CN106610667A - Corridor cleaning robot control system and method based on RC controller - Google Patents
Corridor cleaning robot control system and method based on RC controller Download PDFInfo
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- CN106610667A CN106610667A CN201510689429.0A CN201510689429A CN106610667A CN 106610667 A CN106610667 A CN 106610667A CN 201510689429 A CN201510689429 A CN 201510689429A CN 106610667 A CN106610667 A CN 106610667A
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Abstract
The invention relates to a corridor cleaning robot control system and method based on an RC controller, and the system comprises an RC main controller module, a sensor module, a data collection module, and a motor drive module. The sensor module is connected with a data collection module, and the data collection module and the motor drive module are respectively connected with the RC main controller module. The sensor module is used for detecting information of a road surface in real time, and the data collection module is used for collecting the information collected by the sensor module, and transmitting the information to the RC main controller module. The RC main controller module is used for carrying out the comprehensive analysis of the collected information, and generating a reasonable instruction. The motor drive module is used for driving a corresponding motor in a cleaning robot to work according to the received instruction of the RC main controller module, thereby achieving the functions of intelligent path recognition, obstacle avoiding, falling prevention, going upstairs and downstairs, dust collection, and mopping.
Description
Technical field
The present invention relates to clean robot field, in particular, is related to a kind of based on RC controllers
Corridor cleaning robot control system and method.
Background technology
With the development of society, increasing intelligence system starts the manual labor for replacing the mankind, and
Increasingly automation, intellectuality.Corridor cleaning robot is exactly to be realized using the artificial intelligence of robot
The cleaning of corridor, replaces the work of corridor street cleaner.Its use value is gradually accepted
With accreditation, labour cost is greatly reduced, improve the operating efficiency of corridor cleaning.
Clean robot is a kind of floor sweeper, it is adaptable to automatically move through and clean surface to be cleaned.
Different from common ground surface sweeping device, robot is not designated as it and is actively directed through by operator to treat clear
Clean surface.Robot determines in itself it moves through surface to be cleaned and how to clean this along which bar route to be treated
Clean surface.In this regard, robot have clearly a need for big quantity sensor so as to can so as to grasping its surrounding environment,
It is specifically the distance away from surrounding environment.
With expanding economy, land use cost is constantly raised, and build to high-rise development has become a kind of
Trend.In the high building for standing in great numbers, the problem that stair are our urgent need to resolve how effectively, is easily cleaned.
The content of the invention
In view of this, it is necessary to for the problems referred to above, there is provided a kind of corridor cleaner based on RC controllers
Device people control system and method.
To achieve these goals, technical scheme is as follows：
A kind of corridor cleaning robot control system based on RC controllers, including RC main controller modules,
Sensor assembly, data acquisition module and motor drive module；The sensor assembly connects the data
Acquisition module, the data acquisition module and the motor drive module are connected respectively to the RC main controls
Device module；
The sensor assembly is for the detection of real-time information of road surface；
The data acquisition module is used to gather the information that sensor assembly is collected, and is transferred to RC master controls
Device module processed；
The RC main controller modules are used for the information to collecting carries out comprehensive analysis processing, and generates conjunction
The instruction of reason；
The motor drive module is used for the instruction according to the RC main controller modules for receiving, and drives cleaning
Corresponding motor is operated in robot.
Used as preferred, also including Power Monitoring Unit, the Power Monitoring Unit connects data acquisition module
Block, the Power Monitoring Unit is used to carry out robot voltage detecting, charges and monitor and over-current detection,
Again RC main controller modules are fed back to by data collecting module collected.
As preferred, the sensor assembly include dropproof infrared sensor, stair judge sensor,
Avoidance sensor, frequency modulation infrared sensor and electronic compass sensor.
Used as preferred, the motor being connected with motor drive module in the clean robot includes walking electricity
Machine, telescope motor, lifting motor, dust sucting motor, clean motor and the motor that mops floor.
As preferred, the sensor assembly and the data acquisition module, the data acquisition module
Lead between the RC main controller modules, the motor drive module and the RC main controller modules
Cross the connection of EtherCAT buses and transmission information.
