is got back to state parallel to the ground, and microcontroller detects that the reading of three axle magnetoresistive transducers becomes initial value again;
S6: system identification sweeping robot is being crossed threshold, and universal wheel 5 has been crossed threshold 9;
S7: microcontroller control sweeping robot retreats into threshold 9 with interior or advance to complete machine and cross beyond threshold 9;
S8: control sweeping robot to 90 ° of the opposite spins of body of wall, and as the starting point of universal wheel walking range finding assembly range finding;
S9: control sweeping robot and move ahead along threshold 9, universal wheel walking range finding assembly detects the distance of sweeping robot walking in real time, until microcontroller receives the collision alarm of collision detection assembly output, the travel distance that now calculates acquisition is the width of threshold 9.
Sweeping robot threshold detection method, also comprises that one according to the step of the signal auxiliary detection threshold of the infrared spy of front end ground sensor 1. The infrared detection distance to visiting ground sensor 1 with specified scope of front end. As shown in Figure 9, in the time that sweeping robot proceeds to threshold position, distance between probe and the threshold of the infrared spy of front end ground sensor 1 is less than the minimum threshold of its detection distance, cannot realize usable reflection, microcontroller can't detect the signal that the infrared spy of front end ground sensor 1 is exported, and system is in conjunction with judging that front is threshold.
Sweeping robot threshold detection method, also comprises the step of a preset threshold width range with auxiliary detection threshold, and whether the threshold width that calculates of judgement is in default width range, and preset threshold width range is 700 ~ 900mm.
Sweeping robot threshold detection method also comprises the step of the variation auxiliary detection threshold of a current value consuming according to motor, sweeping robot is in the time bumping against and cross threshold 9, it is large that the resistance that sweeping robot moves ahead becomes, and the current value of motor consumption can increase by 15 ~ 25mA left and right. Microcontroller detects the variation of this current value, can auxiliary judgment sweeping robot currently whether crossing threshold.
The above is only the preferred embodiment of the present invention, be to be understood that the present invention is not limited to disclosed form herein, should not regard the eliminating to other embodiment as, and can be used for various other combinations, amendment and environment, and can, in contemplated scope described herein, change by technology or the knowledge of above-mentioned instruction or association area. And the change that those skilled in the art carry out and variation do not depart from the spirit and scope of the present invention, all should be in the protection domain of claims of the present invention.
Claims (10)
1. support the sweeping robot that threshold detects, comprise robot body (2) and threshold detection system, on robot body (2), be provided with trailing wheel (10), it is characterized in that: on described robot body (2), be also provided with the universal wheel (5) matching with the height of threshold (9), described trailing wheel (10) matches with the height of threshold (9), robot body (2) bottom be provided with protrude chassis bottom suction nozzle or in sweep the lug boss (11) of structure, lug boss (11) is positioned between universal wheel (5) and trailing wheel (10);
Whether described threshold detection system comprises along wall detection components, universal wheel walking range finding assembly, collision detection assembly, microcontroller and walking driven unit: walk along wall for detection of robot body (2) along wall detection components; Universal wheel walking range finding assembly is used for judging that whether robot body (2) is in threshold crossing (9), simultaneously for measuring the width of threshold (9); Collision detection assembly is for detection of whether the walked terminal of threshold (9) of robot body (2);
Be connected with the sampled signal input of microcontroller respectively with collision detection assembly along wall detection components, universal wheel walking range finding assembly, the control signal output of microcontroller connects walking driven unit.
2. the sweeping robot that support threshold according to claim 1 detects, it is characterized in that: also comprise three axle magnetoresistive transducers, three axle magnetoresistive transducers are fixedly mounted on the cover of robot body (2), and three axle magnetoresistive transducers are electrically connected with microcontroller; Described walking driven unit comprises multiple motors, and the outer surface of each motor is coated with magnetic screen assembly.
3. the sweeping robot that support threshold according to claim 1 detects, it is characterized in that: also comprise the infrared spy ground sensor of front end (1), the infrared spy ground sensor of front end (1) is arranged on the chassis of robot body (2) front end, the infrared spy ground sensor of front end (1) arranges over the ground, and the infrared spy ground sensor of front end (1) is electrically connected with microcontroller.
