CN105433860A - Intelligent ground cleaning robot - Google Patents
Intelligent ground cleaning robot Download PDFInfo
- Publication number
- CN105433860A CN105433860A CN201510998593.XA CN201510998593A CN105433860A CN 105433860 A CN105433860 A CN 105433860A CN 201510998593 A CN201510998593 A CN 201510998593A CN 105433860 A CN105433860 A CN 105433860A
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- Prior art keywords
- car body
- clean robot
- intelligent ground
- wheel
- robot according
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0004—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
Abstract
The invention relates to an intelligent ground cleaning robot. The intelligent ground cleaning robot comprises a vehicle body, an ultrasonic radar, a laser radar, a circuit system and an operator seat, wherein a front wheel of the vehicle body is connected with a straight movement motor and a steering motor, the laser radar is arranged at the front end of the vehicle body and installed 200-300 mm above the ground, multiple ultrasonic sensors are arranged at the front end and rear end of the vehicle body at positions 400-500 mm above the ground, and the minimum distance between an ultrasonic signal envelope of each ultrasonic sensor and the ground is smaller than or equal to 100 mm; the operator seat comprises accelerator and brake pedals, a seat body and a steering wheel, and the accelerator and brake pedals and the steering wheel are electrically connected to the circuit system. The intelligent ground cleaning robot has the advantages that when the intelligent ground cleaning robot is used for cleaning the ground of a large area, manpower can be effectively liberated, and the labor intensity of cleaning workers can be relieved; when used in an open field, multiple robots can be operated by one person for ground cleaning, so that ground cleaning efficiency is improved greatly.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of intelligent ground clean robot.
Background technology
1.DE102011004319A1 discloses a kind of clean robot, and it has walking, cleaning (sweeping the floor) mechanism and the ranging mechanism for keeping away barrier.Owing to adopting the mode of infrared+ultrasonic wave single-point range finding, the distance between the measurement body that this equipment can only be rough and barrier, and realize avoiding barrier according to this; This robot can not construct the map of place environment and calculate robot from the absolute position in current environment.
2.US6,667,592B2 disclose a kind of clean robot, and it possesses the one-dimensional distance that laser sensor can measure barrier in distance environment.
3.US8 150,650B2 discloses a kind of clean robot, it has optical pickocff, by the image of clean robot surrounding environment under optical pickocff real time record, then with the image stored in addition comparison, to calculate the position of robot coordinate in current environment.
4. describe a kind of two-wheel drive clean robot with image visual transducer at careful patent 103976694A.
Summary of the invention
The object of the invention is to overcome prior art deficiency, provide a kind of rational in infrastructure, automated cleaning is effective and can the intelligent ground clean robot of pilot steering.
For achieving the above object, present invention employs following technical scheme:
This intelligent ground clean robot, comprises car body, ultrasonic radar, laser radar, Circuits System and driver's seat; The front-wheel of described car body connects craspedodrome motor and steer motor; Car body front end is located at by described laser radar, setting height(from bottom) is liftoff 200 ~ 300mm; Sonac is be located at car body front end and tail end multiple, setting height(from bottom) is liftoff 400 ~ 500mm, and the minimum range on the ultrasonic signal envelope curve distance ground of sonac is less than or equal to 100mm; Described driver's seat comprises accelerator and brake pedal, seat and steering wheel; Described accelerator and brake pedal and steering wheel are electrically connected to Circuits System.
As preferably: described Circuits System comprises master controller, master controller is connecting sensor signal processor, inertial navigation sensors, laser radar and communication signal converter respectively; Described sensor signal processor connects sonac, angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively; Angular transducer closure dish; Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor, and described craspedodrome motor driver connects craspedodrome motor.
As preferably: described front-wheel also connects nose wheel angle sensor and tachogenerator.
As preferably: described sonac is each four of car body front end and tail end.
