CN104006823B - 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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- CN104006823B CN104006823B CN201410266593.6A CN201410266593A CN104006823B CN 104006823 B CN104006823 B CN 104006823B CN 201410266593 A CN201410266593 A CN 201410266593A CN 104006823 B CN104006823 B CN 104006823B
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- hall element
- universal wheel
- sweeping robot
- ring
- speed
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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
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, more particularly to a kind of sweeping robot survey based on universal wheel
Speed, range-measurement system and method.
Background technology
With the continuous improvement of people's living standard, the application of controlling intelligent household appliances is more and more extensive, and has very
Wide market prospect.Sweeping robot, also known as automatically sweeping machine, intellective dust collector, robot cleaner etc., is intelligent domestic
One kind of electrical equipment, can complete floor cleaning work automatically by certain artificial intelligence in room.General swept using brush and very
Short side formula, ground debris is first received the entrance rubbish receiver of itself, thus completing the function of land clearing.Sweeping robot
Sold early in European ＆ American Market, with the raising of domestic level, stepped into Chinese market.
The current sweeping robot speed of travel is all using the Hall being arranged on the wheel of left and right with the measurement of distance mostly
Sensor or photoelectric encoder are realizing.For being arranged on the Hall element in left and right wheels, they prior
Business is the attitude controlling fuselage, and the measurement to robot ambulation speed and distance has larger cumulative error.Robot cannot enter
The long reliable location of row, so lead to robot easily occur in the course of the work orientation lose, working region drain sweep etc.
Problem.For photoelectric encoder, on the one hand, during sweeping robot work, the side of both sides rotation is swept and can be brought a large amount of dusts,
Photoelectric encoder is easily made to lose efficacy；On the other hand, encoder is arranged on live axle, due to wheel slip, two driving wheels and ground
The reason such as uncertain of distance between the contact point of face, encoder is poor with the measuring and calculating accuracy of distance for speed, cumulative error
Larger it is impossible to reliable location is carried out to robot.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of new machine of sweeping the floor based on universal wheel
People tests the speed, range-measurement system and method, arranges multi-pole magnet-ring on universal wheel, arranges Hall element on robot chassis, can
Measure it to move ahead or the distance that retreats and speed when sweeping robot is along straight line moving, structure is simple, reasonable in design, test the speed,
The accuracy of range finding is high.
The purpose of the present invention is achieved through the following technical solutions: is tested the speed, is surveyed based on the sweeping robot of universal wheel
Away from system, for measuring sweeping robot moving ahead in straight line moving or backway and speed, it includes the Hall biography that moves ahead
Sensor, retrogressing 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 hits exactly
It is arranged on the axis of universal wheel；The both sides of multi-pole magnet-ring are symmetrically arranged with magnetic masking layer, and magnetic masking layer presses close to multi-pole magnet-ring
Setting, 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 that Hall element is fixedly mounted on sweeping robot chassis of moving ahead
Position.
Tested the speed based on the sweeping robot of universal wheel, range-measurement system also includes microcontroller mcu, move ahead Hall element and
Retreat Hall element to be all connected with the sampled signal input of microcontroller mcu, be provided with for according to front in microcontroller mcu
Row Hall element and retreat Hall element collect signal of change sweeping robot straight line moving when move ahead or retreat away from
From and speed computing module.
Tested the speed based on the sweeping robot of universal wheel, distance-finding method, it comprises the following steps:
S1: sweeping robot rolls along the direction going straight ahead of central shaft or retrogressing, universal wheel along the axis of rolling, drives and fixes
Multi-pole magnet-ring on the axis of rolling rolls；
S2: with retrogressing Hall element, the Hall element that moves ahead senses that multi-pole magnet-ring rolls the magnetic field producing；
S3: microcontroller mcu receives the Hall element that moves ahead, retreats the signal that Hall element exports；
The actual pulse that s4: computing module rotates the number of output pulse in a week according to universal wheel, the unit interval receives
Number and the external diameter girth of universal wheel, calculate the rotating speed of universal wheel；
S5: computing module goes out the instant speed of travel of sweeping robot with reference to the external diameter circumference calculating of universal wheel；
S6: computing module calculates the distance of sweeping robot walking with reference to travel time.
Tested the speed based on the sweeping robot of universal wheel, distance-finding method also includes a magnetic shield step: be close to multipole magnetic
The magnetic masking layer of ring both sides rolls, to multi-pole magnet-ring, the magnetic field producing and carries out magnetic shield so that only sweeping robot is along central shaft
When direction going straight ahead or retrogressing, the Hall element that moves ahead just can sense magnetic field with retreating Hall element.
