CN104181925A - Automatic ground cleaning robot capable of automatically calibrating running route - Google Patents
Automatic ground cleaning robot capable of automatically calibrating running route Download PDFInfo
- Publication number
- CN104181925A CN104181925A CN201410467943.5A CN201410467943A CN104181925A CN 104181925 A CN104181925 A CN 104181925A CN 201410467943 A CN201410467943 A CN 201410467943A CN 104181925 A CN104181925 A CN 104181925A
- Authority
- CN
- China
- Prior art keywords
- cleaning machine
- machine device
- dust
- control module
- device people
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses an automatic ground cleaning robot capable of automatically calibrating a running route. The automatic ground cleaning robot comprises two driving motors respectively arranged at the left end and the right end at the center of the bottom of the automatic ground cleaning robot to drive the automatic ground cleaning robot to move forwards, perform steering and move backwards. A universal wheel supports the automatic ground cleaning robot to keep the automatic ground cleaning robot balanced, a battery supplies electricity to the whole automatic ground cleaning robot, a dust collection unit is arranged between the two driving motors, and a sweeping unit is arranged on the bottom surface of the automatic ground cleaning robot, in contact with the cleaning surface. A control unit, a monitoring unit and a gyroscope are arranged at the positions close to the front portion of the bottom of the automatic ground cleaning robot respectively, the monitoring unit is electrically connected with the control unit to monitor working environments, the gyroscope is electrically connected with the control unit, and the driving motors are electrically connected with the control unit. Therefore, the automatic ground cleaning robot capable of automatically calibrating the running route can run according to the predetermined route, and working efficiency is increased.
Description
Technical field
The present invention relates to mechanical field, refer to especially a kind of automatic floor cleaning machine device people of automatic calibration travel route.
Background technology
Along with the development of modern science and technology, automatic floor cleaning machine device people has come into general family life gradually, has not only shared part housework, has also increased family life enjoyment.
Existing automatic floor cleaning machine device people, in order to improve the dirigibility turning to, generally adopts two groups of CD-ROM drive motor and an auxiliary universal wheel to support, and when task is cleaned in ground comprehensively, generally adopts Z-shaped track route (shown in Fig. 1).Owing to having error between two groups of CD-ROM drive motor that drive automatic floor cleaning machine device people to advance, in actual use, there will be the deviation of track route as shown in Figure 2.
As shown in Figure 3, there is the region (region that indicates slash in Fig. 3 is the region that cannot clean) that cannot be swept in the place that sweeping robot is passed by the impact that this deviation causes.In order to address this problem, current automatic floor cleaning machine device people generally can dwindle the distance that turning around turns round at every turn moves forward.So just can cover purging zone comprehensively.But an open defect of this mode is that efficiency is too low, a lot of places are repeated to have cleaned repeatedly.
Summary of the invention
In view of this, the object of the invention is to propose a kind of automatic floor cleaning machine device people of automatic calibration travel route, can make automatic floor cleaning machine device people to travel according to predetermined circuit, thereby increase work efficiency.
Based on the automatic floor cleaning machine device people of above-mentioned purpose automatic calibration travel route provided by the invention, comprise universal wheel, CD-ROM drive motor, control module, dust suction unit, plunder and sweep unit, monitoring means, gyroscope and battery; Wherein, described CD-ROM drive motor is two groups, is arranged on respectively two ends, left and right placed in the middle, this automatic floor cleaning machine device people bottom, and described two CD-ROM drive motor are responsible for promoting this automatic floor cleaning machine device people and are advanced, turn to and retreat movement; Described universal wheel supports this automatic floor cleaning machine device people and keeps balance; Described battery provides electric energy for whole described automatic floor cleaning machine device people;
Between described two CD-ROM drive motor, be provided with described dust suction unit, described in plunder and sweep cellular installation and contact this automatic floor cleaning machine device people on the bottom surface of clean face; Described control module, described monitoring means and described gyroscope are arranged on respectively this automatic floor cleaning machine device people's forward position, bottom, described monitoring means and described control module are electrical connected, and described monitoring means is carried out monitoring task to this automatic floor cleaning machine device people's working environment; Described gyroscope and described control module are electrical connected, and described two CD-ROM drive motor and described control module are electrical connected.
Alternatively, described in plunder that to sweep Unit Design be that at least three brushes are installed on a motor, rotated by motor driving brush, floor-dust granule rubbish is plunderred and is swept, be convenient to the suction of described dust suction unit.