Used as preferred, the RC main controller modules adopt IRC-I core controllers, the IRC-I
Built-in Linux operating system is run on the IRC-I boards of core controller, and in built-in Linux ring
Exploitation under border has the control software bag suitable for corridor cleaning robot high-efficient homework.
Used as preferred, also including wireless teaching machine, the wireless teaching machine is used to show sensor in real time
The periphery pavement behavior that module is detected, and remote control is carried out to clean robot.
A kind of method for carrying out corridor cleaning according to said system, comprises the following steps：
Modules are initialized by S1, initialization；
S2, judge that the signal that sensor and Power Monitoring Unit are collected is analyzed according to stair, recognize
Stair position and judge whether battery electric quantity is sufficient；
S3, open clean robot be cleaned, and according to Real-time Collection to signal be adjusted.
Further, the adjustment in step S3 includes：
Avoidance pose adjustment is carried out according to the signal that avoidance sensor is collected；
Judge sensor, frequency modulation infrared sensor, electronic compass sensor, dropproof sensing according to stair
The signal that device and avoidance sensor are collected carries out direction of travel, stair activity adjustment；
Compared with prior art, the beneficial effects of the present invention is：Improve arithmetic speed；Strengthen real-time；
Improve the adaptability to complex road surface operating mode；The operating efficiency of corridor cleaning operation is effectively improved,
Wireless teaching machine both can in real time show the work state information of clean robot, and robot can be entered again
Row control manually, realizes that robot remote manipulates ability, when robot runs into barrier or stair with regard to phase
That what is answered carries out avoidance or cat ladder clean operation, and in real time live catastrophic failure is made diagnosis and processed,
Realize the intelligent Path Recognition of robot, avoidance, it is dropproof, upper downstairs and dust suction, the cleaning work(such as mop floor
Energy.
Description of the drawings
Fig. 1 is the structured flowchart of the control system of the present invention；
Fig. 2 is the IRC-I main controller module schematic diagrames of the present invention；
Fig. 3 is the FB(flow block) of the method for the present invention；
Fig. 4 is the idiographic flow schematic diagram of the inventive method.
Specific embodiment
A kind of corridor based on RC controllers of the present invention is cleaned with reference to the accompanying drawings and examples
Robot control system and method are described further.
The following is a kind of corridor cleaning robot control system and side based on RC controllers of the present invention
Therefore the preferred example of method, do not limit protection scope of the present invention.
To achieve these goals, technical scheme is as follows：
A kind of corridor cleaning robot control system based on RC controllers, including RC main controller modules,
Sensor assembly, data acquisition module and motor drive module；Sensor assembly connects data acquisition module,
Data acquisition module and motor drive module are connected respectively to RC main controller modules；Data acquisition module is used
In the information that collection sensor assembly is collected, RC master controller moulds are pre-processed and are transferred to information
Block；RC main controller modules are used for the information to collecting carries out comprehensive analysis processing, and generates rational
Instruction；
Fig. 2 is the RC main controller module schematic diagrames of the present invention, and RC main controller modules are using at information
The stronger IRC-I core controllers of reason and responding ability, transport on the IRC-I boards of IRC-I core controllers
Row built-in Linux operating system, and develop under built-in Linux environment and have suitable for corridor cleaner
Data are processed by the control software bag of device people's high-efficient homework by control software bag, and control cleaning
Robot carries out high-efficient homework.
Sensor assembly is for the detection of real-time information of road surface；It includes that dropproof infrared sensor, stair are sentenced
Link sensor, avoidance sensor, frequency modulation infrared sensor and electronic compass sensor, stair judge to pass
Positional information is sent to IRC-I core controllers by sensor for recognizing clean robot location,
IRC-I core controllers judged according to information and control clean robot walked, upstairs, the behaviour such as downstairs
Make, specifically can according to stair judge the Data Control clean robot that sensor is collected walked, on
Building, the operation such as downstairs；Dropproof infrared sensor is used for when robot goes downstairs, and constantly gathers cleaner
Device people and the positional information of corridor, fall when preventing clean robot downstairs；Frequency modulation infrared sensor,
Avoidance sensor and electronic compass sensor be used to gathering robot in walking, upstairs, downstairs during
Obstacle, positional information, and the information of collection is sent to into IRC-I core controllers, the control of IRC-I cores
Device judges and controls clean robot the behavior such as to carry out obstacle, mop floor, clean according to information.