The invention has the beneficial effects as follows:
1) multi-pole magnet-ring is set on universal wheel, robot chassis arranges Hall element, can be in sweeping robot
Measure it during along straight line moving to move ahead or the distance that retreats and speed, structure is simple, reasonable in design, and cost is relatively low and tests the speed, survey
Away from accuracy high；
2) both sides pressing close to multi-pole magnet-ring are provided with magnetic masking layer, can prevent mistake not in central axis direction for the universal wheel
Survey it is ensured that only Hall element just has output when Robot central axis direction straight line moving, further increase sweeper
Device people move ahead along central shaft or astern speed and distance measurement result accuracy, for being operated in the machine under straight line winding state
People moves ahead and the positioning that retreats provides reliable data.
3) reliable location can be carried out to robot straight line moving, it is to avoid robot occur in the course of the work orientation lose,
The problems such as working region drain sweep.
Brief description
Fig. 1 is present configuration schematic diagram；
Fig. 2 is present configuration schematic diagram during universal wheel on-rectilinear movement；
Fig. 3 is cross section structure schematic diagram of the present invention；
Fig. 4 tests the speed for the present invention, distance-finding method flow chart；
In figure, 1- universal wheel, 2- moves ahead Hall element, and 3- retreats Hall element, 4- multi-pole magnet-ring, 5- magnetic shield
Layer, the 6- axis of rolling, 7- axis, 8- sweeping robot chassis, 9- central shaft.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail, but protection scope of the present invention is not limited to
Described below.
As shown in Figure 1, Figure 3, tested the speed based on the sweeping robot of universal wheel, range-measurement system, for measuring sweeping robot
Moving ahead in straight line moving or backway and speed, it includes move ahead Hall element 2, retrogressing Hall element 3, multipole
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 hit exactly be arranged at universal
On the axis 7 of wheel 1；The both sides of multi-pole magnet-ring 4 are symmetrically arranged with magnetic masking layer 5, and magnetic masking layer 5 is pressed close to multi-pole magnet-ring 4 and arranged,
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 Fig. 2 the Hall element 2 that moves ahead is fixedly mounted on sweeping robot chassis 8 with retreating Hall element 3
Central shaft 9 position.The Hall element 2 that moves ahead is fixed with the position of retrogressing Hall element 3, and only universal wheel 1 exists
Move ahead and do 360 ° of rotations around its fixing axle between Hall element 2 and retrogressing Hall element 3.
Tested the speed based on the sweeping robot of universal wheel, range-measurement system also includes microcontroller mcu, move ahead Hall element 2
All it is connected with the sampled signal input of microcontroller mcu with retreating Hall element 3, be provided with for root in microcontroller mcu
According to move ahead Hall element 2 and move ahead when retreating signal of change sweeping robot straight line moving that Hall element 3 collects or
Backway and the computing module of speed.Move ahead Hall element 2 with the signal retreating Hall element 3 output is that square wave is believed
Number.
As shown in figure 4, tested the speed based on the sweeping robot of universal wheel, distance-finding method, it comprises the following steps:
S1: sweeping robot rolls along the direction going straight ahead of central shaft 9 or retrogressing, universal wheel 1 along the axis of rolling 6, drives
The multi-pole magnet-ring 4 being fixed on the axis of rolling 6 rolls；
S2: with retrogressing Hall element 3, the Hall element 2 that moves ahead senses that multi-pole magnet-ring 4 rolls the magnetic field producing；
S3: microcontroller mcu receives the Hall element 2 that moves ahead, retreats the square-wave signal that Hall element 3 exports；
The actual pulse that s4: computing module rotates the number of output pulse in a week according to universal wheel 1, the unit interval receives
Number and the external diameter girth of universal wheel 1, calculate the rotating speed of universal wheel 1；
S5: computing module goes out the instant speed of travel of sweeping robot with reference to the external diameter circumference calculating of universal wheel 1；
S6: computing module calculates the distance of sweeping robot walking with reference to travel time.
Tested the speed based on the sweeping robot of universal wheel, distance-finding method, also include a magnetic shield step: be close to multipole magnetic
The magnetic masking layer 5 of ring 4 both sides to multi-pole magnet-ring 4 roll produce magnetic field carry out magnetic shield so that only sweeping robot along in
When heart axle 9 direction going straight ahead or retrogressing, the Hall element 2 that moves ahead just can sense magnetic field with retreating Hall element 3, sweeps the floor
When the direction of motion of robot and central shaft 9 have angle, move ahead Hall element 2 and retrogressing Hall element 3 no signal output
(ensureing that Hall element just has output only when Robot central shaft 9 direction straight line moving).
The above be only the preferred embodiment of the present invention it should be understood that the present invention be not limited to described herein
Form, is not to be taken as the exclusion to other embodiment, and can be used for various other combinations, modification and environment, and can be at this
In the described contemplated scope of literary composition, it is modified by the technology or knowledge of above-mentioned teaching or association area.And those skilled in the art are entered
The change of row and change, then all should be in the protection domains of claims of the present invention without departing from the spirit and scope of the present invention
Interior.