Alternatively, described automatic floor cleaning machine device people also comprises dropproof infrared launcher and dropproof infrared receiving device, and dropproof infrared receiving device is connected with described control module;
Before this automatic floor cleaning machine device people base, left, right three positions arrange respectively dropproof infrared launcher and dropproof infrared receiving device in pairs, the dropproof infrared launcher of everywhere is launched a kind of infrared signal of vertical ground always, dropproof infrared receiving device is responsible for receiving the infrared signal by ground return, suddenly disappear or change when larger when receiving signal, dropproof infrared receiving device can send to described control module signal, it is front or left that described control module can be thought, right-hand is without road, described control module is carried out and is retreated or turn to, be that CD-ROM drive motor is carried out and retreated or turn to described in described control module control.
Alternatively, this dust suction Unit Design is fan and dust-collecting box, and described fan is connected with dust-collecting box by air channel, and fan produces negative pressure dust is drawn in dust-collecting box by this air channel.
Further, described dust suction unit also comprises the full infrared launcher of dust-collecting box and the full infrared receiving device of dust-collecting box, be respectively equipped with the full infrared launcher of dust-collecting box and the full receiving trap of dust-collecting box at the two ends of the dust-collecting box porch of described dust suction unit, and the full receiving trap of dust-collecting box is connected with described control module;
When dust or garbage blocking after the signal of the full infrared launcher of dust-collecting box, the full receiving trap of dust-collecting box can not be received infrared signal, the full receiving trap of dust-collecting box can send a signal to described control module, described control module thinks that the full or suction inlet of dust-collecting box is by garbage blocking, then described control module is carried out alarm, i.e. reminding user cleaning dust-collecting box.
Alternatively, described gyroscope is a kind of monitoring sensor, and it has the function of moment monitoring moving object x, y, z three-axis moving angular velocity and acceleration change; Described gyroscope is passed to described control module the changing value of angular velocity and acceleration, by control program computing, judges automatic floor cleaning machine device people and whether departs from setting path; Depart from if had, carry out and adjust.
Further, described gyroscope is passed to described control module the changing value of angular velocity and acceleration, by control program computing, judges automatic floor cleaning machine device people and whether departs from setting path; Depart from if had, carry out adjustment and comprise:
The first step, described gyroscope is monitored described automatic floor cleaning machine device people's x, y, z three-axis moving angular velocity and the variation of acceleration;
Second step, the variation of the x, y, z three-axis moving angular velocity monitoring and acceleration is sent to described control module by described gyroscope;
The 3rd step, described control module, according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, is judged automatic floor cleaning machine device people and whether is departed from setting path, first carries out step 4, then perform step five if depart from; If do not depart from and directly perform step five;
The 4th step, described control module departs from adjusting of setting path to described automatic floor cleaning machine device people;
The 5th step, exits the control of automatic calibration travel route.
Further, described gyroscope possesses x, y, z axis angular rate change sensor and acceleration change sensor, can monitor and obtain described automatic floor cleaning machine device people x, y, z axis angular rate variation and acceleration change.
Further, described control module, according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, calculates and obtains course angle, by judging that the variation of course angle judges whether automatic floor cleaning machine device people departs from setting path.
Further, described by judging that the variation of course angle judges whether automatic floor cleaning machine device people departs from setting path, if course angle increases, represent described automatic floor cleaning machine device people deflection to the right, need to adjust the speed of left and right CD-ROM drive motor, be that left CD-ROM drive motor suitably reduces, right CD-ROM drive motor suitably increases; If course angle reduces, represent described automatic floor cleaning machine device people deflection left, need to adjust left and right CD-ROM drive motor speed, left CD-ROM drive motor suitably increases, and right CD-ROM drive motor suitably reduces.
As can be seen from above, the automatic floor cleaning machine device people of a kind of automatic calibration travel route provided by the invention, is arranged on respectively two ends, left and right placed in the middle, this automatic floor cleaning machine device people bottom by two groups of CD-ROM drive motor, promotes advance, turn to and retreat; Universal wheel supports this automatic floor cleaning machine device people and keeps balance; Battery provides electric energy for whole automatic floor cleaning machine device people; Between two CD-ROM drive motor, be provided with dust suction unit, plunder and sweep cellular installation and contact this automatic floor cleaning machine device people on the bottom surface of clean face; Control module, monitoring means and gyroscope are arranged on respectively this automatic floor cleaning machine device people's forward position, bottom, and monitoring means and control module are electrical connected, and working environment is carried out to monitoring task; Gyroscope and control module are electrical connected, and CD-ROM drive motor and control module are electrical connected.Thereby the automatic floor cleaning machine device people of automatic calibration travel route of the present invention can calibrate automatic floor cleaning machine device people travel route, has realized efficient cleaning.