As preferably: described car body front bottom end is provided with the flexible protection bar of protrusion; Described car body upper front end is provided with the first warning lamp, and described car body upper rear end is provided with the second warning lamp.
As preferably: the trailing wheel of described car body is two driven pulleys.
As preferably: being provided with of described vehicle bottom washes ground brush, between the front-wheel and trailing wheel of car body.
As preferably: described hull back is provided with water suction scraping article.
As preferably: described under-seat and rear are respectively equipped with the first water tank and the second water tank.
As preferably: described driver's cab 1 both sides are provided with cab door, and top is covered with the driver's cabin canopy that can raise.
The invention has the beneficial effects as follows:
1. the present invention has and the diverse three-wheel walking mechanism of background technology four patents.Wherein front-wheel have employed walking, turns to the steering wheel mechanism of one, and trailing wheel is only as driven pulley; These are completely different with steering mode from the walking of above four patents
Disclosed in 2.DE102011004319A1, clean robot only has floor sweeping function, adds filtered water tank, water injector, addle receipts mechanism and dirty water tank, patent of the present invention is had simultaneously and sweeps the floor and wash ground function in the present invention.
3. the present invention also possesses the steering wheel of similar automobile, seat and gas pedal, for pilot steering.
4. robot of the present invention have employed the cartographic information in lidar measurement two dimensional surface, determines the absolute position of robot in the middle of current environment by the real-time comparison of characteristic point information in two-dimensional map, carries out robot navigation in the environment with this.
5. present invention employs the comprehensive obstacle avoidance apparatus being different from other equipment.Keep away barrier mode by sonac+laser radar+Photoelectric Detection, within the scope of 360 degree, robot, within distance 1 meter, all colours (comprising transparent, black) on-10cm ~+50cm height, various material (except special absorbing material) barrier can be measured; And effectively can measure the step of robot front ± more than 10cm height.
The present invention can use in the large area indoor and outdoor environment such as square, airport, station, factory, large-scale museum, only need pilot steering robot in residing place complete clean once, and preserve map file, can open full-automatic cleaning mode, robot can complete the floor cleaning task in place automatically when not having manual intervention later.
The present invention, when large area needs to carry out floor cleaning task in clean environment, effectively can liberate human resources, reduce the labour intensity of street cleaner; When using under spacious environment, floor cleaning task can be carried out by one man operation multiple stage robot, greatly promote the efficiency of floor cleaning.
Accompanying drawing explanation
Fig. 1 is external structure schematic diagram of the present invention;
Fig. 2 is internal structure schematic diagram of the present invention;
Fig. 3 is Circuits System schematic diagram of the present invention;
Fig. 4 is steering wheel mechanism model figure;
Fig. 5 is laser radar and sonac working state schematic representation one;
Fig. 6 is laser radar and sonac working state schematic representation two;
Description of reference numerals: driver's cab 1, second warning lamp 2, touch-screen 3, car body 4, water suction hanging strip 5, trailing wheel 6, wash ground brush 7, front-wheel 8, flexible protection bar 9, laser radar 10, first warning lamp 11, driver's cabin canopy 12, second water tank 13, first water tank 14, sonac 15, accelerator and brake pedal 16, cab door 17, tooth sector dish 18, stair monitoring sensor 19, seat 20, steer motor 21, craspedodrome motor 22, nose wheel angle sensor 23, tachogenerator 24.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described further.The explanation of following embodiment just understands the present invention for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
See Fig. 1 to Fig. 6, this intelligent ground clean robot, comprises car body 4, sonac 15, laser radar 10, Circuits System and driver's cab 1; The front-wheel 8 of described car body 4 connects craspedodrome motor 22 and steer motor 21; Car body 4 front end is located at by described laser radar 10, setting height(from bottom) is liftoff 200 ~ 300mm; Sonac 15 for being located at the multiple of car body 4 front end and tail end, setting height(from bottom) is liftoff 400 ~ 500mm, the minimum range on the ultrasonic signal envelope curve distance ground of sonac 15 is less than or equal to 100mm; Described driver's cab 1 comprises accelerator and brake pedal 16, seat 20 and steering wheel; Described accelerator and brake pedal 16 and steering wheel are electrically connected to Circuits System.
