CN105786004A - Sweeping robot control system with functions of road real-time detection and fingerprint detection - Google Patents
Sweeping robot control system with functions of road real-time detection and fingerprint detection Download PDFInfo
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- CN105786004A CN105786004A CN201610305715.7A CN201610305715A CN105786004A CN 105786004 A CN105786004 A CN 105786004A CN 201610305715 A CN201610305715 A CN 201610305715A CN 105786004 A CN105786004 A CN 105786004A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 title claims abstract description 11
- 238000011897 real-time detection Methods 0.000 title abstract 2
- 230000004888 barrier function Effects 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a sweeping robot control system with the functions of road real-time detection and fingerprint detection, and the system comprises a supersonic sensor which is used for detecting whether there is a barrier on a moving path of a swiping robot or not; a plurality of supersonic ranging sensors which prevents the sweeping robot from falling; an infrared sensor which is disposed at the top of a garbage storage bin of the sweeping robot, and is used for detecting the garbage storage bin; a moving trajectory planning module which is disposed in a controller in the sweeping robot and used for planning a driving path. The controller carries out the real-time correction of the moving trajectory of the sweeping robot according to the positioning information of the positioning module and the moving trajectory planned by the moving trajectory planning module. and a real-time road state obtaining module which obtains the road information in real time. The sweeping robot is provided with a fingerprint scanner. The system achieves the purpose of improving the sweeping efficiency.
Description
Technical field
The present invention relates to field of intelligent control, in particular it relates to a kind of have road detect in real time with fingerprint detection function sweep the floor robot control system.
Background technology
At present, robot of sweeping the floor generally is applied in the family, and in avenue, the main or mode of employing sweeper or hand sweeping, and adopt sweeper to be also required to pilot steering, therefore there is the problem that sweeping efficiency is low.
Summary of the invention
It is an object of the invention to, for the problems referred to above, it is proposed to a kind of have road detect in real time with fingerprint detection function sweep the floor robot control system, with realizes raising sweeping efficiency advantage.
For achieving the above object, the technical solution used in the present invention is:
A kind of have road detect in real time with fingerprint detection function sweep the floor robot control system, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, and controller sends instruction and reminds cleaning garbage storing storage；
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges fingerprint scanner, when needs execute-in-place sweeps the floor robot, operator require over the finger print information of fingerprint scanner input oneself, fingerprint scanner is by finger print information transmission to controller, the finger print information of reception is compared by controller with the finger print data being saved in data base, when fingerprint comparison is consistent, just allows robot is carried out corresponding operating, as comparison is inconsistent, controller is reported to the police by warning system；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullPreferably，Described filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
Preferably, the resistance of described resistance R1 is 10K Ω, the resistance of described resistance R2 and resistance R3 is 200 Ω, the resistance of described resistance R4 is 10K Ω, and the resistance of described resistance R5 is 54.1K Ω, and the capacitance of described electric capacity C1 is 103pF, the capacitance of described electric capacity C2 is 10 μ F, the capacitance of described electric capacity C3 is 4700 μ F, and the capacitance of described electric capacity C4 is 103pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
Technical scheme has the advantages that
Technical scheme, realizes the Based Intelligent Control to cleaning machine people by various sensors, because adopting mechanized operation, intelligentized control method, thus reaching to improve the purpose of sweeping efficiency.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
The road that has that Fig. 1 is described in the embodiment of the present invention detects the theory diagram of the robot control system of sweeping the floor with fingerprint detection function in real time；
Fig. 2 is the electronic circuitry of the filter circuit described in the embodiment of the present invention；
Fig. 3 is the electronic circuitry of the amplifying circuit described in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, is not intended to limit the present invention.
As it is shown in figure 1, a kind of have road detect in real time with fingerprint detection function sweep the floor robot control system, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, controller sends instruction and reminds cleaning garbage storing storage, when controller sends instruction prompting cleaning garbage storing storage, controller need to look for nearest rubbish set-point according to built-in map, thus the rubbish in garbage storing storage is placed into rubbish set-point, then the location information preserved according to controller, return the original cleaning point cleaned on path to continue to clean.