Claims (5)
1. tested the speed based on the sweeping robot of universal wheel, range-measurement system, for measure sweeping robot in straight line moving before
Row or backway and speed it is characterised in that: it include moving ahead Hall element (2), retreat Hall element (3), multipole
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 hit exactly be arranged at universal
On the axis (7) of wheel (1)；The both sides of multi-pole magnet-ring (4) are symmetrically arranged with magnetic masking layer (5), and magnetic masking layer (5) presses close to multipole
Magnet ring (4) is arranged, 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).
2. according to claim 1 tested the speed based on the sweeping robot of universal wheel, range-measurement system it is characterised in that: described
The Hall element that moves ahead (2) and retreat Hall element (3) and be fixedly mounted on the central shaft (9) of sweeping robot chassis (8)
Position.
3. according to claim 1 tested the speed based on the sweeping robot of universal wheel, range-measurement system it is characterised in that: also wrap
Include microcontroller mcu, the Hall element that moves ahead (2) and retrogressing Hall element (3) are all defeated with the sampled signal of microcontroller mcu
Enter end to connect, microcontroller mcu is used for according to Hall element (2) and retrogressing Hall element (3) signal that collects of moving ahead
Move ahead or backway and speed when calculating sweeping robot straight line moving.
4. tested the speed based on the sweeping robot of universal wheel, distance-finding method it is characterised in that: it comprises the following steps:
S1: sweeping robot rolls along the direction going straight ahead of central shaft (9) or retrogressing, universal wheel (1) along the axis of rolling (6), band
The dynamic multi-pole magnet-ring (4) being fixed on the axis of rolling (6) rolls；
S2: the Hall element that moves ahead (2) and retrogressing Hall element (3) sense that multi-pole magnet-ring (4) rolls the magnetic field producing；
S3: microcontroller mcu receives the Hall element that moves ahead (2), retreats the signal that Hall element (3) exports；
The actual pulse that s4: microcontroller mcu rotates the number of output pulse in a week according to universal wheel (1), the unit interval receives
Number and the external diameter girth of universal wheel (1), calculate the rotating speed of universal wheel (1)；
S5: the microcontroller mcu external diameter circumference calculating combining universal wheel (1) goes out the instant speed of travel of sweeping robot；
S6: microcontroller mcu calculates the distance of sweeping robot walking with reference to travel time.
5. according to claim 4 tested the speed based on the sweeping robot of universal wheel, distance-finding method it is characterised in that: also wrap
Include a magnetic shield step: the magnetic masking layer (5) being close to multi-pole magnet-ring (4) both sides rolls, to multi-pole magnet-ring (4), the magnetic producing
Field carries out magnetic shield so that when only sweeping robot is along central shaft (9) direction going straight ahead or retrogressing, move ahead Hall element
(2) and retreat Hall element (3) just can sense magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN104006823A CN104006823A (en) | 2014-08-27 |
| CN104006823B true CN104006823B (en) | 2017-01-18 |
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Families Citing this family (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 |
| CN109511274A (en) * | 2018-06-28 | 2019-03-22 | 广州艾若博机器人科技有限公司 | Universal wheel speed measuring device, method and system, skidding detection method, mobile electronic equipment, path correction method and device |
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| JP2002244731A (en) * | 2001-02-21 | 2002-08-30 | Matsushita Electric Ind Co Ltd | Mobile work robot |
| CN2538268Y (en) * | 2002-02-05 | 2003-03-05 | 海尔集团公司 | Intelligent suction cleaner |
| JP2006018636A (en) * | 2004-07-02 | 2006-01-19 | Matsushita Electric Ind Co Ltd | Obstacle detector and obstacle detection method |
| CN102490172A (en) * | 2011-12-05 | 2012-06-13 | 东北林业大学 | Indoor intelligent cleaning robot |
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| RU2220643C2 (en) * | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions) |
| JP2005211359A (en) * | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Autonomous traveling robot cleaner system |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002244731A (en) * | 2001-02-21 | 2002-08-30 | Matsushita Electric Ind Co Ltd | Mobile work robot |
| CN2538268Y (en) * | 2002-02-05 | 2003-03-05 | 海尔集团公司 | Intelligent suction cleaner |
| JP2006018636A (en) * | 2004-07-02 | 2006-01-19 | Matsushita Electric Ind Co Ltd | Obstacle detector and obstacle detection method |
| CN102490172A (en) * | 2011-12-05 | 2012-06-13 | 东北林业大学 | Indoor intelligent cleaning robot |
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| CN104006823A (en) | 2014-08-27 |
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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. |
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