CN105974916A - Floor-sweeping robot control system capable of real-time road detection - Google Patents
Floor-sweeping robot control system capable of real-time road detection Download PDFInfo
- Publication number
- CN105974916A CN105974916A CN201610305722.7A CN201610305722A CN105974916A CN 105974916 A CN105974916 A CN 105974916A CN 201610305722 A CN201610305722 A CN 201610305722A CN 105974916 A CN105974916 A CN 105974916A
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- floor
- sweeping
- robot
- resistance
- transport
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- 238000010408 sweeping Methods 0.000 title claims abstract description 55
- 238000001514 detection method Methods 0.000 title abstract 2
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000004140 cleaning Methods 0.000 claims description 9
- 238000011897 real-time detection Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 abstract 1
- 238000001914 filtration Methods 0.000 abstract 1
- 238000003199 nucleic acid amplification method Methods 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G05D1/0231—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
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/02—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt
- E01H1/04—Brushing apparatus, e.g. with auxiliary instruments for mechanically loosening dirt taking- up the sweepings, e.g. for collecting, for loading
- E01H1/047—Collecting apparatus characterised by the hopper or by means for unloading the hopper
Abstract
The invention discloses a floor-sweeping robot control system capable of real-time road detection. The system comprises a supersonic sensor, multiple supersonic range-finding sensors, an infrared sensor, a movement path planning module, a controller and a real-time road state obtaining module, wherein the supersonic sensor detects whether there is an obstacle in a travelling path of a floor-sweeping robot, the supersonic range-finding sensors prevent the floor-sweeping robot from falling off, the infrared sensor is arranged at the top of a rubbish storage chamber of the floor-sweeping robot and used to detect the rubbish storage chamber, the movement path planning module is arranged in the controller in the floor-sweeping robot and used to plan the traveling path, the controller corrects the movement path of the floor-sweeping robot according to positioning information of a positioning module and the traveling path planned by the movement path planning module, and the real-time road state obtaining module obtains road information in real time. Output signals of the supersonic sensor, the supersonic range-finding sensors and the infrared sensor are transmitted to the controller via a filtering circuit, an amplification circuit and an analog-to-digital conversion circuit successively. Thus, the sweeping efficiency is improved.
Description
Technical field
The present invention relates to field of intelligent control, in particular it relates to a kind of robot control system of sweeping the floor with road real-time detection function.
Background technology
At present, robot of sweeping the floor is applied the most in the family, and in avenue, main or employing sweeper or the mode of hand sweeping, and use 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, propose a kind of robot control system of sweeping the floor with road real-time detection function, to realize the advantage improving sweeping efficiency.
For achieving the above object, the technical solution used in the present invention is:
A kind of robot control system of sweeping the floor with road real-time detection function, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted 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, and the resistance of described resistance R2 and resistance R3 is 200 Ω, and the resistance of described resistance R4 is 10K Ω, and the resistance of described resistance R5 is 54.1
K Ω, the capacitance of described electric capacity C1 is 10 pF, and the capacitance of described electric capacity C2 is 10 μ F, and the capacitance of described electric capacity C3 is 4700 μ F, and the capacitance of described electric capacity C4 is 10 pF, 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 using mechanized operation, intelligentized control method, thus reaches to improve the purpose of sweeping efficiency.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the robot control system of sweeping the floor with road real-time detection function described in the embodiment of the present invention；
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 robot control system of sweeping the floor with road real-time detection function, including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
The output signal of ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted 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, and the resistance of resistance R2 and resistance R3 is 200 Ω, and the resistance of resistance R4 is 10K Ω, and the resistance of resistance R5 is 54.1
K Ω, the capacitance of electric capacity C1 is 10 pF, and the capacitance of electric capacity C2 is 10 μ F, and the capacitance of electric capacity C3 is 4700 μ F, and the capacitance of electric capacity C4 is 10 pF, 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 colelctor electrode of audion T202 is sequentially connected in series swept resistance R206 and resistance R208 with the transmitting interpolar of audion T203，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 on the colelctor electrode of audion T203, connect electric capacity C204，The emitter stage of audion T203 is connected with resistance 208 ground connection.
The size of resistance R201 is 680K Ω, the size of resistance R202 is 22K Ω, and the size of resistance R203 is 220K Ω, and the size of resistance R204 is 10K Ω, the size of resistance R205 is 3.3K Ω, the size of resistance R206 is 47K Ω, and the size of resistance R207 is 220K Ω, and the size of resistance R208 is 100 Ω, the size of electric capacity C201 is 0.1 μ F, the size of electric capacity C202 is 0.1 μ F, and the size of electric capacity C203 is 4.7 μ F, and the size of electric capacity C204 is 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 is carried out equivalent.All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (3)
1. a robot control system of sweeping the floor with road real-time detection function, it is characterised in that including:
It is arranged on the ultrasonic sensor swept the floor within robot: be used for detecting whether have barrier in sweeping robot course；
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 receives 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；
Controller built-in Real-time Road state acquisition module, Real-time Road state acquisition module obtains road information by connecting network from urban traffic control platform in real time, 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 clean next section, and by more than section be labeled as not cleaning, clean again when this section vehicle is few when；
The output signal of described ultrasonic sensor, ultrasonic distance-measuring sensor and infrared sensor is transmitted to controller after all sequentially passing through filter circuit, amplifying circuit and analog to digital conversion circuit.
nullThe robot control system of sweeping the floor with road real-time detection function the most according to claim 1，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.
The robot control system of sweeping the floor with road real-time detection function the most according to claim 2, 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 54.1 K Ω, the capacitance of described electric capacity C1 is 10 pF, 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 10 pF, and the size of described inductance L1 and inductance L2 is 33 μ H.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305722.7A CN105974916A (en) | 2016-05-10 | 2016-05-10 | Floor-sweeping robot control system capable of real-time road detection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305722.7A CN105974916A (en) | 2016-05-10 | 2016-05-10 | Floor-sweeping robot control system capable of real-time road detection |
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| CN105974916A true CN105974916A (en) | 2016-09-28 |
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| CN201610305722.7A Pending CN105974916A (en) | 2016-05-10 | 2016-05-10 | Floor-sweeping robot control system capable of real-time road detection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759056A (en) * | 2016-11-30 | 2017-05-31 | 湖北工业大学 | A kind of track of ultrahigh speed rail cars online purging system and cleaning method in real time |
| CN112227283A (en) * | 2020-09-24 | 2021-01-15 | 广东杜尼智能机器人工程技术研究中心有限公司 | Fall-proof unmanned sweeper |
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Application publication date: 20160928 |
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