CN105182980A - Automatic cleaning equipment control system and control method - Google Patents
Automatic cleaning equipment control system and control method Download PDFInfo
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- CN105182980A CN105182980A CN201510631008.2A CN201510631008A CN105182980A CN 105182980 A CN105182980 A CN 105182980A CN 201510631008 A CN201510631008 A CN 201510631008A CN 105182980 A CN105182980 A CN 105182980A
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Abstract
The invention provides an automatic cleaning equipment control system, which comprises a control module, a matching module and a main control module, wherein the control module is used for acquiring data from a sensor and a key switch; the matching module and the control module are connected for determining on or off of a motor and a cleaning action switch under control of the control module; and the main control module and the control module are connected for carrying out mapping or navigation of the automatic cleaning equipment on the basis of data acquired by the control module. The invention also provides an automatic cleaning equipment control method. Thus, the automatic degree of the automatic cleaning equipment is improved, mapping and navigation are separated in a one-time mapping multiple-time navigation mode, and the overall work efficiency of the automatic cleaning equipment is improved.
Description
Technical field
The present invention relates to clean control field, espespecially a kind of control system of automatic cleaning equipment and control method.
Background technology
Along with the construction at megastore and large scale industry scene, the raising of simultaneous human cost, floor cleaning occupies a large amount of human resources.
In prior art, use has people to drive or has human-aided cleaning equipment, this mode depends critically upon manpower, be difficult to realize multiple stage cleaning equipment work simultaneously, also higher to operating personnel's operation requirements, and what cleaning equipment of the prior art adopted is the pattern that figure is built on navigation limit, limit, although single work efficiency is high, make whole work efficiency low for repeatedly building figure in fixed area.Meanwhile, the concrete mode of navigating and building figure is not provided in prior art.
As can be seen here, need a kind of control system and control method of new automatic cleaning equipment, concrete navigation can be provided and build figure mode, improve the automaticity of cleaning equipment, meanwhile, by navigation with build figure and be separated, the whole work efficiency of raising cleaning equipment.
Summary of the invention
The present invention is in order to solve the not high and problem that whole work efficiency is low of above-mentioned technology automaticity, a kind of control system and control method of automatic cleaning equipment are provided, give concrete navigation and build figure mode, in conjunction with existing anticollision, dropproof and obstacle information, improve the intelligent level of cleaning equipment, and by once building the mode that figure repeatedly navigates, improve the whole work efficiency of cleaning equipment, in concrete navigation, different navigation strategies is implemented to zones of different, thus improves the security performance of cleaning equipment.
To achieve these goals, the invention provides a kind of control system of automatic cleaning equipment, described control system comprises: control module, adaptation module and main control module, control module is for gathering the data of sensor and keyswitch, adaptation module is connected with control module, for under the control of control module, determine opening or closing of motor and cleaning action switch, main control module is connected with control module, builds figure or navigation for what carry out automatic cleaning equipment based on the data of control module collection.
Alternatively, in described control system: described control system also comprises:
Mapping sensor, carries out two dimension or 3-D scanning for realizing to external environment residing for automatic cleaning equipment, and exports scanning result;
Anticollision sensor, for detecting the distance of automatic cleaning equipment distance periphery object, to export as peripheral distance;
Dropproof sensor, for the distance on the chassis to ground of detecting automatic cleaning equipment, to export as ground distance;
Tachogenerator, for detecting the movement velocity of automatic cleaning equipment;
Keyswitch, under the control of operating personnel, opens or closes automatic cleaning equipment, and provides the on off state of himself;
To advance motor, provide power for the motion for automatic cleaning equipment;
Cleaning action switch, for starting or cut out the clean operation of automatic cleaning equipment;
Described control module is connected respectively with anticollision sensor, dropproof sensor, tachogenerator and keyswitch, for receiving peripheral distance, ground distance, movement velocity and keyswitch on off state, and peripheral distance, ground distance, movement velocity and keyswitch on off state are transmitted to described main control module;
Described main control module is connected to receive scanning result with mapping sensor, and that carries out automatic cleaning equipment based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state builds figure or navigation.
Alternatively, in described control system: described mapping sensor is laser sensor or vision sensor.
Alternatively, in described control system: described main control module based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating.