Brief description of the drawings
Fig. 1 is the Z-shaped route schematic diagram that automatic floor cleaning machine device people should walk;
Fig. 2 is the Z-shaped route schematic diagram of the actual walking of automatic floor cleaning machine device people in prior art;
Fig. 3 be cannot cleaning area in the Z-shaped route of the actual walking of automatic floor cleaning machine device people in prior art schematic diagram;
Fig. 4 is the automatic floor cleaning machine device people's of embodiment of the present invention automatic calibration travel route structural representation;
Fig. 5 is the structural representation of the automatic floor cleaning machine device people bottom surface of embodiment of the present invention automatic calibration travel route;
Fig. 6 is the schematic flow sheet of the automatic floor cleaning machine device people ambulation control method of embodiment of the present invention automatic calibration travel route;
Fig. 7 is the XYZ shaft space coordinate system that the automatic floor cleaning machine device people gyroscope of embodiment of the present invention automatic calibration travel route records.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Consult shown in Fig. 4, for the automatic floor cleaning machine device people's of embodiment of the present invention automatic calibration travel route structural representation, the automatic floor cleaning machine device people of described automatic calibration travel route comprises universal wheel 1 (as shown in Figure 5), CD-ROM drive motor 2, control module 3, dust suction unit 4, plunders and sweep unit 5, monitoring means 6, gyroscope 7 and battery 8.Wherein, CD-ROM drive motor 2 is two groups, is arranged on respectively two ends, left and right placed in the middle, this automatic floor cleaning machine device people bottom.It is mobile that two CD-ROM drive motor 2 are responsible for promoting that this automatic floor cleaning machine device people advances, turns to and retreats etc., and universal wheel 1 is responsible for supporting this automatic floor cleaning machine device people and is kept balance.Battery 8 provides electric energy for whole described automatic floor cleaning machine device people, and preferably, battery 8 is arranged on this automatic floor cleaning machine device people's rear end, and is arranged in battery case.Preferably, battery 8 is rechargeable battery.
Between two CD-ROM drive motor 2, be provided with dust suction unit 4, preferably, this dust suction unit 4 is designed to fan and dust-collecting box, and described fan is connected with dust-collecting box by air channel.Wherein, fan generation negative pressure is drawn into dust in dust-collecting box by this air channel.
Plunder and sweep unit 5 and be arranged on the bottom surface that this automatic floor cleaning machine device people contacts clean face.As shown in Figure 5, contact this automatic floor cleaning machine device people and on the bottom surface of clean face, be provided with two and plunder and sweep unit 5, lay respectively at the left and right sides of forward portion on described bottom surface.Preferably, plunder and sweep unit 5 and be designed to, on a motor, at least three brushes are installed, rotated by motor driving brush, the granule rubbish such as floor-dust are plunderred and swept, be convenient to the suction of dust suction unit 4.
In addition, control module 3, monitoring means 6 and gyroscope 7 are arranged on respectively this automatic floor cleaning machine device people's forward position, bottom.Wherein, monitoring means 6 is electrical connected with control module 3, and preferably, monitoring means 6 can be monitoring sensor, and this automatic floor cleaning machine device people's working environment is carried out to monitoring task.As collision obstacle monitoring, dropproof monitoring etc.The monitoring sensor of monitoring means 6 passes to control module 3 the signal monitoring, and analyzes through control module 3, specifies the current environment of living in of described automatic floor cleaning machine device people, and control module 3 moves corresponding program, does corresponding processing.
Gyroscope 7 is electrical connected with control module 3, and preferably, gyroscope 7 can be a kind of monitoring sensor, and it has the function of moment monitoring moving object x, y, z three-axis moving angular velocity and acceleration change.Gyroscope 7 is passed to control module 3 the changing value of this angular velocity and acceleration, by control program computing, judges automatic floor cleaning machine device people and whether departs from setting path.Depart from if had, carry out corresponding adjustment programme.
Further, two CD-ROM drive motor 2 are electrical connected with control module 3, and the controlled unit 3 of CD-ROM drive motor 2 is controlled, and carries out exercises.In the time that the speed of two CD-ROM drive motor 2 is different, just can realizes and turning to.Dust suction unit 4 and plunder and sweep unit 5 and be electrical connected with control module 3, controlled unit 3 is controlled, and carries out dust suction and plunders the task of sweeping.
