CN104006823A - System and method for speed and distance measurement of sweeping robot based on universal wheel - Google Patents
System and method for speed and distance measurement of sweeping robot based on universal wheel Download PDFInfo
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- CN104006823A CN104006823A CN201410266593.6A CN201410266593A CN104006823A CN 104006823 A CN104006823 A CN 104006823A CN 201410266593 A CN201410266593 A CN 201410266593A CN 104006823 A CN104006823 A CN 104006823A
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- hall element
- universal wheel
- sweeping robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
The invention discloses a system and method for speed and distance measurement of a sweeping robot based on a universal wheel. A rolling shaft (6) of the universal wheel (1) is sleeved with a multi-pole magnetic ring (4), magnetic shielding layers (5) are symmetrically arranged on the two sides of the multi-pole magnetic ring (4), and Hall sensors are symmetrically arranged at the front end and the rear end of the multi-pole magnetic ring (4). The Hall sensors are fixedly installed on a center shaft (9) of a chassis (8). The multi-pole magnetic ring is arranged on the universal wheel, the Hall sensors are arranged on the chassis. The structure is simple, the design is reasonable, cost is low, and accuracy of speed and distance measurement is high; the magnetic shielding layers are attached to the two sides of the multi-pole magnetic ring, the Hall sensors have output only when the robot linearly walks in the direction of the center shaft, the measurement accuracy of speed and distance of forward and backward movements of the sweeping robot along the center shaft is further improved, and reliable data are provided for positioning of forward and backward movements of the robot working in a linear roundabout state.
Description
Technical field
The present invention relates to Intelligent cleaning robot field, particularly relate to that a kind of sweeping robot based on universal wheel tests the speed, range measurement system and method.
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 outlook.Sweeping robot, claims again automatically to sweep machine, intellective dust collector, robot cleaner etc., is a kind of 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.
The measurement of the current sweeping robot speed of travel and distance is all to adopt the Hall element or the photoelectric encoder that are arranged on the wheel of left and right to realize mostly.For the Hall element being arranged in left and right wheels, their prior tasks are to control the attitude of fuselage, and the measurement of robot ambulation speed and distance is had to larger cumulative errors.Robot cannot carry out reliable location for a long time, and then causes robot easily to occur in the course of the work the problems such as orientation is lost, perform region drain sweep.For photoelectric encoder, on the one hand, during sweeping robot work, the limit of both sides rotation is swept and can be brought a large amount of dusts, easily makes photoelectric encoder lose efficacy; On the other hand, scrambler is arranged on live axle, and due to the reason such as uncertain of distance between wheel slip, two driving wheels and ground contact point, scrambler is poor for the measuring and calculating accuracy of speed and distance, cumulative errors is larger, cannot reliably locate robot.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide that a kind of novel sweeping robot based on universal wheel tests the speed, range measurement system and method, multi-pole magnet-ring is set on universal wheel, on robot chassis, Hall element is set, can measure at sweeping robot distance and the speed that it moves ahead or retreats during along straight line moving, simple in structure, reasonable in design, the accuracy of testing the speed, finding range is high.
The object of the invention is to be achieved through the following technical solutions: the sweeping robot based on universal wheel tests the speed, range measurement system, for measuring sweeping robot moving ahead or backway and speed when straight line moving, it comprises the Hall element that moves ahead, retreat Hall element, multi-pole magnet-ring and magnetic masking layer, multi-pole magnet-ring is socketed on the axis of rolling of universal wheel, and center is arranged on the axis of universal wheel; The symmetria bilateralis of multi-pole magnet-ring is provided with magnetic masking layer, and magnetic masking layer is pressed close to multi-pole magnet-ring setting, and the rear and front end of multi-pole magnet-ring is symmetrically arranged with and moves ahead Hall element and retreat Hall element.
The described Hall element and retreat the central shaft position that Hall element is fixedly mounted on sweeping robot chassis of moving ahead.
Sweeping robot based on universal wheel tests the speed, range measurement system also comprises microcontroller, move ahead Hall element with retreat Hall element and be all connected with the sampled signal input end of microcontroller, in microcontroller, be provided with for according to moving ahead Hall element and moving ahead while retreating the calculated signals sweeping robot straight line moving that Hall element collects or the computing module of backway and speed.
Sweeping robot based on universal wheel tests the speed, distance-finding method, and it comprises the following steps:
S1: sweeping robot moves ahead or retreats along the direction straight line of central shaft, and universal wheel rolls along the axis of rolling, drives the multi-pole magnet-ring being fixed on the axis of rolling to roll;
S2: Hall element and retreat the magnetic field that Hall element senses that multi-pole magnet-ring roll to produce moves ahead;
S3: microcontroller receives the Hall element that moves ahead, retreats the signal of Hall element output;
S4: computing module rotates and to 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, calculates the rotating speed of universal wheel;
S5: computing module goes out the instant speed of travel of sweeping robot in conjunction with the external diameter circumference calculating of universal wheel;
S6: computing module calculates the distance of sweeping robot walking in conjunction with travel time.