Motor drive module is used for the instruction according to the RC main controller modules for receiving, and drives cleaning machine
Corresponding motor is operated in people, realize the intelligent Path Recognition of clean robot, avoidance, it is dropproof,
It is upper downstairs and dust suction, the cleaning function such as mop floor.
Used as preferred, the system also includes a Power Monitoring Unit, and Power Monitoring Unit connection data are adopted
Collection module, Power Monitoring Unit is used to carry out robot voltage detecting, charges and monitor and over-current detection,
Again RC main controller modules are fed back to by data collecting module collected, when system battery undertension or electricity
Amount goes in time charging station to charge in the case of being less than certain value.
As preferred, the motor being connected with motor drive module in clean robot include movable motor,
Telescope motor, lifting motor, dust sucting motor, clean motor, mop floor motor, movable motor, flexible electricity
Machine, lifting motor, for control clean robot perform walking, upstairs, downstairs, the order such as avoidance,
Dust sucting motor, clean motor, the motor that mops floor and corridor is entered in motion process for controlling clean robot
Row cleaning, dust suction, mop floor etc. and to order.
As preferred, sensor assembly and data acquisition module, data acquisition module and RC master controllers
Connect by EtherCAT buses and transmit letter between module, motor drive module and RC main controller modules
Breath.
In order that the more hommization of the control system of the present invention and facilitating scale, control system also includes one
Wireless teaching machine, wireless teaching machine is used for the periphery pavement behavior that in real time display sensor assembly is detected,
And remote control is carried out to clean robot, the wireless teaching machine of multiple clean robots can be concentrated,
It is uniformly controlled, is conducive to carrying out unified monitoring to multiple robots, while and reduces personnel cost.
Fig. 3 and Fig. 4 show a kind of method for carrying out corridor cleaning according to said system, including：
Modules are initialized by S1, initialization；
S2, judge that the signal that sensor and Power Monitoring Unit are collected is analyzed according to stair, recognize
Stair position and judge whether battery electric quantity is sufficient；
S3, open clean robot be cleaned, and according to Real-time Collection to signal be adjusted.
Specifically, in step S3 according to Real-time Collection to signal be adjusted including：
Avoidance pose adjustment is carried out according to the signal that avoidance sensor is collected；
Sensor is judged for recognizing clean robot location, positional information is sent according to stair
To IRC-I core controllers, IRC-I core controllers judge and control clean robot to carry out according to information
Walking, upstairs, the operation such as downstairs；Dropproof infrared sensor is used for when robot goes downstairs, and constantly adopts
The positional information of collection clean robot and corridor, falls when preventing clean robot downstairs；Frequency modulation is infrared
Sensor, avoidance sensor and electronic compass sensor be used for gather robot walking, upstairs, downstairs
During obstacle, positional information, and the information of collection is sent to into IRC-I core controllers, IRC-I
Core controller judges and controls clean robot the order such as to carry out obstacle, mop floor, clean according to information；
And by control movable motor, telescope motor, lifting motor, dust sucting motor, clean motor, mop floor electricity
Machine control clean robot carries out going downstairs and dust suction, the cleaning function such as mop floor；
In sum, the beneficial effects of the present invention is：Improve arithmetic speed；Strengthen real-time；Lifted
Adaptability to complex road surface operating mode；It is effectively improved the operating efficiency of corridor cleaning operation, nothing
Line teaching machine both can in real time show the work state information of clean robot, and robot can be carried out again
Control manually, realizes that robot remote manipulates ability, just corresponding when robot runs into barrier or stair
Carry out avoidance or cat ladder clean operation, and in real time live catastrophic failure made by diagnosis and processed, it is real
The intelligent Path Recognition of existing robot, avoidance, it is dropproof, upper downstairs and dust suction, the cleaning function such as mop floor.
Above example only expresses the several embodiments of the present invention, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for ability
For the those of ordinary skill in domain, without departing from the inventive concept of the premise, some changes can also be made
Shape and improvement, these belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should
It is defined by claims.