Alternatively, in described control system: described control system also comprises interactive module, be connected with main control module, for user instruction is sent to main control module, and receive from the scanning result of main control module, peripheral distance, ground distance, movement velocity and the map datum that obtains after building figure.
Present invention also offers a kind of control method of automatic cleaning equipment, described control method is used for the control system of automatic cleaning equipment, and described control method comprises:
Step 1: control system items of equipment initialization;
Step 2: judge whether that initialization is normal, if initialization is normal, then jumps to step 4, if initialization exception, then jump to step 3;
Step 3: report to the police, jump to step 8;
Step 4: according to the operation of user, controls main control module and selects to build figure or navigation, if select to build figure, then jump to step 5, if select navigation, jump to step 6;
Step 5: main control module builds figure;
Step 6: main control module navigates;
Whether step 7: according to the operation of user, select to exit, if select to exit, then jumps to step 8, otherwise, jump to step 4;
Step 8: exit;
Wherein, described main control module carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating.
Alternatively, in described control method: step 4 and step 7 are completed by interactive module, described interactive module is positioned at described control system, is connected with main control module, for user instruction is sent to main control module, and receive the map datum obtained after main control module builds figure.
Alternatively, in described control method: step 5 comprises the following steps:
Step 5.1: start;
Step 5.2: main control module obtains the scanning result that mapping sensor exports;
Step 5.3: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 5.4: the current location of main control module determination automatic cleaning equipment;
Step 5.5: main control module upgrades map datum;
Step 5.6: main control module receives user instruction, sends motion message to control module;
Step 5.7: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 5.5, if not, jumps to step 5.8;
Step 5.8: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 5.5, if not, jumps to step 5.9;
Step 5.9: control module sends Electric Machine Control message to adaptation module;
Step 5.10: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 5.11: user has judged whether to build figure, if not, jumps to step 5.2, if so, jumps to step 5.12;
Step 5.12: terminate.
Alternatively, in described control method: step 6 comprises the following steps:
Step 6.1: start;
Step 6.2: main control module obtains the current location of map datum and automatic cleaning equipment;
Step 6.3: main control module sends to control module and opens cleaning action switch message;
Step 6.4: control module sends to adaptation module and opens cleaning action switch message;
Step 6.5: main control module obtains the scanning result that mapping sensor exports;
Step 6.6: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 6.7: the current location of main control module determination automatic cleaning equipment;
Step 6.8: the motion path of main control module planning automatic cleaning equipment;
Step 6.9: main control module sends motion message to control module;
Step 6.10: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 6.8, if not, jumps to step 6.11;
Step 6.11: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 6.8, if not, jumps to step 6.12;
Step 6.12: control module sends Electric Machine Control message to adaptation module;
Step 6.13: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 6.14: it is clean whether master control module judges completes, if not, jumps to step 6.5, if so, jumps to step 6.15;
Step 6.15: terminate.
Alternatively, in described control method: step 6.14 comprises the following steps:
Step 6.14.1: start;
Step 6.14.2: judge that whether cleaned area accounts for overall region area percentage more than the first predetermined threshold value, if so, then jump to step 6.14.3, if not, jump to step 6.14.5;
Step 6.14.3: judge that independently whether non-cleaning area area is not more than the second predetermined threshold value, if so, then jumps to step 6.14.4, if not, jumps to step 6.14.5;
Step 6.14.4: complete clean;
Step 6.14.5: do not complete clean;
Wherein, main control module is divided into multiple independently non-cleaning areas area to plan that different motion paths cleans respectively by building the cleaning area after figure.
The present invention owing to have employed technique scheme, thus has the following advantages:
1) will the concrete steps of figure and navigation be built in conjunction with anticollision, dropproof and obstacle information, complete build figure and navigation procedure, enriched and built figure and navigation information;
2) figure will be built be separated with navigation, improve the whole work efficiency of cleaning equipment;
3) different clean strategies is adopted for different cleaning region, further increase the automatization level of cleaning equipment.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Fig. 1 is the first embodiment schematic diagram of the control system of automatic cleaning equipment of the present invention;
Fig. 2 is the second embodiment schematic diagram of the control system of automatic cleaning equipment of the present invention;
Fig. 3 is the first embodiment schematic diagram of the control method of automatic cleaning equipment of the present invention;
Fig. 4 is the step 5.7 of the control method of automatic cleaning equipment of the present invention and the schematic diagram of step 6.10;
Fig. 5 is the step 5.8 of the control method of automatic cleaning equipment of the present invention and the schematic diagram of step 6.11;
Fig. 6 is the schematic diagram of the step 6.14 of the control method of automatic cleaning equipment of the present invention;
Fig. 7 is the schematic diagram of the step 2 of the control method of automatic cleaning equipment of the present invention;
Fig. 8 is the schematic diagram building figure mode of the control method of automatic cleaning equipment of the present invention;
Fig. 9 is the schematic diagram realizing equipment anti-collision in the present invention;
Figure 10 is the schematic diagram realizing the dropproof function of equipment in the present invention.
