CN105747988B - 智能太阳能清洁机器人及其定位清洁方法 - Google Patents

智能太阳能清洁机器人及其定位清洁方法 Download PDF

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CN105747988B
CN105747988B CN201610125543.5A CN201610125543A CN105747988B CN 105747988 B CN105747988 B CN 105747988B CN 201610125543 A CN201610125543 A CN 201610125543A CN 105747988 B CN105747988 B CN 105747988B
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module
chip microcomputer
clean
motor
motor drive
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CN105747988A (zh
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裴勇生
叶云云
卢振楠
李佳伟
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Dezhou Vocational and Technical College
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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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • 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
    • 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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • 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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

智能太阳能清洁机器人及其定位清洁方法，由太阳能电池板、电源模块、单片机、除尘机构、电机驱动模块、电机和环境传感机构组成，太阳能电池板通过电源模块与单片机相连，单片机分别与除尘机构、电机驱动模块和环境传感机构相连，电机驱动模块与电机相连，环境传感机构包括红外检测模块、超声波检测模块和光敏检测模块。本发明的智能太阳能清洁机器人通过红外检测和超声波检测由单片机进行控制进行定位清扫，不但避免了清扫过程中重复清扫的现象，而且可利用太阳能进行充电，摆脱了对插座的依赖，只需寻找强光源即可充电，大大提高了清洁效率。

Description

智能太阳能清洁机器人及其定位清洁方法
技术领域
本发明涉及智能室内清洁技术领域，具体涉及一种智能太阳能清洁机器人及其定位清洁方法。
背景技术
随着人民生活水平的日益提高，人们越来越不满足于用真空吸尘器来进行吸尘清扫工作，希望有更简单便捷省力环保的吸尘工作方式，因此，清扫机器人的问世受到了大家的普遍欢迎。清扫机器人是一种智能自动化吸尘器，它可以自动行走并同时对地面进行吸灰工作，取代了真空吸尘器必须有人操作才能吸尘的工作方式，自动对灰尘进行识别和清扫。
现有的清扫机器人在大面积清洁过程中均需回到插座充电，而且在清洁过程中容易出现对同一区域反复清扫的现象，清洁效率较低。
发明内容
本发明提供了一种智能太阳能清洁机器人及其定位清洁方法，以解决现有技术存在的有线供电降低清扫效率和反复清扫的问题。
本发明解决其技术问题所采用的技术方案是：
一种智能太阳能清洁机器人，由太阳能电池板、电源模块、单片机、除尘机构、电机驱动模块、电机和环境传感机构组成，太阳能电池板通过电源模块与单片机相连，单片机分别与除尘机构、电机驱动模块和环境传感机构相连，电机驱动模块与电机相连，环境传感机构包括红外检测模块、超声波检测模块和光敏检测模块。
上述单片机为STC89C52单片机。
上述智能太阳能清洁机器人的定位清洁方法，使用STC89C52单片机对整个机器人进行操控，首先通过超声波检测模块扫描计算出所要清扫房间的面积，然后通过编码器获取当前所走的路程及速度，单片机通过电机驱动模块控制机器人沿内螺旋回字路径进行行走，行走过程中单片机通过自由空间算法结合红外检测模块和超声波检测模块在线扫描综合计算出当前所在位置，进行定位避免重复清扫，在行走过程中通过光敏检测模块记录强光照射点，将其记录，一旦出现电量过低，可移动至强光照射点通过太阳能电池板对电源模块充电。
本发明的智能太阳能清洁机器人通过红外检测和超声波检测由单片机进行控制进行定位清扫，不但避免了清扫过程中重复清扫的现象，而且可利用太阳能进行充电，摆脱了对插座的依赖，只需寻找强光源即可充电，大大提高了清洁效率。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明机器人的控制原理示意图。
图中1太阳能电池板、2电源模块、3单片机、4除尘机构、5电机驱动模块、6电机、7红外检测模块、8超声波检测模块、9光敏检测模块。
具体实施方式
如图所示，一种智能太阳能清洁机器人，由太阳能电池板1、电源模块2、单片机3、除尘机构4、电机驱动模块5、电机6和环境传感机构组成，太阳能电池板1通过电源模块2与单片机3相连，单片机3为STC89C52单片机，单片机3分别与除尘机构4、电机驱动模块5和环境传感机构相连，电机驱动模块5与电机6相连，环境传感机构包括红外检测模块7、超声波检测模块8和光敏检测模块9。
上述智能太阳能清洁机器人的定位清洁方法，使用STC89C52单片机对整个机器人进行操控，首先通过超声波检测模块扫描计算出所要清扫房间的面积，然后通过编码器获取当前所走的路程及速度，单片机通过电机驱动模块控制机器人沿内螺旋回字路径进行行走，行走过程中单片机通过自由空间算法结合红外检测模块和超声波检测模块在线扫描综合计算出当前所在位置，进行定位避免重复清扫，在行走过程中通过光敏检测模块记录强光照射点，将其记录，一旦出现电量过低，可移动至强光照射点通过太阳能电池板对电源模块充电。

Claims (1)

1.一种智能太阳能清洁机器人，其特征是由太阳能电池板、电源模块、单片机、除尘机构、电机驱动模块、电机和环境传感机构组成，太阳能电池板通过电源模块与单片机相连，单片机分别与除尘机构、电机驱动模块和环境传感机构相连，电机驱动模块与电机相连，环境传感机构包括红外检测模块、超声波检测模块和光敏检测模块，单片机为STC89C52单片机，使用STC89C52单片机对整个机器人进行操控，首先通过超声波检测模块扫描计算出所要清扫房间的面积，然后通过编码器获取当前所走的路程及速度，单片机通过电机驱动模块控制机器人沿内螺旋回字路径进行行走，行走过程中单片机通过自由空间算法结合红外检测模块和超声波检测模块在线扫描综合计算出当前所在位置，进行定位避免重复清扫，在行走过程中通过光敏检测模块记录强光照射点，将其记录，一旦出现电量过低，可移动至强光照射点通过太阳能电池板对电源模块充电。
CN201610125543.5A 2016-03-07 2016-03-07 智能太阳能清洁机器人及其定位清洁方法 Expired - Fee Related CN105747988B (zh)

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CN108227704A (zh) * 2016-12-15 2018-06-29 苏州宝时得电动工具有限公司 自移动设备及其移动方法、存储介质和服务器
CN107252282A (zh) * 2017-06-22 2017-10-17 苏州市东皓计算机系统工程有限公司 一种智能扫地机器人
CN109645908A (zh) * 2019-01-31 2019-04-19 蓝天洁士(无锡)科技有限公司 带有自动定点清洗功能的高空清洗机器人
CN116388668B (zh) * 2023-03-30 2024-03-12 兰州理工大学 一种具有跨板行走机构的光伏组件清扫机器人及清扫方法

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