CN104188600A - Collision detection method and device applied to robotic floor cleaner - Google Patents
Collision detection method and device applied to robotic floor cleaner Download PDFInfo
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- CN104188600A CN104188600A CN201410469344.7A CN201410469344A CN104188600A CN 104188600 A CN104188600 A CN 104188600A CN 201410469344 A CN201410469344 A CN 201410469344A CN 104188600 A CN104188600 A CN 104188600A
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- cleaning machine
- floor cleaning
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Abstract
The invention relates to a collision detection method and device applied to a robotic floor cleaner. The collision detection method includes: when the robotic floor cleaner starts to run normally and stably, a control unit monitoring and recording current values I1 of a current propulsion motor; hereafter, the control unit constantly monitoring and recording current values I2 of a propulsion motor of the robotic floor cleaner and calculating difference values delta I of the I2 and the I1; comparing the size of preset threshold values Ia and delta I; if the delta I is larger or equal to the Ia, judging that a propulsion unit of the robotic floor cleaner meets greater resistance, and the control unit controlling two propulsion motors of the propulsion unit in direction and speed to change the moving direction; if the delta I is smaller than the Ia, continuously moving to perform cleaning operation according to the original direction. By the collision detection method and device, simpleness in structure is achieved, cost is saved, and economic effectiveness is good.
Description
Technical field
The present invention relates to a kind of checkout gear, particularly a kind of collision checking method and device that is applied to automatic floor cleaning machine device.
Background technology
Increasingly automated and digitized trend along with housed device, existing manual dust collector is not used by people gradually, automatic floor cleaning machine device (robotic floor cleaner), because having advantages of the clean household of full automation floor, it significantly saves manpower, give the credit to its manufacturing cost simultaneously and constantly decline, be popularized for gradually in general family life.
Existing automatic floor cleaning machine device roughly can be divided into two kinds to the detection means of collision obstacle:
A kind of is that device front portion is provided with collision sensing bumper bar, bumper bar has certain scope of activities, and be provided with a back-moving spring, in order to damp impacts, bumper bar is connected with optoelectronic switch, and when the displacement of bumper bar generation certain amplitude, optoelectronic switch will detect and block signal, block signal and be passed to control circuit, device starts steering program.
Another kind is that device front portion is provided with infrared detection module, and this module has the function that detects the place ahead obstacle distance, and when distance is less than certain setting value, device turns to.
Above two clock methods respectively have shortcoming: first method is due to the complicated structure adopting, production and processing cost is higher, fault rate is also high, in actual use, as long as be mutually related, several links have a link to go wrong, to cause automatic floor cleaning machine device normally to move, to be that bumper bar is stuck cannot reset etc. more common fault; The open defect of second method is that this type of automatic floor cleaning machine device needs Intelligent Recognition bed skirt and barrier, because bed skirt has the function of reflected infrared ray equally, so it is also barrier that automatic floor cleaning machine device takes for bed skirt, thereby carry out steering program.Like this, the dust under bed cannot be scavenged into.Moreover there is the problem that cost is higher in this type of automatic floor cleaning machine device infrared detection module used equally.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of detection method based on current strength collision detection that is applied to automatic floor cleaning machine device, and the present invention simultaneously also provides a kind of checkout gear based on current strength collision detection that is applied to automatic floor cleaning machine device.
For addressing the above problem, technical scheme provided by the invention is as follows:
A method that is applied to the collision detection of automatic floor cleaning machine device, is characterized in that: comprise the steps:
The first step, starts automatic floor cleaning machine device;
Second step, the current value I 1 of current propulsion motor when monitoring and recording described automatic floor cleaning machine device and starting normal steady operation;
The 3rd step, the current value I 2 of automatic floor cleaning machine device propulsion motor described in Real-Time Monitoring;
The 4th step, the difference DELTA I of calculating I2 and I1;
The 5th step, more predefined threshold value Ia and Δ I size;
If Δ I is more than or equal to Ia, judge that collision has occurred described automatic floor cleaning machine device, current larger resistance, the described automatic floor cleaning machine device execution steering program transformation moving direction of having run into of propulsion unit;
If Δ I is less than Ia, continue to carry out cleaning according to former moving direction;
The 6th step, if not yet complete clean up task, proceeds to the 3rd step, otherwise shut down, finishes clean up task.