In another embodiment of the present invention, described automatic floor cleaning machine device people also comprises dropproof infrared launcher and dropproof infrared receiving device, and dropproof infrared receiving device is connected with control module 3.Preferably, before this automatic floor cleaning machine device people base, left and right three positions arrange respectively dropproof infrared launcher and dropproof infrared receiving device in pairs.In an embodiment, the dropproof infrared launcher of everywhere is launched a kind of infrared signal of vertical ground always, dropproof infrared receiving device is responsible for receiving the infrared signal by ground return, suddenly disappear or change when larger when receiving signal, dropproof infrared receiving device can send to control module 3 signal, control module 3 can think that front or left and right side is for without road, and control module 3 is carried out and retreated or turn to, and control module 3 is controlled CD-ROM drive motor 2 and carried out and retreat or turn to.
As one embodiment of the present of invention, described dust suction unit 4 also comprises the full infrared launcher of dust-collecting box and the full infrared receiving device of dust-collecting box, preferably, be respectively equipped with the full infrared launcher of dust-collecting box and the full receiving trap of dust-collecting box at the two ends of the dust-collecting box porch of dust suction unit 4, and the full receiving trap of dust-collecting box is connected with control module 3.When dust or garbage blocking after the signal of the full infrared launcher of dust-collecting box, the full receiving trap of dust-collecting box can not be received infrared signal, the full receiving trap of dust-collecting box can send a signal to control module 3, control module 3 thinks that the full or suction inlet of dust-collecting box is by garbage blocking, then control module 3 is carried out alarm, i.e. reminding user cleaning dust-collecting box.
As an alternative embodiment of the invention, consult shown in Fig. 6, for the schematic flow sheet of the automatic floor cleaning machine device people ambulation control method of embodiment of the present invention automatic calibration travel route, the automatic floor cleaning machine device people ambulation control method of described automatic calibration travel route comprises:
Step 601, gyroscope 7 is monitored described automatic floor cleaning machine device people's x, y, z three-axis moving angular velocity and the variation of acceleration.
Preferably, gyroscope 7 is three-axis gyroscope.In an embodiment, gyroscope 7 possesses x, y, z axis angular rate change sensor and acceleration change sensor, can monitor and obtain described automatic floor cleaning machine device people x, y, z axis angular rate variation and acceleration change.Wherein, the variation of x, y, z axis angular rate refers to 3 axis angular rates and changes, and acceleration change refers to the variation of x, y, z axis linear acceleration.
Step 602, the variation of the x, y, z three-axis moving angular velocity monitoring and acceleration is sent to control module 3 by gyroscope 7.
Step 603, control module 3, according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, is judged automatic floor cleaning machine device people and whether is departed from setting path, first carry out step 604, then carry out 605 if depart from; If do not depart from and directly carry out 605.
As one embodiment of the present of invention, control module 3, according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, calculates and obtains course angle, by judging that the variation of course angle judges whether automatic floor cleaning machine device people departs from setting path.Preferably, by the variation of x, y, z three-axis moving angular velocity and acceleration, calculate and obtain course angle, its specific implementation process is as follows:
Rectangular coordinate system as shown in Figure 7, its initial point O is at this gyrostatic center, O
xfor pitch axis, O
yfor axis of roll, O
zbe orthogonal to xy face.Obtain H at O by described gyroscope
xaxle component A, at O
yaxle component B, at O
zaxle component C.Be that the displacement obtaining acceleration time of being multiplied by respectively of x, y, z three axles that record of gyroscope is exactly component A, B, C.
In order to obtain necessary course angle in practical application, must on Fig. 7 coordinate origin O basis, set up in addition orthogonal three-axis reference OX, OY, OZ, wherein XY face is surface level, OZ points to acceleration of gravity direction, OM is the projection of H in XY plane, obtains thus the angle σ that OM axle is rotated counterclockwise OX axle around O point and is course angle.
If xy plane and XY plane included angle are α, according to the space projection relation in Fig. 7, obtain:
sin
2α＝sin
2β+sin
2γ (1)
Wherein, β, γ be the angle of pitch and roll angle respectively, and angle of pitch β is the angle of x axle and surface level, and roll angle γ is the angle of y axle and surface level.In an embodiment of the present invention, the angular velocity of gyroscope 7 records x, the y time of being multiplied by obtains respectively angle of pitch β, roll angle γ.