Accompanying drawing illustrates:
801. barrier; 802. anticollision sensors; 803. front-wheel; 804. equipment vehicle bodies; 805. equipment moving directions; 806. trailing wheel.1001. stair; 1002. dropproof sensor; 1003. front-wheel; 1004. equipment vehicle body; 1005. equipment moving direction; 1006. trailing wheel.
Embodiment
In order to the embodiment of the present invention or technical scheme of the prior art are described with more removing, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, below explanation and accompanying drawing are exemplary for the present invention, and should not be understood to limit the present invention.Following description describe numerous detail to understand the present invention to facilitate.But in some instances, details that is that know or routine is also undeclared, to meet the succinct requirement of instructions.
In prior art, also there is control system and the control method of some automatic cleaning equipments, but there are some defects in them: the concrete mode such as not proposing to navigate and build figure, cause the precision of navigating and building figure not high; Adopt the mode of navigating and building figure and combining, reduce the whole work efficiency of cleaning systems, and adopt identical clean strategy to all cleaning areas, automatization level fails to obtain abundant raising.
In order to solve the problem, the invention provides a kind of control system and control method of automatic cleaning equipment, by introducing the concrete mode of navigating and building figure, improve the precision of navigating and building figure, adopt the mode of once building figure and repeatedly navigating, improve the whole work efficiency of system, simultaneously, cleaning area is divided into multiple subregion, and corresponding different subregion plans different courses, thus can complete the clean up task in whole region with suiting measures to local conditions.
First, the present invention will be described to please refer to Fig. 1, Fig. 1 is the first embodiment schematic diagram of the control system of automatic cleaning equipment of the present invention, described control system comprises: control module, adaptation module and main control module, control module is for gathering the data of sensor and keyswitch, adaptation module is connected with control module, for under the control of control module, determine opening or closing of motor and cleaning action switch, main control module is connected with control module, builds figure or navigation for what carry out automatic cleaning equipment based on the data of control module collection.
Then, the present invention will be described to please refer to Fig. 2, and Fig. 2 is the second embodiment schematic diagram of the control system of automatic cleaning equipment of the present invention, and compare with the control system of the automatic cleaning equipment in Fig. 1, the control system of Fig. 2 also comprises:
Mapping sensor, carries out two dimension or 3-D scanning for realizing to external environment residing for automatic cleaning equipment, and exports scanning result;
Anticollision sensor, for detecting the distance of automatic cleaning equipment distance periphery object, to export as peripheral distance;
Dropproof sensor, for the distance on the chassis to ground of detecting automatic cleaning equipment, to export as ground distance;
Tachogenerator, for detecting the movement velocity of automatic cleaning equipment;
Keyswitch, under the control of operating personnel, opens or closes automatic cleaning equipment, and provides the on off state of himself;
To advance motor, provide power for the motion for automatic cleaning equipment;
Cleaning action switch, for starting or cut out the clean operation of automatic cleaning equipment;
Described control module is connected respectively with anticollision sensor, dropproof sensor, tachogenerator and keyswitch, for receiving peripheral distance, ground distance, movement velocity and keyswitch on off state, and peripheral distance, ground distance, movement velocity and keyswitch on off state are transmitted to described main control module;
Described main control module is connected to receive scanning result with mapping sensor, and that carries out automatic cleaning equipment based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state builds figure or navigation.
Wherein, in described control system: described mapping sensor is laser sensor or vision sensor; Described main control module based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating; Described control system also comprises interactive module, is connected with main control module, for user instruction is sent to main control module, and receives from the scanning result of main control module, peripheral distance, ground distance, movement velocity and the map datum that obtains after building figure.