Described Circuits System comprises master controller, and master controller is connecting sensor signal processor, inertial navigation sensors, laser radar and communication signal converter respectively; Described sensor signal processor connects sonac, angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively; Angular transducer closure dish; Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor 21, and described craspedodrome motor driver connects craspedodrome motor 22.
Described sonac 15 is each four of car body 4 front end and tail end.Described car body 4 front bottom end is provided with the flexible protection bar 9 of protrusion.Described car body 4 upper front end is provided with the first warning lamp 11, and described car body 4 upper rear end is provided with the second warning lamp 2.The trailing wheel 6 of described car body 4 is two driven pulleys.Being provided with bottom described car body 4 washes ground brush 7, between the front-wheel 8 and trailing wheel 6 of car body 4.Described car body 4 afterbody is provided with water suction scraping article 5.Below described seat 20 and rear is respectively equipped with the first water tank 14 and the second water tank 13.
1. current pilot steering ground washing vehicle all have employed the scheme of motor driving+mechanical steering, robot in the present invention adds a steering wheel mechanism on original car body, refer to Fig. 4, this steering wheel mechanism includes sensor, motor, controller and transmission mechanism, improves original mechanical steering of ground washing vehicle in order to electrical steering.Under pilot steering pattern, the signal of telecommunication that driver's steering wheel rotation produces, after the process of controller, is transformed into the control signal in order to steer motor; The torque that motor exports becomes the angle of front-wheel via reductor and gear drive.Under automatic driving mode, controller direct modeling hand-wheel signal sends to motor, and the feedback signal of receiving angle sensor, realizes the close loop electric control system of front-wheel steer with this simultaneously.
2. implementation procedure of the present invention is in order to increase controller, sensor corresponding device in systems in which, a large amount of amendments is made to the original circuit of ground washing vehicle, has added power module, master controller, sensor signal processor, touch-screen and the multiple sensors such as laser radar, ultrasonic wave.Refer to Fig. 3.
3. the robot in the present invention adopts laser radar and corresponding algorithm software to carry out map structuring and the self-navigation of two-dimensional environment, carries out navigation correction with gyroscope.Laser radar can scan the object information in the two dimensional surface at degree angle, 180 °, robot body front, and scanning result and the map built compare, and can calculate robot position in the environment.
4. the robot in the present invention has Function for Automatic Pilot and automatic cleaning function, and the physical button that hand automatic Pilot leads on machine switches; Automatic Pilot and automated cleaning are realized by intrasystem software control walking and wiper mechanism.In automatic cleaning process, operating personnel can suspend and task switching at any time, and handoff procedure can be undertaken operating realizing by simple button in the touch screen of robot.
5. the safety sensor that the robot in the present invention is multi-level and corresponding software, there is high security.Laser sensor can detect angle, 180 degree, front, barrier in 20 meters, if hinder course to dodge.Sonac the supplementing as laser sensor of the different setting angle of multi-section, setting height(from bottom), can detect on differing heights and the object at robot rear, effectively prevent robot turning, when keeping away barrier and barrier come in contact.Meanwhile, below robot, be also provided with photoelectric detection system, for the obstacle that cannot go beyond whether sniffing robot front has step, gully etc. too high or excessively dark.Run into when robot runs automatically cannot go beyond and the situation of the barrier that cannot detour time, can sound, light warning carries out manual intervention to call operator.