XYZ coordinate system is regarded as by xyz coordinate through what convert, even first kept O
yaxle is motionless, by xz around O
yaxle perpendicular to O
ybehind the rotation with in surface Φ angle of axle, can obtain middle transition coordinate system XyZ ', between this coordinate system and xyz coordinate system, have following relation:
Then, then keep OX axle motionless, yZ ' plane, around OX axle and at the rotation with in surface θ angle perpendicular to OX axle, can be obtained to required XYZ coordinate system.There is following relation in this XYZ coordinate system with middle transition coordinate system XyZ ':
According to formula (2) and (3), can obtain formula (4)
In addition, according to the relative position relation between each coordinate system in Fig. 7, obtain
cosΦ＝cosα/cosγ (5)
θ＝γ (6)
If the x that gyroscope 7 is recorded, the angular velocity of y and the angle of pitch β, the roll angle γ that obtain, and the acceleration of x, y, z three axles that gyroscope 7 is recorded and the H that obtains are at O
xcomponent A on axle, at O
yaxle component B, at O
zaxle component C substitution formula (2), to (6), just can be tried to achieve H component D on OX axle, component E on OY axle.And then D, E substitution following formula just can be tried to achieve to required course angle σ value.
σ＝arctan(E/D)
(7)
Step 604, control module 3 departs from adjusting of setting path to described automatic floor cleaning machine device people.
In one embodiment of the invention, the front and back of comparison course angle change, if course angle increases, represent described automatic floor cleaning machine device people deflection to the right, need to adjust the speed (left CD-ROM drive motor 2 suitably reduces, and right CD-ROM drive motor 2 suitably increases) of left and right CD-ROM drive motor 2.If course angle reduces, represent described automatic floor cleaning machine device people deflection left, need to adjust left and right CD-ROM drive motor 2 speed (left CD-ROM drive motor 2 suitably increases, and right CD-ROM drive motor 2 suitably reduces).
Step 605, exits the control of automatic calibration travel route.
This shows, the automatic floor cleaning machine device people of the automatic calibration travel route that the present invention realizes, creationary proposition judges by contacting between gyroscope and control module whether automatic floor cleaning machine device people departs from setting path, to proofread and correct two groups of errors between CD-ROM drive motor; And described automatic floor cleaning machine device people has eliminated cleaning white space, has improved this automatic floor cleaning machine device people's work efficiency; Meanwhile, described automatic floor cleaning machine device people can also accomplish dropproof and to the intelligent control operation of dust-collecting box; Finally, the automatic floor cleaning machine device people of whole described automatic calibration travel route is easy, compact, is easy to realize.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. an automatic floor cleaning machine device people for automatic calibration travel route, is characterized in that, comprises universal wheel, CD-ROM drive motor, control module, dust suction unit, plunders and sweep unit, monitoring means, gyroscope and battery; Wherein, described CD-ROM drive motor is two groups, is arranged on respectively two ends, left and right placed in the middle, this automatic floor cleaning machine device people bottom, and described two CD-ROM drive motor are responsible for promoting this automatic floor cleaning machine device people and are advanced, turn to and retreat movement; Described universal wheel supports this automatic floor cleaning machine device people and keeps balance; Described battery provides electric energy for whole described automatic floor cleaning machine device people;
Between described two CD-ROM drive motor, be provided with described dust suction unit, described in plunder and sweep cellular installation and contact this automatic floor cleaning machine device people on the bottom surface of clean face; Described control module, described monitoring means and described gyroscope are arranged on respectively this automatic floor cleaning machine device people's forward position, bottom, described monitoring means and described control module are electrical connected, and described monitoring means is carried out monitoring task to this automatic floor cleaning machine device people's working environment; Described gyroscope and described control module are electrical connected, and described two CD-ROM drive motor and described control module are electrical connected.
2. robot for cleaning floor according to claim 1, it is characterized in that, described in plunder that to sweep Unit Design be that at least three brushes are installed on a motor, rotated by motor driving brush, floor-dust granule rubbish is plunderred and swept, be convenient to the suction of described dust suction unit.
3. robot for cleaning floor according to claim 1, is characterized in that, described automatic floor cleaning machine device people also comprises dropproof infrared launcher and dropproof infrared receiving device, and dropproof infrared receiving device is connected with described control module;
Before this automatic floor cleaning machine device people base, left, right three positions arrange respectively dropproof infrared launcher and dropproof infrared receiving device in pairs, the dropproof infrared launcher of everywhere is launched a kind of infrared signal of vertical ground always, dropproof infrared receiving device is responsible for receiving the infrared signal by ground return, suddenly disappear or change when larger when receiving signal, dropproof infrared receiving device can send to described control module signal, it is front or left that described control module can be thought, right-hand is without road, described control module is carried out and is retreated or turn to, be that CD-ROM drive motor is carried out and retreated or turn to described in described control module control.