Then, the present invention will be described to please refer to Fig. 3, and Fig. 3 is the first embodiment schematic diagram of the control method of automatic cleaning equipment of the present invention, and described control method is used for the control system of automatic cleaning equipment, and described control method comprises:
Step 1: control system items of equipment initialization;
Step 2: judge whether that initialization is normal, if initialization is normal, then jumps to step 4, if initialization exception, then jump to step 3;
Step 3: report to the police, jump to step 8;
Step 4: according to the operation of user, controls main control module and selects to build figure or navigation, if select to build figure, then jump to step 5, if select navigation, jump to step 6;
Step 5: main control module builds figure;
Step 6: main control module navigates;
Whether step 7: according to the operation of user, select to exit, if select to exit, then jumps to step 8, otherwise, jump to step 4;
Step 8: exit;
Wherein, described main control module carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating.
Wherein, in described control method: step 4 and step 7 are completed by interactive module, described interactive module is positioned at described control system, is connected with main control module, for user instruction is sent to main control module, and receive the map datum obtained after main control module builds figure.
In addition, in described control method build figure step and navigation step is described as follows.
Wherein, in described control method: build figure step and step 5 comprises the following steps:
Step 5.1: start;
Step 5.2: main control module obtains the scanning result that mapping sensor exports;
Step 5.3: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 5.4: the current location of main control module determination automatic cleaning equipment;
Step 5.5: main control module upgrades map datum;
Step 5.6: main control module receives user instruction, sends motion message to control module;
Step 5.7: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 5.5, if not, jumps to step 5.8;
Step 5.8: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 5.5, if not, jumps to step 5.9;
Step 5.9: control module sends Electric Machine Control message to adaptation module;
Step 5.10: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 5.11: user has judged whether to build figure, if not, jumps to step 5.2, if so, jumps to step 5.12;
Step 5.12: terminate.
Wherein, in described control method: navigation step and step 6 comprise the following steps:
Step 6.1: start;
Step 6.2: main control module obtains the current location of map datum and automatic cleaning equipment;
Step 6.3: main control module sends to control module and opens cleaning action switch message;
Step 6.4: control module sends to adaptation module and opens cleaning action switch message;
Step 6.5: main control module obtains the scanning result that mapping sensor exports;
Step 6.6: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 6.7: the current location of main control module determination automatic cleaning equipment;
Step 6.8: the motion path of main control module planning automatic cleaning equipment;
Step 6.9: main control module sends motion message to control module;
Step 6.10: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 6.8, if not, jumps to step 6.11;
Step 6.11: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 6.8, if not, jumps to step 6.12;
Step 6.12: control module sends Electric Machine Control message to adaptation module;
Step 6.13: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 6.14: it is clean whether master control module judges completes, if not, jumps to step 6.5, if so, jumps to step 6.15;
Step 6.15: terminate.
In addition, in described control method: whether master control module judges completes clean step and step 6.14 comprises the following steps:
Step 6.14.1: start;
Step 6.14.2: judge that whether cleaned area accounts for overall region area percentage more than the first predetermined threshold value, if so, then jump to step 6.14.3, if not, jump to step 6.14.5;
Step 6.14.3: judge that independently whether non-cleaning area area is not more than the second predetermined threshold value, if so, then jumps to step 6.14.4, if not, jumps to step 6.14.5;
Step 6.14.4: complete clean;
Step 6.14.5: do not complete clean;
Wherein, main control module is divided into multiple independently non-cleaning areas area to plan that different motion paths cleans respectively by building the cleaning area after figure.
In addition, please refer to Fig. 4 and Fig. 9 to be described anticollision mode of the present invention, Fig. 9 is the schematic diagram realizing equipment anti-collision in the present invention, correspondingly, Fig. 4 is the step 5.7 of the control method of automatic cleaning equipment of the present invention and the schematic diagram of step 6.10, in step 5.7 and step 6.10, specifically comprise the following steps:
Step (5.7.1), (6.10.1): start;
Step (5.7.2), (6.10.2): control module computing equipment direction of motion;
Step (5.7.3), (6.10.3): control module has barrier according on anticollision sensing data judgment device traffic direction? if judged result is ' being ', jump to step (5.7.5), (6.10.5); If judged result is 'No', jump to step (5.7.4), (6.10.4);
Step (5.7.4), (6.10.4): control module continues the message of motion to adaptation module transmitting apparatus;
Step (5.7.5), (6.10.5): anticollision sensing data to the message of adaptation module transmitting apparatus stop motion, and is reported main control module by control module.