Sweeping robot based on universal wheel tests the speed, distance-finding method also comprises a magnetic shielding step: magnetic shielding is carried out in the magnetic masking layer magnetic field that rolling produces to multi-pole magnet-ring that is close to multi-pole magnet-ring both sides, while making to only have sweeping robot move ahead or retreat along central axis direction straight line, Hall element and retreat Hall element and just can sense magnetic field moves ahead.
The invention has the beneficial effects as follows:
1) multi-pole magnet-ring is set on universal wheel, on robot chassis, Hall element is set, can measure distance and the speed that it moves ahead or retreats during along straight line moving at sweeping robot, simple in structure, reasonable in design, cost is lower and the accuracy of testing the speed, finding range is high;
2) both sides of pressing close to multi-pole magnet-ring are provided with magnetic masking layer, can prevent the not survey of the mistake when central axis direction of universal wheel, only guarantee that Hall element just has output when Robot central axis direction straight line moving, further improved sweeping robot and moved ahead or the measurement result accuracy of astern speed and distance along central shaft, in order to be operated in, robot under the roundabout state of straight line moves ahead and the location that retreats provides reliable data.
3) Ke Dui robot straight line moving is reliably located, and avoids robot to occur in the course of the work the problems such as orientation is lost, perform region drain sweep.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Structural representation of the present invention when Fig. 2 is universal wheel on-rectilinear movement;
Fig. 3 is cross section structure schematic diagram of the present invention;
Fig. 4 is that the present invention tests the speed, distance-finding method process flow diagram;
In figure, 1-universal wheel, the 2-Hall element that moves ahead, 3-retreats Hall element, 4-multi-pole magnet-ring, 5-magnetic masking layer, the 6-axis of rolling, 7-axis, 8-sweeping robot chassis, 9-central shaft.
Embodiment
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, Figure 3, sweeping robot based on universal wheel tests the speed, range measurement system, for measuring sweeping robot moving ahead or backway and speed when straight line moving, it comprises the Hall element 2 that moves ahead, retreat Hall element 3, multi-pole magnet-ring 4(narrower in width) and magnetic masking layer 5, multi-pole magnet-ring 4 is socketed on the axis of rolling 6 of universal wheel 1, and center is arranged on the axis 7 of universal wheel 1; The symmetria bilateralis of multi-pole magnet-ring 4 is provided with magnetic masking layer 5, and magnetic masking layer 5 is pressed close to multi-pole magnet-ring 4 and arranged, and the rear and front end of multi-pole magnet-ring 4 is symmetrically arranged with and moves ahead Hall element 2 and retreat Hall element 3.
As shown in Figure 2, move ahead Hall element 2 and retreat central shaft 9 positions that Hall element 3 is fixedly mounted on sweeping robot chassis 8.The position that moves ahead Hall element 2 and retreat Hall element 3 is fixed, only has universal wheel 1 moving ahead Hall element 2 and retreat between Hall element 3 and do 360 ° of rotations around its stationary shaft.
Sweeping robot based on universal wheel tests the speed, range measurement system also comprises microcontroller, move ahead Hall element 2 with retreat Hall element 3 and be all connected with the sampled signal input end of microcontroller, in microcontroller, be provided with for according to moving ahead Hall element 2 and moving ahead while retreating the calculated signals sweeping robot straight line moving that Hall element 3 collects or the computing module of backway and speed.The Hall element 2 that moves ahead is square-wave signal with the signal that retreats Hall element 3 outputs.
As shown in Figure 4, the sweeping robot based on universal wheel tests the speed, distance-finding method, and it comprises the following steps:
S1: sweeping robot moves ahead or retreats along the direction straight line of central shaft 9, universal wheel 1 rolls along the axis of rolling 6, drives the multi-pole magnet-ring 4 being fixed on the axis of rolling 6 to roll;
S2: Hall element 2 and retreat the magnetic field that Hall element 3 senses that multi-pole magnet-ring 4 rolls and produces moves ahead;
S3: microcontroller receives the Hall element 2 that moves ahead, retreats the square-wave signal of Hall element 3 outputs;
S4: computing module rotates and exports the number of pulse, actual pulse number that the unit interval receives and the external diameter girth of universal wheel 1 for one week according to universal wheel 1, calculates the rotating speed of universal wheel 1;
S5: computing module goes out the instant speed of travel of sweeping robot in conjunction with the external diameter circumference calculating of universal wheel 1;
S6: computing module calculates the distance of sweeping robot walking in conjunction with travel time.
Sweeping robot based on universal wheel tests the speed, distance-finding method, also comprise a magnetic shielding step: magnetic shielding is carried out in the magnetic field that is close to 5 pairs of multi-pole magnet-rings of magnetic masking layer, the 4 rolling generations of multi-pole magnet-ring 4 both sides, while making to only have sweeping robot move ahead or retreat along central shaft 9 direction straight lines, Hall element 2 and retreat Hall element 3 and just can sense magnetic field moves ahead, when the direction of motion of sweeping robot and central shaft 9 have angle, Hall element 2 and retreat Hall element 3 no signals outputs (only guarantee when Robot central shaft 9 direction straight line moving Hall element just have output) moves ahead.