4. robot for cleaning floor according to claim 1, is characterized in that, this dust suction Unit Design is fan and dust-collecting box, and described fan is connected with dust-collecting box by air channel, and fan produces negative pressure dust is drawn in dust-collecting box by this air channel.
5. robot for cleaning floor according to claim 4, it is characterized in that, described dust suction unit also comprises the full infrared launcher of dust-collecting box and the full infrared receiving device of dust-collecting box, be respectively equipped with the full infrared launcher of dust-collecting box and the full receiving trap of dust-collecting box at the two ends of the dust-collecting box porch of described dust suction unit, and the full receiving trap of dust-collecting box is connected with described control module;
When dust or garbage blocking after the signal of the full infrared launcher of dust-collecting box, the full receiving trap of dust-collecting box can not be received infrared signal, the full receiving trap of dust-collecting box can send a signal to described control module, described control module thinks that the full or suction inlet of dust-collecting box is by garbage blocking, then described control module is carried out alarm, i.e. reminding user cleaning dust-collecting box.
6. robot for cleaning floor according to claim 1, is characterized in that, described gyroscope is a kind of monitoring sensor, and it has the function of moment monitoring moving object x, y, z three-axis moving angular velocity and acceleration change; Described gyroscope is passed to described control module the changing value of angular velocity and acceleration, by control program computing, judges automatic floor cleaning machine device people and whether departs from setting path; Depart from if had, carry out and adjust.
7. robot for cleaning floor according to claim 6, is characterized in that, described gyroscope is passed to described control module the changing value of angular velocity and acceleration, by control program computing, judges automatic floor cleaning machine device people and whether departs from setting path; Depart from if had, carry out adjustment and comprise:
The first step, described gyroscope is monitored described automatic floor cleaning machine device people's x, y, z three-axis moving angular velocity and the variation of acceleration;
Second step, the variation of the x, y, z three-axis moving angular velocity monitoring and acceleration is sent to described control module by described gyroscope;
The 3rd step, described control module, according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, is judged automatic floor cleaning machine device people and whether is departed from setting path, first carries out step 4, then perform step five if depart from; If do not depart from and directly perform step five;
The 4th step, described control module departs from adjusting of setting path to described automatic floor cleaning machine device people;
The 5th step, exits the control of automatic calibration travel route.
8. robot for cleaning floor according to claim 7, it is characterized in that, described gyroscope possesses x, y, z axis angular rate change sensor and acceleration change sensor, can monitor and obtain described automatic floor cleaning machine device people x, y, z axis angular rate variation and acceleration change.
9. robot for cleaning floor according to claim 8, it is characterized in that, described control module is according to the x, y, z three-axis moving angular velocity obtaining and the variation of acceleration, calculate and obtain course angle, by judging that the variation of course angle judges whether automatic floor cleaning machine device people departs from setting path.