In addition, please refer to Fig. 5 and Figure 10 to be described dropproof mode of the present invention, Figure 10 is the schematic diagram realizing the dropproof function of equipment in the present invention, correspondingly, Fig. 5 is the step 5.8 of the control method of automatic cleaning equipment of the present invention and the schematic diagram of step 6.11, in step 5.8 and step 6.11, specifically comprise the following steps:
Step (5.8.1), (6.11.1): start;
Step (5.8.2), (6.11.2): control module computing equipment direction of motion;
Step (5.8.3), (6.11.3): whether control module is about to fall according on dropproof sensing data judgment device traffic direction.If judged result is ' being ', jump to step (5.8.5), (6.11.5); If judged result is 'No', jump to step (5.8.4), (6.11.4);
Step (5.8.4), (6.11.4): control module continues the message of motion to adaptation module transmitting apparatus;
Step (5.8.5), (6.11.5): dropproof sensing data to the message of adaptation module transmitting apparatus stop motion, and is reported main control module by control module.
In addition, the present invention will be described to please refer to Fig. 6, and Fig. 6 is the schematic diagram of the step 6.14 of the control method of automatic cleaning equipment of the present invention, in step 6.14, specifically comprises the following steps:
Step 6.14.1: start;
Step 6.14.2: judge that cleaned area accounts for overall region area percentage and exceedes threshold value 1? if judged result is ' being ', jump to step 6.14.3; If judged result is 'No', jump to step 6.14.5;
Step 6.14.3: judge that independently non-cleaning area area is not more than threshold value 2? if judged result is ' being ', jump to step 6.14.4; If judged result is 'No', jump to step 6.14.5;
Step 6.14.4: cleaned;
Step 6.14.5: clean and do not complete.
Threshold value 1 wherein in above-mentioned steps and threshold value 2 are empirical value, and the present invention selects 90% and 0.5m2.
In addition, the present invention will be described to please refer to Fig. 7, and Fig. 7 is the schematic diagram of the step 2 of the control method of automatic cleaning equipment of the present invention, in step 2, specifically comprises the following steps:
Step 2.1: start;
Step 2.2: each module and sensor initializing;
Step 2.3: control module and adaptation module load configuration;
Step 2.4: detect each module and sensor whether normal operation; If judged result is ' being ', jump to step 2.5; If judged result is 'No', jump to step 2.6.
Step 2.5: normal operation;
Step 2.6: run abnormal.
In step 2.4, specifically comprise the following steps:
Step 2.4.1: start;
Step 2.4.2: check that whether modules input voltage is normal, whether particular exam voltage is stable and whether magnitude of voltage is correct.If check result is ' being ', jump to step 2.4.3; If check result is 'No', jump to step 2.4.7;
Step 2.4.3: check that whether each sensor input voltage is normal, whether particular exam voltage is stable and whether magnitude of voltage is correct.If check result is ' being ', jump to step 2.4.4; If check result is 'No', jump to step 2.4.7;
Step 2.4.4: check whether each sensing data mutual normal? if check result is ' being ', jump to step 2.4.5; If check result is 'No', jump to step 2.4.7;
Step 2.4.5: check that whether each module communication normal? if check result is ' being ', jump to step 2.4.6; If check result is 'No', jump to step 2.4.7;
Step 2.4.6: return normal operation;
Step 2.4.7: return operation abnormal
In addition, in step 5.9, by using the mode of remote control to realize opertaing device motion, manually operated learning cost can be reduced, simultaneously because operation and equipment do not need to contact and makes operating personnel can multiple visual angles scope, be convenient in edge's opertaing device running status.
In addition, the present invention will be described to please refer to Fig. 8, Fig. 8 is the schematic diagram building figure mode of the control method of automatic cleaning equipment of the present invention, in built figure, build in diagram data and demarcate by different eigenwerts the information comprised in this band of position, as eigenwert 1 represents ample area information, eigenwert 2 represents zone of ignorance information, eigenwert 3 represents obstacle information, and eigenwert 4 represents anticollision information, and eigenwert 5 represents dropproof information.Can much information in inclusion region by the method, make to perform corresponding action to corresponding area information in advance in navigation, collide to avoid equipment or fall.