Further, the threshold value Ia described in the 5th step is 200mA.
Further, stating second step and the 3rd step is by the input current value of monitoring propulsion motor, to monitor the current value of automatic floor cleaning machine device propulsion motor.
A kind of device that is applied to the collision detection of automatic floor cleaning machine device, comprise a body, described body comprises makes body at the propulsion unit of ground moving, in order to control propulsion unit, make the body control module at ground moving according to a preassigned pattern automatically, described propulsion unit is provided with two propulsion motors, control module is controlled respectively direction and the speed of two propulsion motors of propulsion unit, with this, realizes the propelling of automatic floor cleaning machine device, turns to or step back, and it is characterized in that:
Described in when automatic floor cleaning machine device starts normal steady operation, the current value I 1 of described current propulsion motor is monitored and recorded to control module; After this, the current value I 2 of described automatic floor cleaning machine device propulsion motor is monitored and recorded to described control module constantly, and calculate the difference DELTA I of I2 and I1; More predefined threshold value Ia and Δ I size; If Δ I is more than or equal to Ia, judge that the propulsion unit of described automatic floor cleaning machine device is current collision occurred, run into larger resistance, control module is controlled direction and the speed of two propulsion motors of propulsion unit, changes moving direction; If Δ I is less than Ia, continue to move execution cleaning according to former direction.
Further, described control module is provided with MCU processor, for monitoring the current current value of two propulsion motors of propulsion unit.
Further, constantly to monitor and record the current value of described automatic floor cleaning machine device propulsion motor be the current value of propulsion motor input to described control module.
Compared with prior art, based on current strength, detect the detection method of automatic floor cleaning machine device collision, judge by accident and the probability of makeing mistakes low, can effectively realize the detection to collision.And the electric current that constantly detects propulsion unit propulsion motor by control module is realized the device to automatic floor cleaning machine device collision detection, without increasing new extra parts, this mode is simple in structure, has saved cost, and economic effect is good.And testing circuit and motor-drive circuit electrical isolation, avoided the destruction to former drive circuit electric attribute, the interference of motor-drive circuit can not introduced to testing circuit yet.
Accompanying drawing explanation
Fig. 1 is the obstacle detection flow chart of automatic floor cleaning machine device of the present invention.
Fig. 2 is the structural representation of automatic floor cleaning machine device of the present invention.
The specific embodiment
For openly the present invention more fully, below in conjunction with accompanying drawing, technical solution of the present invention is elaborated.
Know-why of the present invention is, when automatic floor cleaning machine device has been encountered barrier, the meeting of the drive current of propulsion motor increases suddenly the resistance bringing to offset barrier, and the difference of the electric current when relatively automatic floor cleaning machine device electric current is now with normal work can judge whether to have encountered barrier with the size that presets threshold value.
As shown in Figure 1, a kind of method that is applied to the collision detection of automatic floor cleaning machine device, is characterized in that: comprise the steps:
The first step, starts automatic floor cleaning machine device;
Second step, the current value I 1 of current propulsion motor when monitoring and recording described automatic floor cleaning machine device and starting normal steady operation;
The 3rd step, the current value I 2 of automatic floor cleaning machine device propulsion motor described in Real-Time Monitoring;
The 4th step, the difference DELTA I of calculating I2 and I1;
The 5th step, more predefined threshold value Ia and Δ I size;
If Δ I is more than or equal to Ia, judge that collision has occurred described automatic floor cleaning machine device, current larger resistance, the described automatic floor cleaning machine device execution steering program transformation moving direction of having run into of propulsion unit;
If Δ I is less than Ia, continue to carry out cleaning according to former moving direction;
The 6th step, if not yet complete clean up task, proceeds to the 3rd step, otherwise shut down, finishes clean up task.
Threshold value Ia described in aforementioned the 5th step is 200mA.
Aforementioned second step and the 3rd step are by the input current value of monitoring propulsion motor, to monitor the current value of automatic floor cleaning machine device propulsion motor.
Aforementioned difference DELTA I is the value that I2 subtracts I1.