10. robot for cleaning floor according to claim 9, it is characterized in that, described by judging that the variation of course angle judges whether automatic floor cleaning machine device people departs from setting path, if course angle increases, represent described automatic floor cleaning machine device people deflection to the right, need to adjust the speed of left and right CD-ROM drive motor, left CD-ROM drive motor suitably reduces, and right CD-ROM drive motor suitably increases; If course angle reduces, represent described automatic floor cleaning machine device people deflection left, need to adjust left and right CD-ROM drive motor speed, left CD-ROM drive motor suitably increases, and right CD-ROM drive motor suitably reduces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410467943.5A CN104181925A (en) | 2014-09-15 | 2014-09-15 | Automatic ground cleaning robot capable of automatically calibrating running route |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410467943.5A CN104181925A (en) | 2014-09-15 | 2014-09-15 | Automatic ground cleaning robot capable of automatically calibrating running route |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104181925A true CN104181925A (en) | 2014-12-03 |
Family
ID=51963062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410467943.5A Pending CN104181925A (en) | 2014-09-15 | 2014-09-15 | Automatic ground cleaning robot capable of automatically calibrating running route |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104181925A (en) |
Cited By (15)
| 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 |
| CN105080751A (en) * | 2015-07-13 | 2015-11-25 | 安徽宜留电子科技有限公司 | Intelligent watering device |
| CN105739503A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Turning method of walking robot and control device |
| CN105786005A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Sweeping robot control system |
| CN105955265A (en) * | 2016-05-10 | 2016-09-21 | 广西升禾环保科技股份有限公司 | Sweeping robot control platform |
| CN105962849A (en) * | 2016-05-10 | 2016-09-28 | 广西升禾环保科技股份有限公司 | Sweeper robot control platform |
| CN106239528A (en) * | 2016-08-30 | 2016-12-21 | 宁波菜鸟智能科技有限公司 | The path cleaning method of sweeping robot, Apparatus and system |
| CN106264356A (en) * | 2016-08-12 | 2017-01-04 | 湖南格兰博智能科技有限责任公司 | A kind of intelligent garbage cleaning device |
| CN106325276A (en) * | 2016-09-21 | 2017-01-11 | 苏州瑞得恩自动化设备科技有限公司 | Judgment method and control method for straight running of robot on slope plane |
| CN106598042A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Cleaning robot, garbage gathering station and cleaning system |
| CN106610665A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | GPS-based autonomous traveling robot |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
| CN108725578A (en) * | 2017-04-14 | 2018-11-02 | 华为技术有限公司 | The method and apparatus for controlling intelligent vehicle running direction |
| CN110936387A (en) * | 2019-11-05 | 2020-03-31 | 广西志得实业有限公司 | Intelligent moving cleaning robot for container |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
| CN1759797A (en) * | 2004-10-12 | 2006-04-19 | 三星光州电子株式会社 | Robot cleaner coordinates compensation method and a robot cleaner system using the same |
| CN1823676A (en) * | 2005-02-25 | 2006-08-30 | 三星光州电子株式会社 | Robot cleaner and method of control thereof |
| CN201759498U (en) * | 2010-09-01 | 2011-03-16 | 莱克电气股份有限公司 | Rotation angle automatic correcting intelligent cleaner |
| CN102138768A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Positioning method and equipment for cleaning robot |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN102379658A (en) * | 2010-08-31 | 2012-03-21 | 财团法人工业技术研究院 | Dust-absorbing cleaning module |
| CN102846273A (en) * | 2011-06-28 | 2013-01-02 | 三星电子株式会社 | Robot cleaner and control method thereof |
-
2014
- 2014-09-15 CN CN201410467943.5A patent/CN104181925A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4556940A (en) * | 1980-09-05 | 1985-12-03 | Mitsubishi Denki Kabushiki Kaisha | Robot vehicle |
| CN1759797A (en) * | 2004-10-12 | 2006-04-19 | 三星光州电子株式会社 | Robot cleaner coordinates compensation method and a robot cleaner system using the same |
| CN1823676A (en) * | 2005-02-25 | 2006-08-30 | 三星光州电子株式会社 | Robot cleaner and method of control thereof |
| CN102138768A (en) * | 2010-01-28 | 2011-08-03 | 深圳先进技术研究院 | Positioning method and equipment for cleaning robot |
| CN102379658A (en) * | 2010-08-31 | 2012-03-21 | 财团法人工业技术研究院 | Dust-absorbing cleaning module |
| CN201759498U (en) * | 2010-09-01 | 2011-03-16 | 莱克电气股份有限公司 | Rotation angle automatic correcting intelligent cleaner |
| CN201936191U (en) * | 2011-01-26 | 2011-08-17 | 宋红丽 | Cleaning robot |
| CN102846273A (en) * | 2011-06-28 | 2013-01-02 | 三星电子株式会社 | Robot cleaner and control method thereof |
Cited By (24)
| 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 |
