CN105700531A - Customized map-based household sweeping robot used for two-storey house and sweeping method thereof - Google Patents
Customized map-based household sweeping robot used for two-storey house and sweeping method thereof Download PDFInfo
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- CN105700531A CN105700531A CN201610238613.8A CN201610238613A CN105700531A CN 105700531 A CN105700531 A CN 105700531A CN 201610238613 A CN201610238613 A CN 201610238613A CN 105700531 A CN105700531 A CN 105700531A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 19
- 230000002452 interceptive effect Effects 0.000 claims description 12
- 239000000428 dust Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000001788 irregular Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a customized map-based household sweeping robot used for a two-storey house. The customized map-based household sweeping robot comprises a control system, a positioning system, a mechanical system and a man-machine interaction system, wherein the control system is the core of the sweeping robot, and processes and coordinates the works of the positioning system, the mechanical system and the man-machine interaction system, the positioning system is connected with the control system and has the functions of positioning, and acquiring and processing map information, the mechanical system is connected with the control system and allows the sweeping robot to move, evade obstacles, clean in a determined region and also go up/down stairs, and the man-machine interaction system is connected with the control system and enables information interaction between the user and the sweeping robot. The customized map-based household sweeping robot can thoroughly clean a determined area and can automatically go up/down stairs. The sweeping robot can be prevented from being stuck, the cleaning efficiency is increased, and each area can be cleaned.
Description
Technical field
The present invention relates to a kind of sweeping robot and method of sweeping the floor thereof, particularly a kind of domestic two-layer work sweeping robot based on self-defined map and method of sweeping the floor thereof。
Background technology
In recent years, development in science and technology is further rapid, and some household type robots emerge one after another, and sweeping robot is as the new lover of domestic robot, and its function independently cleaned is subject to housewife's to like there is irreplaceable effect in daily life deeply。But prior art there is also some problems to be solved, for instance: oneself is often stuck under sofa by the autonomous cleaning of sweeping robot；Clean consuming time；Cleaning is unclean completely in some dirtier region；Cannot autonomous upper and lower floor。These problems have impact on the effect of sweeping robot cleaning。
Based on above reason, need a kind of can realize specifying region all standing have difference cleaning and can independently up and down the sweeping robot of floor be developed, sweeping robot can either be prevented to be stuck, cleaning efficiency can be improved again, make region, everywhere all cleaned totally。
Summary of the invention
The technical problem to be solved is to provide a kind of domestic two-layer work sweeping robot based on self-defined map。
For solving above-mentioned technical problem, the technical solution adopted in the present invention is:
A kind of domestic two-layer work sweeping robot based on self-defined map, it is characterised in that: comprise control system, alignment system, mechanical system and man-machine interactive system；Control system is the work of the core processing coordination alignment system of sweeping robot, mechanical system and man-machine interactive system；Alignment system is connected with controlling system, has positioning function and realizes the collection to cartographic information and process；Mechanical system be connected with control system for realize sweeping robot specify in region move, the function of avoidance, cleaning and floor up and down；Man-machine interactive system is connected for realizing user mutual with the information of sweeping robot with control system。
Further, described control system adopts STM32 single-chip microcomputer。
Further, described alignment system includes infrared sensor and Inertial Measurement Unit, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot。
Further, described mechanical system comprises mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly, and mechanically moving unit comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit comprises steam flusher, hairbrush and dust absorption fan；Upper and lower floor machine assembly comprises charging base, rope, pulley, pulley motor and bluetooth module, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication。
Further, described steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation。
Further, described man-machine interactive system comprises handheld client end, and handheld client end is communicated by bluetooth module and sweeping robot, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module。
A kind of domestic two-layer based on self-defined map sweeping robot that works is swept the floor method, it is characterised in that comprise the following steps:
Step one: sweeping robot carries out traversal and cleans, in ergodic process, infrared sensor detects record current location point during barrier, the combination of these location points is constituted barrier map, set up two-dimensional coordinate system simultaneously and map resolved into coordinate points one by one, sweeping robot by position Real-time Feedback to handheld client end and by red some flickering display on map reference；
Step 2: clean according to the cartographic information of record on handheld client end, handheld client end can revise irregular profile in map automatically, and handheld client end can manually map iris out key area carry out emphasis cleaning or iris out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor detection floor-dust situation of steam flusher, when the very dirty gray scale in ground is beyond threshold value, steam flusher increases steam sprinkling auxiliary and cleans；