The setting height(from bottom) of laser radar should apart between the 200 ~ 300mm of ground, and this highly can guarantee that laser radar can scan the leg of human body and general animal, chest; Laser radar is installed too low meeting and is caused car body obstacle climbing ability to decline, and the too high meeting of setting height(from bottom) causes the excessively short barrier of part to detect.The setting height(from bottom) of sonac should remain between liftoff 400 ~ 500mm, and the too low meeting of setting height(from bottom) causes ultrasonic wave to sweep to ground, and the too high meeting of setting height(from bottom) causes missing barrier.(see Fig. 5)
Car body surrounding arranges altogether 8 sonacs, sees Fig. 6.The layout of sensor levels angle should guarantee that ultrasonic envelope curve overlaps and not overlapping.Concrete setting angle is determined by the signal envelope curve of sonac, and the sonac of different model, different detecting distance correspond to different setting angles.
6. robot of the present invention has abundant software and human-computer interaction interface, and the man-machine interaction that the touch-screen on fuselage both can be used as human pilot also may be used for broadcast advertisement.In connection behind internet, robot can upgrade software, acquiring technology support by connecting high in the clouds.
7. present invention preserves the pilot steering function of general ground washing vehicle.Only by the physical button on car body, need can complete the switching of automatic Pilot/manual drive pattern, under manual drive pattern, the mode of operation of robot and general ground washing vehicle indistinction.
Claims (10)
1. an intelligent ground clean robot, is characterized in that: comprise car body (4), ultrasonic radar (15), laser radar (10), Circuits System and driver's cab (1); The front-wheel (8) of described car body (4) connects craspedodrome motor (22) and steer motor (21); Car body (4) front end is located at by described laser radar (10), setting height(from bottom) is liftoff 200 ~ 300mm; Sonac (15) for being located at the multiple of car body front end and tail end, setting height(from bottom) is liftoff 400 ~ 500mm, the minimum range on the ultrasonic signal envelope curve distance ground of sonac (15) is less than or equal to 100mm; Described driver's cab (1) comprises accelerator and brake pedal (16), seat (20) and steering wheel; Described accelerator and brake pedal (16) and steering wheel are electrically connected to Circuits System.
2. intelligent ground clean robot according to claim 1, it is characterized in that: described Circuits System comprises master controller, master controller connects touch-screen, sensor signal processor, inertial navigation sensors, laser radar (10) and communication signal converter respectively; Described sensor signal processor connects sonac (15), angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively; Angular transducer closure dish; Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor (21), and described craspedodrome motor driver connects craspedodrome motor (22).
3. intelligent ground clean robot according to claim 1, is characterized in that: described front-wheel (8) also connects nose wheel angle sensor (23) and tachogenerator (24).
4. intelligent ground clean robot according to claim 1, is characterized in that: described sonac (15) is car body front end and each four of tail end.
5. intelligent ground clean robot according to claim 1, is characterized in that: described car body (4) front bottom end is provided with the flexible protection bar (9) of protrusion; Described car body (4) upper front end is provided with the first warning lamp (11), and described car body (4) upper rear end is provided with the second warning lamp (2).
6. intelligent ground clean robot according to claim 1, is characterized in that: the trailing wheel (6) of described car body (4) is two driven pulleys.
7. intelligent ground clean robot according to claim 1, it is characterized in that: ground brush (7) is washed in being provided with of described car body (4) bottom, is positioned between the front-wheel (8) of car body (4) and trailing wheel (6).
8. intelligent ground clean robot according to claim 1, is characterized in that: described car body (4) afterbody is provided with water suction scraping article (5).
9. intelligent ground clean robot according to claim 1, is characterized in that: described seat (20) below and rear are respectively equipped with the first water tank (14) and the second water tank (13).
10. intelligent ground clean robot according to claim 1, is characterized in that: described driver's cab (1) both sides are provided with cab door (17), and top is covered with the driver's cabin canopy (12) that can raise.