For realizing a kind of device that is applied to the collision detection of automatic floor cleaning machine device of preceding method, comprise a body, described body comprises makes body at the propulsion unit of ground moving, in order to control propulsion unit, make the body control module at ground moving according to a preassigned pattern automatically, described propulsion unit is provided with two propulsion motors, control module is controlled respectively direction and the speed of two propulsion motors of propulsion unit, with this, realize the propelling of automatic floor cleaning machine device, turn to or step back, it is characterized in that:
Described in when automatic floor cleaning machine device starts normal steady operation, the current value I 1 of described current propulsion motor is monitored and recorded to control module; After this, the current value I 2 of described automatic floor cleaning machine device propulsion motor is monitored and recorded to described control module constantly, and calculate the difference DELTA I of I2 and I1; More predefined threshold value Ia and Δ I size; If Δ I is more than or equal to Ia, judge that the propulsion unit of described automatic floor cleaning machine device is current collision occurred, run into larger resistance, control module is controlled direction and the speed of two propulsion motors of propulsion unit, changes moving direction; If Δ I is less than Ia, continue to move execution cleaning according to former direction.
Aforesaid control module is provided with MCU processor, is responsible for the current current value of two propulsion motors of monitoring propulsion unit.
The current value that described automatic floor cleaning machine device propulsion motor was monitored and recorded to aforesaid control module is constantly the current value of propulsion motor input.
Specific embodiment:
As shown in Figure 2, a kind of automatic floor cleaning machine device comprises body 1, and is arranged at propulsion unit 2, dust suction unit 4 in body 1, plunders and sweep unit 5 and control module 3.Described propulsion unit 2 is provided with two propulsion motors, and control module 3 is controlled respectively direction and the speed of two propulsion motors of propulsion unit, with this, realizes the propelling of automatic floor cleaning machine device, turns to or step back.Control module 3 is monitored the motion state of propulsion motor constantly, records the current voltage value of propulsion motor, current value.
Control module 3 is provided with MCU processor, is responsible for current voltage value and the current value of two propulsion motors of monitoring propulsion unit 2.As shown in Figure 1, when automatic floor cleaning machine device starts after normal steady operation, that is automatic floor cleaning machine device starts to move and carries out cleaning works in the time of 2 to 10 seconds, the current value I 1 of the current propulsion motor input of MCU processor for recording of control module 3.The current value I 2 of the current propulsion motor of MCU processor for recording of control module 3, and calculate the difference DELTA I of I1 and I2.Difference DELTA I is the value that I2 subtracts I1, because when bumping, must be the value that the value of I2 is greater than I1.When running into barrier or move to wooden ground from tile floor, the motion state of automatic floor cleaning machine device changes, the curent change of the propulsion motor of propulsion unit 2.By a large amount of practice experiments, draw, automatic floor cleaning machine device is normally worked time difference value Δ I for being less than 200mA, and when running into barrier and bumping against with it, the electric current of propulsion motor can increase with offset resistance moment, and therefore now Δ I can be greater than 200mA.It is 200mA that program has preset a threshold value Ia, by real-time calculating Δ I, also compares the size of Δ I and Ia, the current motion state of judgement automatic floor cleaning machine device.When Δ, I is more than or equal to Ia, current collision, the execution steering program of having occurred of propulsion unit of program judgement automatic floor cleaning machine device.And being less than Ia but Δ I while being not 0 as Δ I, judgement automatic floor cleaning machine device may arrive the ground of differentiated friction power, does not turn to, and continues to carry out cleaning by former direction.Same Δ I does not turn to for 0 o'clock yet, continues to carry out cleaning by former direction.
Claims (6)
1. a method that is applied to the collision detection of automatic floor cleaning machine device, is characterized in that: comprise the steps:
The first step, starts automatic floor cleaning machine device;
Second step, the current value I 1 of current propulsion motor when monitoring and recording described automatic floor cleaning machine device and starting normal steady operation;
The 3rd step, the current value I 2 of automatic floor cleaning machine device propulsion motor described in Real-Time Monitoring;
The 4th step, the difference DELTA I of calculating I2 and I1;
The 5th step, more predefined threshold value Ia and Δ I size;
If Δ I is more than or equal to Ia, judge that collision has occurred described automatic floor cleaning machine device, current larger resistance, the described automatic floor cleaning machine device execution steering program transformation moving direction of having run into of propulsion unit;
If Δ I is less than Ia, continue to carry out cleaning according to former moving direction;
The 6th step, if not yet complete clean up task, proceeds to the 3rd step, otherwise shut down, finishes clean up task.