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, modification and environment, and can, in contemplated scope described herein, by technology or the knowledge of above-mentioned instruction or association area, change.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 (5)
- Sweeping robot based on universal wheel test the speed, range measurement system, for measuring sweeping robot moving ahead or backway and speed when straight line moving, it is characterized in that: it comprises the Hall element that moves ahead (2), retreats Hall element (3), multi-pole magnet-ring (4) and magnetic masking layer (5), multi-pole magnet-ring (4) is socketed on the axis of rolling (6) of universal wheel (1), and center is arranged on the axis (7) of universal wheel (1); The symmetria bilateralis of multi-pole magnet-ring (4) is provided with magnetic masking layer (5), and magnetic masking layer (5) is pressed close to multi-pole magnet-ring (4) setting, and the rear and front end of multi-pole magnet-ring (4) is symmetrically arranged with the Hall element that moves ahead (2) and retreats Hall element (3).
- Sweeping robot based on universal wheel according to claim 1 test the speed, range measurement system, it is characterized in that: the described Hall element that moves ahead (2) and retreat central shaft (9) position that Hall element (3) is fixedly mounted on sweeping robot chassis (8).
- Sweeping robot based on universal wheel according to claim 1 test the speed, range measurement system, it is characterized in that: also comprise microcontroller, move ahead Hall element (2) with retreat Hall element (3) and be all connected with the sampled signal input end of microcontroller, in microcontroller, be provided with for according to moving ahead Hall element (2) and moving ahead while retreating the calculated signals sweeping robot straight line moving that Hall element (3) collects or the computing module of backway and speed.
- Sweeping robot based on universal wheel test the speed, distance-finding method, it is characterized in that: it comprises the following steps:S1: sweeping robot moves ahead or retreats along the direction straight line of central shaft (9), universal wheel (1) rolls along the axis of rolling (6), drives the multi-pole magnet-ring (4) being fixed on the axis of rolling (6) to roll;S2: the Hall element that moves ahead (2) and retreat the magnetic field that Hall element (3) senses that multi-pole magnet-ring (4) roll to produce;S3: microcontroller receives the Hall element that moves ahead (2), retreats the signal of Hall element (3) output;S4: computing module rotates and to export the number of pulse, actual pulse number that the unit interval receives and the external diameter girth of universal wheel (1) for one week according to universal wheel (1), calculates the rotating speed of universal wheel (1);S5: computing module goes out the instant speed of travel of sweeping robot in conjunction with the external diameter circumference calculating of universal wheel (1);S6: computing module calculates the distance of sweeping robot walking in conjunction with travel time.
- Sweeping robot based on universal wheel according to claim 4 test the speed, distance-finding method, it is characterized in that: also comprise a magnetic shielding step: magnetic shielding is carried out in magnetic masking layer (5) magnetic field that rolling produces to multi-pole magnet-ring (4) that is close to multi-pole magnet-ring (4) both sides, while making to only have sweeping robot move ahead or retreat along central shaft (9) direction straight line, the Hall element that moves ahead (2) and retreat Hall element (3) and just can sense magnetic field.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410266593.6A CN104006823B (en) | 2014-06-16 | 2014-06-16 | System and method for speed and distance measurement of sweeping robot based on universal wheel |
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| CN201410266593.6A CN104006823B (en) | 2014-06-16 | 2014-06-16 | System and method for speed and distance measurement of sweeping robot based on universal wheel |
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| CN104006823B CN104006823B (en) | 2017-01-18 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
| CN105832252A (en) * | 2015-01-14 | 2016-08-10 | 东莞缔奇智能股份有限公司 | Autonomous mobile robot and control method thereof |
| CN105988466A (en) * | 2015-03-06 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic walking device |
| CN106707843A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | Hardware system of floor mopping robot |
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
| CN105832252A (en) * | 2015-01-14 | 2016-08-10 | 东莞缔奇智能股份有限公司 | Autonomous mobile robot and control method thereof |
| CN105988466A (en) * | 2015-03-06 | 2016-10-05 | 苏州宝时得电动工具有限公司 | Automatic walking device |
| CN106707843A (en) * | 2016-11-23 | 2017-05-24 | 河池学院 | Hardware system of floor mopping robot |
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| WO2020000325A1 (en) * | 2018-06-28 | 2020-01-02 | 广州艾若博机器人科技有限公司 | Apparatus, method and system for measuring speed of universal wheel, slip detection method, movable electronic apparatus, and method and route correction apparatus for correcting route |
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| CN104006823B (en) | 2017-01-18 |
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Effective date of registration: 20171121 Address after: Pixian 610000 Sichuan Province, Chengdu city Chengdu modern industrial area North Road No. 589 north of Hong Kong Patentee after: Sichuan Zbon System Integration Co., Ltd. Address before: 610017 West Core Avenue, Western Park, Chengdu hi tech Zone, Sichuan Province, No. 4 Patentee before: Chengdu Big Dipper groups of stars intelligence Science and Technology Ltd. |