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| CN201510998593.XA CN105433860B (en) | 2015-12-25 | 2015-12-25 | A kind of intelligent ground clean robot |
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Cited By (26)
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| CN106808480A (en) * | 2017-03-23 | 2017-06-09 | 北京瑞华康源科技有限公司 | A kind of robot guide medical system |
| CN106828494A (en) * | 2017-03-07 | 2017-06-13 | 浙江工业大学 | A kind of cleaning car and automatic Pilot constant speed cruising method with cruise function |
| CN107625490A (en) * | 2017-11-03 | 2018-01-26 | 重庆众誉材工科技有限公司 | A kind of floor cleaning machine in factory |
| CN107981787A (en) * | 2017-11-22 | 2018-05-04 | 广东艾可里宁机器人智能装备有限公司 | Intelligent cleaning car |
| WO2018095809A1 (en) * | 2016-11-24 | 2018-05-31 | Lange Christian Sa | Urban or industrial vacuum cleaner with power steering |
| JP2018086218A (en) * | 2016-11-30 | 2018-06-07 | シーバイエス株式会社 | Cleaning device and control method of the same |
| CN108125634A (en) * | 2017-11-22 | 2018-06-08 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot automatic watering drainage arrangement |
| CN108170145A (en) * | 2017-12-28 | 2018-06-15 | 浙江捷尚人工智能研究发展有限公司 | Robot obstacle-avoiding system and its application process based on laser radar |
| CN108166423A (en) * | 2017-12-27 | 2018-06-15 | 天津大衍天成科技有限公司 | A kind of unmanned sweeper of vertical transport formula |
| CN108393903A (en) * | 2018-05-18 | 2018-08-14 | 王栓林 | Intelligent hog house disinfection cleaning robot |
| CN108762232A (en) * | 2018-06-05 | 2018-11-06 | 广东纵行科技有限公司 | Electric-control system |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN109235352A (en) * | 2018-09-14 | 2019-01-18 | 中建八局第建设有限公司 | A kind of construction site dynamic cruising and fugitive dust observing and controlling robot |
| CN109521776A (en) * | 2018-12-31 | 2019-03-26 | 天合光能股份有限公司 | A kind of intelligent robot chassis control system |
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| CN110025265A (en) * | 2018-01-12 | 2019-07-19 | 联润科技股份有限公司 | Self-propelled cleaning device and its clean method |
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| CN105955266A (en) * | 2016-05-11 | 2016-09-21 | 深圳乐行天下科技有限公司 | Map building device and map building method |
| WO2018095809A1 (en) * | 2016-11-24 | 2018-05-31 | Lange Christian Sa | Urban or industrial vacuum cleaner with power steering |
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| CN106828494A (en) * | 2017-03-07 | 2017-06-13 | 浙江工业大学 | A kind of cleaning car and automatic Pilot constant speed cruising method with cruise function |
| CN106808480B (en) * | 2017-03-23 | 2023-01-06 | 北京瑞华康源科技有限公司 | Robot medical guidance system |
| CN106808480A (en) * | 2017-03-23 | 2017-06-09 | 北京瑞华康源科技有限公司 | A kind of robot guide medical system |
| CN109199236A (en) * | 2017-06-30 | 2019-01-15 | 沈阳新松机器人自动化股份有限公司 | Indoor hard ground cleaning robot |
| CN107625490A (en) * | 2017-11-03 | 2018-01-26 | 重庆众誉材工科技有限公司 | A kind of floor cleaning machine in factory |
| CN107981787A (en) * | 2017-11-22 | 2018-05-04 | 广东艾可里宁机器人智能装备有限公司 | Intelligent cleaning car |
| CN108125634A (en) * | 2017-11-22 | 2018-06-08 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot automatic watering drainage arrangement |
| CN108166423A (en) * | 2017-12-27 | 2018-06-15 | 天津大衍天成科技有限公司 | A kind of unmanned sweeper of vertical transport formula |
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| CN113143111B (en) * | 2020-01-07 | 2023-12-01 | 鸿富锦精密工业(武汉)有限公司 | Supporting device |
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