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges fingerprint scanner, when needs execute-in-place sweeps the floor robot, operator require over the finger print information of fingerprint scanner input oneself, fingerprint scanner is by finger print information transmission to controller, the finger print information of reception is compared by controller with the finger print data being saved in data base, when fingerprint comparison is consistent, just allows robot is carried out corresponding operating, as comparison is inconsistent, controller is reported to the police by warning system；
The output signal of ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullAs shown in Figure 2，Filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
Preferably, the resistance of resistance R1 is 10K Ω, the resistance of resistance R2 and resistance R3 is 200 Ω, the resistance of resistance R4 is 10K Ω, and the resistance of resistance R5 is 54.1K Ω, and the capacitance of electric capacity C1 is 103pF, the capacitance of electric capacity C2 is 10 μ F, the capacitance of electric capacity C3 is 4700 μ F, and the capacitance of electric capacity C4 is 103pF, and the size of inductance L1 and inductance L2 is 33 μ H.
nullAs shown in Figure 3，Amplifying circuit: include audion T201、Audion T202 and audion T203，Series capacitance C201 in the base stage of audion T201，Series capacitance R201 between the base stage of audion T201 and power supply VCC，Series capacitance R202 between the colelctor electrode of audion T201 and power supply VCC，Series capacitance R204 between the colelctor electrode of audion T202 and power supply VCC，Series capacitance R205 between the colelctor electrode of audion T203 and power supply VCC，Series capacitance C202 between the colelctor electrode of audion T201 and the base stage of audion T202,The base stage of audion T202 and inter-collector series resistance R203,The emitter stage of audion T201 and the emitter stage series connection ground connection of audion T202，The transmitting interpolar of the colelctor electrode of audion T202 and audion T203 is sequentially connected in series swept resistance R206 and resistance R208，And series capacitance C203 between the base stage of the sliding end of swept resistance R206 and audion T203，The base stage of audion T203 and inter-collector series resistance R207，And the colelctor electrode of audion T203 connects electric capacity C204，The emitter stage of audion T203 is connected with resistance 208 ground connection.
Resistance R201 is sized to 680K Ω, resistance R202 be sized to 22K Ω, resistance R203 be sized to 220K Ω, resistance R204 be sized to 10K Ω, resistance R205 is sized to 3.3K Ω, resistance R206 be sized to 47K Ω, resistance R207 be sized to 220K Ω, resistance R208 be sized to 100 Ω, electric capacity C201 is sized to 0.1 μ F, electric capacity C202 be sized to 0.1 μ F, electric capacity C203 be sized to 4.7 μ F, electric capacity C204 be sized to 10 μ F.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature carries out equivalent replacement.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (3)
1. one kind have road detect in real time with fingerprint detection function sweep the floor robot control system, it is characterised in that including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether sweeping robot course has barrier；
It is arranged on multiple ultrasonic distance-measuring sensors of surrounding bottom robot of sweeping the floor: when sweeping robot marches to step edge, ultrasonic distance-measuring sensor utilizes ultrasound wave to record the distance between sweeping robot and ground, when distance between the sweeping robot recorded and ground exceedes limit value, ultrasonic distance-measuring sensor sends signal to controller, controller controls sweeping robot and turns to, change sweeping robot direction of advance, thus the robot that prevents from sweeping the floor falls；
It is arranged on the infrared sensor at the garbage storing storage top of robot of sweeping the floor, this infrared sensor includes infrared transmitter and infrared remote receiver, what infrared transmitter was relative with infrared remote receiver is arranged on the inwall of garbage storing storage, when infrared remote receiver does not receive the infrared signal that infrared transmitter is launched, illustrate garbage storing storage already filled with, infrared remote receiver sends signal to controller, and controller sends instruction and reminds cleaning garbage storing storage；
It is arranged in the controller swept the floor within robot and running orbit planning module is set, running orbit planning module is according to storing map, planning travel route, and the built-in locating module of robot of sweeping the floor, the running orbit of robot of sweeping the floor is corrected in real time by controller according to the location information of locating module and the travel route of running orbit planning module planning；