By building diagram data, entirely graph region can be split several zonules, carrying out covering navigation respectively for zonule, the navigation under complex environment can be adapted to.And whether real-time judge is about to collide or fall in navigation procedure, maximum possible proterctive equipment security of operation.Realize real-time judge in the algorithm whether to complete the clean or current map of current region and clean, maximum work efficiency can be ensured.
In addition, in described control method: the operation of user is completed by interactive module, described interactive module can be wire communication module, such as serial communication modular, also the mode of wireless communication module can be adopted to realize, such as WIFI communication module or ZIGBEE communication module.
The present invention, from the angle of the mankind to Context aware, controls automated cleaning to be divided into build figure and navigation.Build the understanding that figure can realize circumstances not known, the planning that can realize known map of navigating, this method meets the cognition custom of the mankind, also greatly reduces the consuming time of follow-up planning.
The present invention is configured loading to each module, can the sensor of compatible external different model, improves compatible.Carry out rolling inspection to each module and sensor in the present invention, whether equipment of can judging in time runs normal, improves automation degree of equipment and safety in operation.
Each device processes unit carries out piecemeal, and by algorithm computing, logic control separately, the differentiation of this functions of the equipments can make coupling between module low, is convenient to compatible various product.In addition, design adaptation module with the cleaning equipment of adaptive different type of machines, and make corresponding adjustment according to actual cleaning equipment in the present invention, this design also can realize the control of the cleaning equipment of different type of machines, meets the thinking of human manipulation's equipment.
For ground environment and the shortcoming of surveying and drawing sensor, devise anticollision and dropproof protection.Building in figure process, the data of anticollision and dropproof sensor will be incorporated in the middle of map datum, avoid equipment in location circumstances because artificial error in judgement causes device damage; In navigation procedure, anticollision and dropproof sensor will be incorporated in navigation programming, avoid equipment to have an accident because actual area environment is different from map datum.This design protects the normal operation of equipment to the full extent, reduces external environment change and causes device damage and cause life and property loss.
Those skilled in the art will recognize that; above-mentioned embodiment is exemplary; to enable those skilled in the art better understand this patent content; should not be understood as the restriction to this patent protection domain; as long as according to this patent disclose any equivalent change done of spirit or modification, all fall into this patent protection domain.
Claims (10)
1. the control system of an automatic cleaning equipment, it is characterized in that, described control system comprises control module, adaptation module and main control module, control module is for gathering the data of sensor and keyswitch, adaptation module is connected with control module, under the control of control module, determines opening or closing of motor and cleaning action switch, main control module is connected with control module, builds figure or navigation for what carry out automatic cleaning equipment based on the data of control module collection.
2. the control system of automatic cleaning equipment according to claim 1, is characterized in that, described control system also comprises:
Mapping sensor, carries out two dimension or 3-D scanning for realizing to external environment residing for automatic cleaning equipment, and exports scanning result;
Anticollision sensor, for detecting the distance of automatic cleaning equipment distance periphery object, to export as peripheral distance;
Dropproof sensor, for the distance on the chassis to ground of detecting automatic cleaning equipment, to export as ground distance;
Tachogenerator, for detecting the movement velocity of automatic cleaning equipment;
Keyswitch, under the control of operating personnel, opens or closes automatic cleaning equipment, and provides the on off state of himself;
To advance motor, provide power for the motion for automatic cleaning equipment;
Cleaning action switch, for starting or cut out the clean operation of automatic cleaning equipment;
Described control module is connected respectively with anticollision sensor, dropproof sensor, tachogenerator and keyswitch, for receiving peripheral distance, ground distance, movement velocity and keyswitch on off state, and peripheral distance, ground distance, movement velocity and keyswitch on off state are transmitted to described main control module;
Described main control module is connected to receive scanning result with mapping sensor, and that carries out automatic cleaning equipment based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state builds figure or navigation.
3. the control system of automatic cleaning equipment according to claim 2, is characterized in that:
Described mapping sensor is laser sensor or vision sensor.
4. the control system of automatic cleaning equipment according to claim 2, is characterized in that:
Described main control module based on scanning result, peripheral distance, ground distance, movement velocity and keyswitch on off state carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating.