2. the method for the collision detection of automatic floor cleaning machine device according to claim 1, is characterized in that: the threshold value Ia described in the 5th step is 200mA.
3. the method for the collision detection of automatic floor cleaning machine device according to claim 1, is characterized in that: described second step and the 3rd step are by the input current value of monitoring propulsion motor, to monitor the current value of automatic floor cleaning machine device propulsion motor.
4. a device that is applied to the collision detection of automatic floor cleaning machine device, comprise a body, described body comprises makes body at the propulsion unit of ground moving, in order to control propulsion unit, make the body control module at ground moving according to a preassigned pattern automatically, described propulsion unit is provided with two propulsion motors, control module is controlled respectively direction and the speed of two propulsion motors of propulsion unit, with this, realizes the propelling of automatic floor cleaning machine device, turns to or step back, and it is characterized in that:
Described in when automatic floor cleaning machine device starts normal steady operation, the current value I 1 of described current propulsion motor is monitored and recorded to control module; After this, the current value I 2 of described automatic floor cleaning machine device propulsion motor is monitored and recorded to described control module constantly, and calculate the difference DELTA I of I2 and I1; More predefined threshold value Ia and Δ I size; If Δ I is more than or equal to Ia, judge that collision has occurred described automatic floor cleaning machine device, current larger resistance, direction and the speed of two propulsion motors of control module control propulsion unit, the transformation moving direction of having run into of propulsion unit; If Δ I is less than Ia, continue to move execution cleaning according to former direction.
5. the device that is applied to the collision detection of automatic floor cleaning machine device according to claim 4, is characterized in that, described control module is provided with MCU processor, for monitoring the current current value of two propulsion motors of propulsion unit.
6. the device that is applied to the collision detection of automatic floor cleaning machine device according to claim 4, it is characterized in that, the current value that described automatic floor cleaning machine device propulsion motor was monitored and recorded to described control module is constantly the current value of propulsion motor input.
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Cited By (10)
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| WO2017211151A1 (en) * | 2016-06-06 | 2017-12-14 | 北京小米移动软件有限公司 | Cleaning robot and method of surmounting obstacle |
| CN107962569A (en) * | 2017-11-23 | 2018-04-27 | 珠海格力电器股份有限公司 | A kind of collision checking method of robot, device and intelligent robot |
| CN109202873A (en) * | 2018-11-22 | 2019-01-15 | 北京秘塔网络科技有限公司 | A kind of flexible mechanical arm and its control method of cooperating |
| CN110073794A (en) * | 2019-04-30 | 2019-08-02 | 浙江亚特电器有限公司 | Collision checking method for intelligent grass-removing |
| CN110328664A (en) * | 2019-06-28 | 2019-10-15 | 希格斯动力科技（珠海）有限公司 | Collision checking method and device |
| CN111571641A (en) * | 2019-02-15 | 2020-08-25 | 速感科技（北京）有限公司 | Rocker-type collision sensing device and autonomous mobile equipment |
| CN112743535A (en) * | 2019-10-30 | 2021-05-04 | 北京配天技术有限公司 | Self-adaptive collision detection method and device and storage medium |
| CN112923968A (en) * | 2019-12-06 | 2021-06-08 | 纳恩博（北京）科技有限公司 | Collision detection method, collision detection device, storage medium, and electronic device |
| CN114061424A (en) * | 2022-01-17 | 2022-02-18 | 广东奥迪威传感科技股份有限公司 | Collision positioning method of robot |
| CN114794980A (en) * | 2022-04-02 | 2022-07-29 | 深圳市云鼠科技开发有限公司 | Cleaning method and cleaning robot |
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| CN112743535A (en) * | 2019-10-30 | 2021-05-04 | 北京配天技术有限公司 | Self-adaptive collision detection method and device and storage medium |
| CN112743535B (en) * | 2019-10-30 | 2024-01-09 | 北京配天技术有限公司 | Self-adaptive collision detection method, device and storage medium |
| CN112923968A (en) * | 2019-12-06 | 2021-06-08 | 纳恩博（北京）科技有限公司 | Collision detection method, collision detection device, storage medium, and electronic device |
| CN114061424A (en) * | 2022-01-17 | 2022-02-18 | 广东奥迪威传感科技股份有限公司 | Collision positioning method of robot |
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