CN106154012A - A kind of current sensing means and method - Google Patents
A kind of current sensing means and method Download PDFInfo
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- CN106154012A CN106154012A CN201510161016.5A CN201510161016A CN106154012A CN 106154012 A CN106154012 A CN 106154012A CN 201510161016 A CN201510161016 A CN 201510161016A CN 106154012 A CN106154012 A CN 106154012A
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Abstract
The invention discloses a kind of current sensing means and method, a kind of device and method judged from mobile clean robot mobile status by detection current intensity.Described current sensing means is formed by the combination of several detector units, it is characterized in that, described detector unit is made up of motor, sample resistance, 358 amplifiers, and motor is connected in series sample resistance, and one end of 358 amplifiers connects motor.The present invention can solve the existing technical problem needing to install multiple acoustics or optical detection apparatus from mobile clean robot for obstacle avoidance, it is thus possible to further reduce the production cost from mobile clean robot, penetration and promotion.
Description
Technical field
The present invention relates to a kind of current sensing means and method, a kind of device and method judged from mobile clean robot mobile status by detection current intensity.
Background technology
Existing commercialization possesses the function of automatic obstacle avoidance mostly from mobile clean robot, and this function is by induction installation detecting obstacles thing and to change the moving direction of robot and realize.Thus needing to install multiple induction installation on self-movement robot additional, the normal work of guarantee robot, conventional induction installation includes optical detecting gear, acoustic sounding device, collision sensing device.Optical detecting gear and acoustic sounding device all include optics, acoustic emission and receive unit, and price is higher.And single optics, acoustic sounding device detection angle is too small, and often a self-movement robot equips multiple optics, and acoustic sounding device yet suffers from detection blind area.And light wave or sound wave are running into extinction, can be absorbed after absorbing material, be not reflected by thus affect the signal reception of detection device.Causing this type of detection device to apply circuit on self-movement robot complicated, cost is high, weak effect.And applying the collision sensing device on self-movement robot all to include more than one Impactor, the gimbal lever, spring and multiple induction installation, this collision sensing apparatus structure is complicated, relatively costly.
Summary of the invention
It is an object of the invention to avoid the deficiencies in the prior art, a kind of current sensing means is provided, this device is built in the inside from mobile clean robot, the mobile status from mobile clean robot is judged for detecting the size of electric current, and according to judging that signal adjusts the moving direction of clean robot in time.A kind of current sensing means, is formed by the combination of several detector units, and described detector unit is made up of motor, sample resistance, 358 amplifiers, and motor is connected in series sample resistance, and one end of 358 amplifiers connects motor.
It is an object of the invention to and avoid the deficiencies in the prior art, it is provided that a kind of electric current detecting method, the step of the method is as follows:
1, current sensing means records the operating current of motor M；
2, current signal is transferred to central integrated operation control processor after 358 amplifiers amplify；
3, the grating that tests the speed that motor carries simultaneously record motor rotating speed and change into analog sampling circuit obtain signal digitized after numerical value spread out of to central integrated operation control processor, under different operating state, current of electric size has notable difference, the integrated operation control processor of central authorities can determine whether self-movement robot mobile status after obtaining motor job information, and adjusts power of motor to adjust self-movement robot mobile status by changing pulse width modulation values.
Accompanying drawing explanation
Accompanying drawing 1 is the current sensing means principle schematic of the present invention.
Accompanying drawing 2 is the current sampling circuit schematic diagram of the present invention.
Accompanying drawing 3 is the signal amplification circuit schematic diagram of the present invention.
Accompanying drawing 4 is the power of motor control circuit schematic diagram of the present invention.
Accompanying drawing 5 is the schematic block circuit diagram of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of current sensing means, the combination of several detector units form, described detector unit is made up of motor, sample resistance, 358 amplifiers, and motor is connected in series sample resistance, and one end of 358 amplifiers connects motor.
Work by VCC power drives motor, motor directly carries signal and carries signal to 358 amplifiers to 358 amplifiers or sampled resistance, signal is received by central integrated operation control processor MCU and is judged, in order to adjust the duty of self-movement robot in good time.
As shown in Figure 2, a kind of electric current detecting method, the step of the method is as follows:
1, current sensing means records the operating current of motor M；
2, current signal is transferred to central integrated operation control processor after 358 amplifiers amplify；
3, the grating that tests the speed that motor carries simultaneously record motor rotating speed and change into analog sampling circuit obtain signal digitized after numerical value spread out of to central integrated operation control processor, under different operating state, current of electric size has notable difference, the integrated operation control processor of central authorities can determine whether self-movement robot mobile status after obtaining motor job information, and adjusts power of motor to adjust self-movement robot mobile status by changing pulse width modulation values.