5., according to the control system of the arbitrary described automatic cleaning equipment of claim 2-4, it is characterized in that, described control system also comprises:
Interactive module, is connected with main control module, for user instruction is sent to main control module, and receives from the scanning result of main control module, peripheral distance, ground distance, movement velocity and the map datum that obtains after building figure.
6. a control method for automatic cleaning equipment, is characterized in that, described control method is used for the control system of automatic cleaning equipment as claimed in claim 2, and described control method comprises:
Step 1: control system items of equipment initialization;
Step 2: judge whether that initialization is normal, if initialization is normal, then jumps to step 4, if initialization exception, then jump to step 3;
Step 3: report to the police, jump to step 8;
Step 4: according to the operation of user, controls main control module and selects to build figure or navigation, if select to build figure, then jump to step 5, if select navigation, jump to step 6;
Step 5: main control module builds figure;
Step 6: main control module navigates;
Whether step 7: according to the operation of user, select to exit, if select to exit, then jumps to step 8, otherwise, jump to step 4;
Step 8: exit;
Wherein, described main control module carry out automatic cleaning equipment build figure or figure repeatedly navigation mode is once built in concrete employing of navigating.
7. the control method of automatic cleaning equipment according to claim 6, is characterized in that:
Step 4 and step 7 are completed by interactive module, and described interactive module is positioned at described control system, is connected with main control module, for user instruction is sent to main control module, and receive the map datum obtained after main control module builds figure.
8. the control method of automatic cleaning equipment according to claim 6, is characterized in that:
Step 5 comprises the following steps:
Step 5.1: start;
Step 5.2: main control module obtains the scanning result that mapping sensor exports;
Step 5.3: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 5.4: the current location of main control module determination automatic cleaning equipment;
Step 5.5: main control module upgrades map datum;
Step 5.6: main control module receives user instruction, sends motion message to control module;
Step 5.7: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 5.5, if not, jumps to step 5.8;
Step 5.8: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 5.5, if not, jumps to step 5.9;
Step 5.9: control module sends Electric Machine Control message to adaptation module;
Step 5.10: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 5.11: user has judged whether to build figure, if not, jumps to step 5.2, if so, jumps to step 5.12;
Step 5.12: terminate.
9. the control method of automatic cleaning equipment according to claim 6, is characterized in that:
Step 6 comprises the following steps:
Step 6.1: start;
Step 6.2: main control module obtains the current location of map datum and automatic cleaning equipment;
Step 6.3: main control module sends to control module and opens cleaning action switch message;
Step 6.4: control module sends to adaptation module and opens cleaning action switch message;
Step 6.5: main control module obtains the scanning result that mapping sensor exports;
Step 6.6: main control module obtains the movement velocity of the tachogenerator output that control module sends;
Step 6.7: the current location of main control module determination automatic cleaning equipment;
Step 6.8: the motion path of main control module planning automatic cleaning equipment;
Step 6.9: main control module sends motion message to control module;
Step 6.10: control module judges whether automatic cleaning equipment is about to collide, and if so, jumps to step 6.8, if not, jumps to step 6.11;
Step 6.11: control module judges whether automatic cleaning equipment is about to fall, and if so, jumps to step 6.8, if not, jumps to step 6.12;
Step 6.12: control module sends Electric Machine Control message to adaptation module;
Step 6.13: motor of advancing moves according to Electric Machine Control message-driven automatic cleaning equipment;
Step 6.14: it is clean whether master control module judges completes, if not, jumps to step 6.5, if so, jumps to step 6.15;
Step 6.15: terminate.
10. the control method of automatic cleaning equipment according to claim 9, is characterized in that:
Step 6.14 comprises the following steps:
Step 6.14.1: start;
Step 6.14.2: judge that whether cleaned area accounts for overall region area percentage more than the first predetermined threshold value, if so, then jump to step 6.14.3, if not, jump to step 6.14.5;
Step 6.14.3: judge that independently whether non-cleaning area area is not more than the second predetermined threshold value, if so, then jumps to step 6.14.4, if not, jumps to step 6.14.5;
Step 6.14.4: complete clean;
Step 6.14.5: do not complete clean;
Wherein, main control module is divided into multiple independently non-cleaning areas area to plan that different motion paths cleans respectively by building the cleaning area after figure.
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