4. the sweeping robot that support threshold according to claim 1 detects, it is characterized in that: described is arranged on two of the left and right side of robot body (2) along wall detection components, comprise infrared transmitter (3) and infrared remote receiver (4), the direction that infrared transmitter (3) transmits is towards metope, and infrared transmitter (3) and infrared remote receiver (4) are electrically connected with microcontroller respectively.
5. the sweeping robot that support threshold according to claim 1 detects, it is characterized in that: described universal wheel walking range finding assembly is arranged on universal wheel (5), comprise the Hall element (7) that is arranged at the multi-pole magnet-ring (6) on universal wheel (5) axis and is arranged at multi-pole magnet-ring (6) two ends, on the outer wall of multi-pole magnet-ring (6), be coated with magnetic masking layer (8), Hall element (7) is electrically connected with microcontroller.
6. sweeping robot threshold detection method, is characterized in that: it comprises the following steps:
S1: sweeping robot is walked along wall, when microcontroller detect along wall detection components output along wall dropout time, microcontroller output control signal is given walking driven unit, controls sweeping robot and presses the direction rotation of wall, until regain along wall signal;
S2: sweeping robot continues along wall walking, and robot body (2) is parallel to the ground, the now reading of three axle magnetoresistive transducers of record;
S3: sweeping robot runs into threshold (9), under the afterburning driving of trailing wheel (10), universal wheel (5) is climbed up threshold (9), and now robot body (2) is no longer parallel with ground, and microcontroller detects that the reading of three axle magnetoresistive transducers changes;
S4: sweeping robot continues to move ahead, universal wheel (5) strides across threshold (9), threshold (9) withstands on the lug boss (11) that protrudes chassis, now sweeping robot front end perk, universal wheel (5) does not land, in vacant state, microcontroller detects the blackout of Hall element (7) output;
S5: continue to move ahead, universal wheel (5) lands again, microcontroller receives the signal of Hall element (7) output again; Meanwhile, robot body (2) is got back to state parallel to the ground, and microcontroller detects that the reading of three axle magnetoresistive transducers becomes initial value again;
S6: system identification sweeping robot is being crossed threshold (9), and universal wheel (5) has been crossed threshold (9);
S7: microcontroller control sweeping robot retreats into threshold (9) with interior or advance to complete machine and cross threshold (9) in addition;
S8: control sweeping robot to 90 ° of the opposite spins of body of wall, and as the starting point of universal wheel walking range finding assembly range finding;
S9: control sweeping robot and move ahead along threshold (9), universal wheel walking range finding assembly detects the distance of sweeping robot walking in real time, until microcontroller receives the collision alarm of collision detection assembly output, the travel distance that now calculates acquisition is the width of threshold (9).
7. sweeping robot threshold detection method according to claim 6, it is characterized in that: also comprise that one according to the step of the signal auxiliary detection threshold of the infrared spy ground sensor of front end (1), the infrared spy ground sensor of front end (1) has the detection distance of specified scope, in the time that sweeping robot proceeds to threshold position, distance between probe and the threshold of the infrared spy ground sensor of front end (1) is less than the minimum threshold of its detection distance, microcontroller can't detect the signal of the infrared spy ground sensor of front end (1) output, and system judges that front is threshold.
8. sweeping robot threshold detection method according to claim 6, is characterized in that: also comprise the step of a preset threshold width range with auxiliary detection threshold, whether the threshold width that calculates of judgement is in default width range.
9. sweeping robot threshold detection method according to claim 6, it is characterized in that: the step that also comprises the variation auxiliary detection threshold of a current value consuming according to motor, sweeping robot is in the time bumping against and cross threshold (9), and the current value of motor consumption can increase.
10. sweeping robot threshold detection method according to claim 6, is characterized in that: the step that described universal wheel walking range finding assembly is realized range finding comprises following sub-step:
SS1: sweeping robot moves ahead along threshold (9), multi-pole magnet-ring (6) rolls around universal wheel (5) axis;
SS2: Hall element (7) senses the magnetic field that multi-pole magnet-ring (6) rolling produces;
SS3: microcontroller receives the signal of Hall element (7) output;
SS4: rotate and export the number of pulse, actual pulse number that the unit interval receives and the external diameter girth of universal wheel (5) for one week according to universal wheel (5), calculate the rotating speed of universal wheel (5);
SS5: the speed of travel that goes out sweeping robot in conjunction with the external diameter circumference calculating of universal wheel (5);
SS6: the distance that goes out sweeping robot walking in conjunction with the Time Calculation of walking.
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