| CN105080751A (en) * | 2015-07-13 | 2015-11-25 | 安徽宜留电子科技有限公司 | Intelligent watering device |
| CN106598042A (en) * | 2015-10-20 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Cleaning robot, garbage gathering station and cleaning system |
| CN106610665A (en) * | 2015-10-22 | 2017-05-03 | 沈阳新松机器人自动化股份有限公司 | GPS-based autonomous traveling robot |
| CN105739503B (en) * | 2016-04-13 | 2018-06-01 | 上海物景智能科技有限公司 | A kind of method and control device of walking robot turn u-turn |
| CN105739503A (en) * | 2016-04-13 | 2016-07-06 | 上海物景智能科技有限公司 | Turning method of walking robot and control device |
| CN105786005A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Sweeping robot control system |
| CN105955265A (en) * | 2016-05-10 | 2016-09-21 | 广西升禾环保科技股份有限公司 | Sweeping robot control platform |
| CN105962849A (en) * | 2016-05-10 | 2016-09-28 | 广西升禾环保科技股份有限公司 | Sweeper robot control platform |
| CN106264356A (en) * | 2016-08-12 | 2017-01-04 | 湖南格兰博智能科技有限责任公司 | A kind of intelligent garbage cleaning device |
| CN106264356B (en) * | 2016-08-12 | 2019-02-05 | 湖南格兰博智能科技有限责任公司 | A kind of intelligent garbage cleaning device |
| CN106239528A (en) * | 2016-08-30 | 2016-12-21 | 宁波菜鸟智能科技有限公司 | The path cleaning method of sweeping robot, Apparatus and system |
| CN106239528B (en) * | 2016-08-30 | 2019-04-09 | 宁波菜鸟智能科技有限公司 | The path cleaning method of sweeping robot |
| WO2018053983A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Determining method and control method for straight running of robot on slope plane |
| CN106325276A (en) * | 2016-09-21 | 2017-01-11 | 苏州瑞得恩自动化设备科技有限公司 | Judgment method and control method for straight running of robot on slope plane |
| CN106325276B (en) * | 2016-09-21 | 2019-06-25 | 苏州瑞得恩光能科技有限公司 | The determination method and control method of robot straight-line travelling in the plane of slope |
| US10802500B2 (en) | 2016-09-21 | 2020-10-13 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN108536135B (en) * | 2017-03-06 | 2023-10-27 | 苏州宝时得电动工具有限公司 | Path control method and device and cleaning robot |
| CN108725578A (en) * | 2017-04-14 | 2018-11-02 | 华为技术有限公司 | The method and apparatus for controlling intelligent vehicle running direction |
| CN108725578B (en) * | 2017-04-14 | 2020-08-07 | 华为技术有限公司 | Method and device for controlling driving direction of intelligent automobile |
| CN108646733A (en) * | 2018-04-27 | 2018-10-12 | 杭州艾豆智能科技有限公司 | A kind of mobile robot and its antidote of automatic straightening |
| CN110936387A (en) * | 2019-11-05 | 2020-03-31 | 广西志得实业有限公司 | Intelligent moving cleaning robot for container |
| CN110936387B (en) * | 2019-11-05 | 2023-01-06 | 北部湾大学 | Intelligent moving cleaning robot for container |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104181925A (en) | Automatic ground cleaning robot capable of automatically calibrating running route | |
| CN106325276B (en) | The determination method and control method of robot straight-line travelling in the plane of slope | |
| US10271699B2 (en) | Autonomous cleaning device and wind path structure of same | |
| EP3391797B1 (en) | Automatic cleaning device and cleaning method | |
| CN103054519B (en) | Robot cleaner and the method being used for controlling this robot cleaner | |
| WO2020207390A1 (en) | Detection method and apparatus, and mobile robot and storage medium | |
| US9268331B2 (en) | Domestic robotic system and robot therefor | |
| JP2018183784A (en) | Self-propelled robot | |
| KR102459151B1 (en) | Robot cleaner and controlling method thereof | |
| US10542858B2 (en) | Self-propelled electronic device and travel method for self-propelled electronic device | |
| KR101892652B1 (en) | Electric cleaner | |
| CN106200645A (en) | Autonomous robot, control device and control method | |
| US10376122B2 (en) | Self-propelled electronic device and travel method for said self-propelled electronic device | |
| US20200293055A1 (en) | Autonomous mobile robot, method for docking autonomous mobile robot, control device and smart cleaning system | |
| US20180292837A1 (en) | Mobile robot having automatic charging module | |
| KR20160055233A (en) | Autonomous travel body and vacuum cleaner | |
| US11045059B2 (en) | Self-propelled robot | |
| CN105563450A (en) | Multifunctional crawling robot for ship facade operations | |
| JP2012139792A (en) | Cleaning robot system, and method for controlling the same | |
| CN109982624B (en) | Autonomous walking type dust collector | |
| WO2019100624A1 (en) | Autonomously moving on-panel cleaning method and on-panel cleaning robot | |
| CN204772513U (en) | Multi -functional robot of crawling of boats and ships facade operation | |
| US10737392B2 (en) | Autonomous mobile object and storage medium for autonomous mobile object | |
| CN112493926B (en) | A robot of sweeping floor for scanning furniture bottom profile | |
| JP6382634B2 (en) | Autonomous vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141203 |