Embodiment 1:
When thus setting motor idle running, current value is as I1, is I2, is I3 when being blocked by barrier when motor normally works.
According to the size of current of electric, it is listed below four kinds of situations:
1, when current of electric measured value is less than or equal to I1, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in idling conditions, program assert that self-movement robot is on unsettled or certain smooth oblique, motor reversal can be made to do by a small margin and retreat with avoiding obstacles.
2, when current of electric measured value is more than I1 and is less than or equal to I2, by the current signal obtained, central integrated operation control processor MCU may determine that now motor is in normal operating conditions, program assert that self-movement robot is without making any adjustment.
3, when current of electric measured value is more than I2 and is less than or equal to I3, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in abnormal operating state, program assert that self-movement robot meets barrier, makes self-movement robot haul off barrier by two motor modulator control signals with different pulse width.
4, when current of electric measured value is more than I3, by the current signal obtained, central integrated operation control processor MCU may determine that now motor is in card state, program assert that self-movement robot need to stop the running of motor at once to prevent device damage.
Claims (6)
1. a current sensing means, is formed by the combination of several detector units, it is characterized in that, described detector unit is made up of motor, sample resistance, 358 amplifiers, and motor is connected in series sample resistance, and one end of 358 amplifiers connects motor.
2. an electric current detecting method, is characterized in that, the step of the method is as follows:
A, current sensing means record the operating current of motor；
B, by current signal through 358 amplifiers amplify after be transferred to central integrated operation control processor；
The rotating speed of what c, simultaneously motor carried test the speed grating records motor the numerical value after changing into the signal digitized that analog sampling circuit obtains spread out of to central integrated operation control processor, under different operating state, current of electric size has notable difference, the integrated operation control processor of central authorities can determine whether self-movement robot mobile status after obtaining motor job information, and adjusts power of motor to adjust self-movement robot mobile status by changing pulse width modulation values.
A kind of electric current detecting method the most according to claim 2, it is characterized in that, described current of electric measured value is when current of electric measured value is less than or equal to I1, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in idling conditions, program assert that self-movement robot is on unsettled or certain smooth oblique, motor reversal can be made to do by a small margin and retreat with avoiding obstacles.
A kind of electric current detecting method the most according to claim 2, it is characterized in that, described current of electric measured value is when current of electric measured value is more than I1 and is less than or equal to I2, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in normal operating conditions, program assert that self-movement robot is without making any adjustment.
A kind of electric current detecting method the most according to claim 2, it is characterized in that, described current of electric measured value is when current of electric measured value is more than I2 and is less than or equal to I3, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in abnormal operating state, program assert that self-movement robot meets barrier, makes self-movement robot haul off barrier by two motor modulator control signals with different pulse width.
A kind of electric current detecting method the most according to claim 2, it is characterized in that, described current of electric measured value is when current of electric measured value is more than I3, by the current signal obtained, the integrated operation control processor MCU of central authorities may determine that now motor is in card state, program assert that self-movement robot need to stop the running of motor at once to prevent device damage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510161016.5A CN106154012A (en) | 2015-04-08 | 2015-04-08 | A kind of current sensing means and method |
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| CN201510161016.5A CN106154012A (en) | 2015-04-08 | 2015-04-08 | A kind of current sensing means and method |
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| CN106154012A true CN106154012A (en) | 2016-11-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831679A (en) * | 2017-11-09 | 2018-03-23 | 深圳市终极进化科技有限公司 | The human nature networked control systems and its control method of a kind of four-leg bionic robot |
| CN109813954A (en) * | 2019-02-22 | 2019-05-28 | 深兰科技（上海）有限公司 | A kind of method and device of the current monitoring of mobile robot |
| CN110154085A (en) * | 2019-05-14 | 2019-08-23 | 北京云迹科技有限公司 | Robot idle running recognition methods and device |
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107831679A (en) * | 2017-11-09 | 2018-03-23 | 深圳市终极进化科技有限公司 | The human nature networked control systems and its control method of a kind of four-leg bionic robot |
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| CN110154085A (en) * | 2019-05-14 | 2019-08-23 | 北京云迹科技有限公司 | Robot idle running recognition methods and device |
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| CN113189993B (en) * | 2021-04-27 | 2023-08-29 | 北京石头创新科技有限公司 | Obstacle avoidance method and device for self-walking equipment, medium and electronic equipment |
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