Step 4: after having cleaned one layer, sweeping robot moves supreme lower floor machine assembly, controls pulley motor and works thus realizing moving both vertically of upper and lower floor machine assembly。
Further, signal can be sent to this unit when sweeping robot has swept Stall and move to place immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, pulls on sweeping robot。
The present invention compared with prior art, has the following advantages and effect: can realize specifying region all standing have difference cleaning and can autonomous upper and lower floor, sweeping robot can either be prevented to be stuck, cleaning efficiency can be improved again, make region, everywhere all cleaned totally。
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of domestic two-layer work sweeping robot based on self-defined map of the present invention。
Detailed description of the invention
Below in conjunction with accompanying drawing and by embodiment, the present invention is described in further detail, and following example are explanation of the invention and the invention is not limited in following example。
The sweeping robot as it can be seen, a kind of domestic two-layer based on self-defined map of the present invention works, comprises control system 1, alignment system 4, mechanical system 3 and man-machine interactive system 2；Control system 1 is the work of the core processing coordination alignment system 4 of sweeping robot, mechanical system 3 and man-machine interactive system 2；Alignment system 4 is connected with control system 1, has positioning function and realizes the collection to cartographic information and process；Mechanical system 3 be connected with control system 1 for realize sweeping robot specify in region move, the function of avoidance, cleaning and floor up and down；Man-machine interactive system 2 is connected for realizing user mutual with the information of sweeping robot with control system 1。
Control system adopts STM32 single-chip microcomputer。Alignment system includes infrared sensor 6 and Inertial Measurement Unit 7, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot。Mechanical system comprises mechanically moving unit 8, cleaning machine unit 9 and upper and lower floor machine assembly 10, and mechanically moving unit 8 comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit 9 comprises steam flusher, hairbrush and dust absorption fan；Upper and lower floor machine assembly 10 comprises charging base, rope, pulley, pulley motor and bluetooth module, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication。Steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation。Man-machine interactive system comprises handheld client end 5, and handheld client end is communicated by bluetooth module and sweeping robot, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module。
A kind of domestic two-layer based on self-defined map sweeping robot that works is swept the floor method, comprises the following steps:
Step one: sweeping robot carries out traversal and cleans, in ergodic process, infrared sensor detects record current location point during barrier, the combination of these location points is constituted barrier map, set up two-dimensional coordinate system simultaneously and map resolved into coordinate points one by one, sweeping robot by position Real-time Feedback to handheld client end and by red some flickering display on map reference；
Step 2: clean according to the cartographic information of record on handheld client end, handheld client end can revise irregular profile in map automatically, and handheld client end can manually map iris out key area carry out emphasis cleaning or iris out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor detection floor-dust situation of steam flusher, when the very dirty gray scale in ground is beyond threshold value, steam flusher increases steam sprinkling auxiliary and cleans；
Step 4: after having cleaned one layer, sweeping robot moves supreme lower floor machine assembly, controls pulley motor and works thus realizing moving both vertically of upper and lower floor machine assembly。
Signal can be sent to this unit when sweeping robot has swept Stall and move to place immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, pulls on sweeping robot。
When gathering cartographic information, handheld client end is matched by bluetooth and sweeping robot, user travels through whole room by handheld client end manipulation sweeping robot, while ergodic process the infrared sensor of alignment system can constantly detect near whether have barrier, if there being the barriers such as wall sofa just to be recorded by current location point, all of location point may finally constitute the map that a width is complete, includes the barriers such as sofa in map。Set up a two-dimensional coordinate system simultaneously and map is resolved into coordinate points one by one；When sweeping robot utonomous working, sweeping robot coordinate position on map can be shown on handheld client end by alignment system with the red point of flicker, facilitates user to monitor the position of sweeping robot in real time。
Handheld client end has the effect revising map lack of standardization, advances owing to manipulating sweeping robot by bluetooth, and the route drawn must be crooked, so map can be optimized by handheld client end, makes irregular concavo-convex curve become smooth。
Handheld client end can also iris out the dirtier places such as the such as kitchen, region of one piece of emphasis needs cleaning on map, also the barriers such as the one piece of region that need not clean such as sofa can be irised out, sweeping robot is prevented to be stuck under sofa, or because the room that very totally need not clean, or manually cleaning is local eaily。