The built-in Real-time Road state acquisition module of controller, Real-time Road state acquisition module obtains road information by connecting network in real time from urban traffic control platform, when the travel route planned according to running orbit planning module cleans, Real-time Road state acquisition module get the road vehicle that will clean many time, running orbit planning module in controller is from new planning travel route, sections many for vehicle is skipped, thus cleaning next section, and by more than section be labeled as and do not clean, clean again when this section vehicle is few time；
Sweep the floor and robot arranges fingerprint scanner, when needs execute-in-place sweeps the floor robot, operator require over the finger print information of fingerprint scanner input oneself, fingerprint scanner is by finger print information transmission to controller, the finger print information of reception is compared by controller with the finger print data being saved in data base, when fingerprint comparison is consistent, just allows robot is carried out corresponding operating, as comparison is inconsistent, controller is reported to the police by warning system；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor transmits to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
null2. according to claim 1 have road detect in real time with fingerprint detection function sweep the floor robot control system，It is characterized in that，Described filter circuit，Including transport and placing device A1 and transport and placing device A2，Input signal is input to the in-phase input end of transport and placing device A1 by resistance R4，And series resistance R3 between the in-phase input end of transport and placing device A1 and ground，Series resistance R2 between the inverting input of transport and placing device A1 and ground，Series resistance R5 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A1，Series resistance R1 between inverting input and the inverting input of transport and placing device A2 of transport and placing device A1，The outfan of transport and placing device A2 is connected with the inverting input of transport and placing device A2，Series inductance L1 between outfan and the in-phase input end of transport and placing device A2 of transport and placing device A2，Inductance L2 is in parallel with inductance L1，The series circuit of electric capacity C1 and electric capacity C4 composition is in parallel with inductance L1，The series circuit of electric capacity C2 and electric capacity C3 composition is in parallel with inductance L1，And the node ground connection between electric capacity C1 and electric capacity C4，Node ground connection between electric capacity C2 and electric capacity C3.
3. according to claim 2 have road detect in real time with fingerprint detection function sweep the floor robot control system, it is characterized in that, the resistance of described resistance R1 is 10K Ω, the resistance of described resistance R2 and resistance R3 is 200 Ω, the resistance of described resistance R4 is 10K Ω, the resistance of described resistance R5 is 54.1K Ω, the capacitance of described electric capacity C1 is 103pF, the capacitance of described electric capacity C2 is 10 μ F, the capacitance of described electric capacity C3 is 4700 μ F, the capacitance of described electric capacity C4 is 103pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610305715.7A CN105786004A (en) | 2016-05-10 | 2016-05-10 | Sweeping robot control system with functions of road real-time detection and fingerprint detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610305715.7A CN105786004A (en) | 2016-05-10 | 2016-05-10 | Sweeping robot control system with functions of road real-time detection and fingerprint detection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109958089A (en) * | 2017-12-26 | 2019-07-02 | 苏州宝时得电动工具有限公司 | Intelligent snowplough and its control method |
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| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| CN204799077U (en) * | 2015-06-25 | 2015-11-25 | 蓝海娟 | Air purifier |
| CN105182980A (en) * | 2015-09-23 | 2015-12-23 | 上海物景智能科技有限公司 | Automatic cleaning equipment control system and control method |
| CN105388896A (en) * | 2015-09-23 | 2016-03-09 | 上海物景智能科技有限公司 | CAN bus-based distributed cleaning robot control system and control method |
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2016
- 2016-05-10 CN CN201610305715.7A patent/CN105786004A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101299154A (en) * | 2008-05-23 | 2008-11-05 | 深圳职业技术学院 | Unmanned cleaning device |
| CN203807993U (en) * | 2014-04-11 | 2014-09-03 | 东北林业大学 | Waste containing barrel for automatic cleaning robot |
| CN204071961U (en) * | 2014-09-15 | 2015-01-07 | 湖南格兰博智能科技有限责任公司 | A kind of purification of air sweeping robot |
| CN204080716U (en) * | 2014-09-20 | 2015-01-07 | 河南省黄河防爆起重机有限公司 | A kind of city automatic sweeping system |
| CN204799077U (en) * | 2015-06-25 | 2015-11-25 | 蓝海娟 | Air purifier |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109958089A (en) * | 2017-12-26 | 2019-07-02 | 苏州宝时得电动工具有限公司 | Intelligent snowplough and its control method |
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