Claims (9)
1. a kind of corridor cleaning robot control system based on RC controllers, it is characterised in that include
RC main controller modules, sensor assembly, data acquisition module and motor drive module；The sensor
Module connects the data acquisition module, and the data acquisition module and the motor drive module connect respectively
It is connected to the RC main controller modules；
The sensor assembly is for the detection of real-time information of road surface；
The data acquisition module is used to gather the information that sensor assembly is collected, and is transferred to RC master controls
Device module processed；
The RC main controller modules are used for the information to collecting carries out comprehensive analysis processing, and generates conjunction
The instruction of reason；
The motor drive module is used for the instruction according to the RC main controller modules for receiving, and drives cleaning
Corresponding motor is operated in robot.
2. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, also including Power Monitoring Unit, the Power Monitoring Unit connects the data acquisition module
Block, the Power Monitoring Unit is used to carry out robot voltage detecting, charges and monitor and over-current detection,
Again the RC main controller modules are fed back to by the data collecting module collected.
3. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, the sensor assembly includes that dropproof infrared sensor, stair judge sensor, keep away
Barrier sensor, frequency modulation infrared sensor and electronic compass sensor.
4. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, the motor being connected with motor drive module in the clean robot include movable motor,
Telescope motor, lifting motor, dust sucting motor, clean motor and the motor that mops floor.
5. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, the sensor assembly and the data acquisition module, the data acquisition module and institute
State and pass through between RC main controller modules, the motor drive module and the RC main controller modules
The connection of EtherCAT buses and transmission information.
6. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, the RC main controller modules adopt IRC-I core controllers, the IRC-I cores
Built-in Linux operating system is run on the IRC-I boards of controller, and under built-in Linux environment
Exploitation has the control software bag suitable for corridor cleaning robot high-efficient homework.
7. the corridor cleaning robot control system based on RC controllers according to claim 1,
Characterized in that, also including wireless teaching machine, the wireless teaching machine is used to show sensor assembly in real time
The periphery pavement behavior for detecting, and remote control is carried out to clean robot.
8. a kind of corridor cleaning robot control system according to any one of claim 1 to 7 is carried out
The method of corridor cleaning, it is characterised in that comprise the following steps：
Modules are initialized by S1, initialization；
S2, judge that the signal that sensor and Power Monitoring Unit are collected is analyzed according to stair, recognize
Stair position and judge whether battery electric quantity is sufficient；
S3, open clean robot be cleaned, and according to Real-time Collection to signal be adjusted；
S4, cleaning close clean robot after finishing.
9. method according to claim 8, it is characterised in that the adjustment bag in step S3
Include：
Avoidance pose adjustment is carried out according to the signal that avoidance sensor is collected；
Judge sensor, frequency modulation frequency infrared sensor, electronic compass sensor, dropproof biography according to stair
The signal that sensor and avoidance sensor are collected carries out direction of travel, stair activity adjustment.
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| CN201510689429.0A CN106610667A (en) | 2015-10-22 | 2015-10-22 | Corridor cleaning robot control system and method based on RC controller |
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| CN201510689429.0A CN106610667A (en) | 2015-10-22 | 2015-10-22 | Corridor cleaning robot control system and method based on RC controller |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107624656A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | Pig house intelligence cleaning up excrement robot and control system |
| CN107624653A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | The box-like pig house of smart group and dung collection system |
| CN107991915A (en) * | 2017-10-16 | 2018-05-04 | 太仓爱森思电子电器有限公司 | A kind of photovoltaic panel sweeping robot control system |
| CN108814435A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | Sweeper control method and control system |
| CN112276941A (en) * | 2019-07-28 | 2021-01-29 | 南京驭逡通信科技有限公司 | Control system for remotely controlling industrial robot and information acquisition method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107624656A (en) * | 2017-09-25 | 2018-01-26 | 农业部环境保护科研监测所 | Pig house intelligence cleaning up excrement robot and control system |
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| CN107991915A (en) * | 2017-10-16 | 2018-05-04 | 太仓爱森思电子电器有限公司 | A kind of photovoltaic panel sweeping robot control system |
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| CN108814435A (en) * | 2018-06-13 | 2018-11-16 | 芜湖金智王机械设备有限公司 | Sweeper control method and control system |
| CN112276941A (en) * | 2019-07-28 | 2021-01-29 | 南京驭逡通信科技有限公司 | Control system for remotely controlling industrial robot and information acquisition method |
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