When independently cleaning, sweeping robot can carry out high efficiency cleaning according to the requirement in map, and mechanically moving unit includes motor and avoidance module, and motor drives its running orbit of mobile control of sweeping robot, and avoidance module prevents sweeping robot from knocking object；Cleaning machine unit includes steam flusher, hairbrush and dust absorption fan, steam flusher includes gray-scale sensor, under the normal condition of acquiescence, the fountain height of steam is little, but when the very dirty gray-scale sensor in ground is beyond threshold value, steam flusher can increase the sprinkling of steam。
Upper and lower floor machine assembly and charging base unite two into one and save space, upper and lower floor machine assembly and charging base, it is built-in with bluetooth module can sweeping robot communication, upper and lower floor machine assembly includes pulley and rope, signal can be sent to this unit when sweeping robot has swept Stall and move to place immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, sweeping robot is pulled on；In like manner sweeping robot can also first clean second floor, sweeping robot release is gone down again through rope。
Above content described in this specification is only illustration made for the present invention。Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art; without departing from the content of description of the present invention or surmount the scope that present claims book is defined, protection scope of the present invention all should be belonged to。
Claims (8)
1. the domestic two-layer work sweeping robot based on self-defined map, it is characterised in that: comprise control system, alignment system, mechanical system and man-machine interactive system；Control system is the work of the core processing coordination alignment system of sweeping robot, mechanical system and man-machine interactive system；Alignment system is connected with controlling system, has positioning function and realizes the collection to cartographic information and process；Mechanical system be connected with control system for realize sweeping robot specify in region move, the function of avoidance, cleaning and floor up and down；Man-machine interactive system is connected for realizing user mutual with the information of sweeping robot with control system。
2. the domestic two-layer work sweeping robot based on self-defined map described in claim 1, it is characterised in that: described control system adopts STM32 single-chip microcomputer。
3. the domestic two-layer work sweeping robot based on self-defined map described in claim 1, it is characterized in that: described alignment system includes infrared sensor and Inertial Measurement Unit, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot。
4. the domestic two-layer work sweeping robot based on self-defined map described in claim 1, it is characterized in that: described mechanical system comprises mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly, mechanically moving unit comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit comprises steam flusher, hairbrush and dust absorption fan；Upper and lower floor machine assembly comprises charging base, rope, pulley, pulley motor and bluetooth module, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication。
5. the domestic two-layer work sweeping robot based on self-defined map described in claim 4, it is characterised in that: described steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation。
6. the domestic two-layer work sweeping robot based on self-defined map described in claim 1, it is characterized in that: described man-machine interactive system comprises handheld client end, handheld client end is communicated by bluetooth module and sweeping robot, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module。
7. the domestic two-layer based on the self-defined map sweeping robot that works is swept the floor method, it is characterised in that comprise the following steps:
Step one: sweeping robot carries out traversal and cleans, in ergodic process, infrared sensor detects record current location point during barrier, the combination of these location points is constituted barrier map, set up two-dimensional coordinate system simultaneously and map resolved into coordinate points one by one, sweeping robot by position Real-time Feedback to handheld client end and by red some flickering display on map reference；
Step 2: clean according to the cartographic information of record on handheld client end, handheld client end can revise irregular profile in map automatically, and handheld client end can manually map iris out key area carry out emphasis cleaning or iris out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor detection floor-dust situation of steam flusher, when the very dirty gray scale in ground is beyond threshold value, steam flusher increases steam sprinkling auxiliary and cleans；
Step 4: after having cleaned one layer, sweeping robot moves supreme lower floor machine assembly, controls pulley motor and works thus realizing moving both vertically of upper and lower floor machine assembly。
8. the sweeping robot that works of the domestic two-layer based on self-defined map described in claim 7 is swept the floor method, it is characterized in that: signal can be sent to this unit when sweeping robot has swept Stall and move to place immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, pulls on sweeping robot。
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Application publication date: 20160622 Assignee: Jiangsu source hi tech Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001827 Denomination of invention: Home two-layer work sweeping robot based on custom map and its sweeping method Granted publication date: 20190301 License type: Common License Record date: 20240204 |
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Application publication date: 20160622 Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980002478 Denomination of invention: Home two-layer work sweeping robot based on custom map and its sweeping method Granted publication date: 20190301 License type: Common License Record date: 20240305 |