CN107515602A - A kind of wireless charging control method of energy-saving sweeping robot - Google Patents
A kind of wireless charging control method of energy-saving sweeping robot Download PDFInfo
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- CN107515602A CN107515602A CN201710622946.5A CN201710622946A CN107515602A CN 107515602 A CN107515602 A CN 107515602A CN 201710622946 A CN201710622946 A CN 201710622946A CN 107515602 A CN107515602 A CN 107515602A
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- wireless charging
- sweeping robot
- navigation way
- energy
- control method
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- 238000010408 sweeping Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000001939 inductive effect Effects 0.000 claims abstract description 4
- 238000005516 engineering process Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 239000000428 dust Substances 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
-
- 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
-
- 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
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of wireless charging control method of energy-saving sweeping robot, including step：The space map according to where sweeping robot establishes plane coordinate system and obtains the coordinate of object region in the map of space, and the elements of a fix for the wireless charging base position that prestores；The position coordinates of current sweeping robot position is obtained, and calculates distance and generation navigation way；Judge when it is present, to carry out navigation way with the presence or absence of the coordinate of object region in navigation way in the direction in X-axis and Y-axis and adjust and export；The elements of a fix of wireless charging base position are moved to according to the navigation way control sweeping robot after adjustment, and control establishes inductive with wireless charging base and receives electric current, to carry out wireless charging to sweeping robot.The present invention can reasonably realize that robot reaches the route control of the wireless charging base elements of a fix, it is not necessary to be manually controlled, possess automatically control effect with route planning and adjustment.
Description
Technical field
The present invention relates to a kind of wireless charging control method of energy-saving sweeping robot, the technology for belonging to robot is led
Domain.
Background technology
Sweeping robot, machine, intelligent dust suction, robot cleaner etc. are also known as swept automatically, be the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, complete floor cleaning work in room automatically.It is general to be swept using brush and vacuum mode,
Ground debris is first received into the rubbish receiver into itself, so as to complete the function of land clearing.
In general, cleaning, dust suction, the robot to work with wiping will be completed, is also uniformly classified as sweeping robot.With state
The continuous improvement of interior living standard, originally always European ＆ American Market sale sweeping robot also progressively enter into ordinary citizen
Family, and being received by increasing people progressively, sweeping robot will turn into as white domestic appliances in the near future
Each essential cleaning helper of family.Product can also be sent out by present primary intelligence towards the intelligence degree of higher degree
Exhibition, substitution progressively are manually cleaned.
The fuselage of machine of sweeping the floor is radio equipment, based on collar plate shape.Operated using rechargeable battery, mode of operation is to be remotely controlled
Guidance panel on device or machine.Typically the reservation of energy setting time is swept, and is voluntarily charged.Robot science and technology more becomes into now
It is ripe, therefore every kind of brand has different R＆D directions, possesses special design, such as:Double suction dirt lid, attached hand-held cleaners, etc. work(
Energy.
Nevertheless, existing sweeping robot still suffers from deficiency.Such as application number：201410628853.X the applying date：
In 2014-11-10 file, a kind of sweeping robot is disclosed, including：Cradle, the first charging end is provided with cradle
Son and garbage recovery device；Robot body, robot body are provided with the second charging terminal, and the second charging terminal fills with first
Electric terminal matches；Handle, handle are located on robot body and can moved between initial position and docking location, set in handle
Handle air channel is equipped with, handle air channel has entrance point and the port of export, and the entrance point in handle air channel connects with dust-collecting box, at handle
When initial position handle air channel the port of export closing, and when handle is in docking location handle air channel the port of export and rubbish
Retracting device docks, so that at least part dust in dust-collecting box can be sucked rubbish by garbage recovery device by handle air channel
In rubbish retracting device.The sweeping robot can be when robot body returns to cradle and charged, will wherein at least part
Dust suctions out, the convenient life of people.
And in application number：201610575431.X the applying date：In 2016-07-20 file, disclose a kind of full-automatic
Sweeping robot, belong to household appliance technical field.Purpose is to provide a kind of energy automatic detection barrier and sweeping robot distance
Full-automatic sweeping robot.Including clearing apparatus, toter, the first servo motor, the second servo motor, controller and ultrasound
Wave ranging device；Clearing apparatus is detachably connected with toter；First servo motor is connected with toter, driving fortune
Carry and put straight line or curvilinear motion；Second servo motor is connected with clearing apparatus, driving clearing apparatus work；Ultrasonic wave
Range unit is connected with controller communication, and controller and the first servo motor and the communication of the second servo motor connect, driving first
Servo motor and the work of the second servo motor.The full-automatic sweeping robot, machine of sweeping the floor is measured by supersonic range finder
The distance between people and barrier, and measured result is sent to controller, controller instructs the first servo according to measured result
Motor movement, machine of sweeping the floor is avoided because of damage caused by contact.
Although above-mentioned document makes improvement to sweeping robot so that robot wherein at least will can inhale part dust
Go out, or avoid machine of sweeping the floor because of damage caused by contact, but actually still suffer from deficiency.Existing sweeping robot, nothing
Method intelligently charges according to space map automated wireless, and needs manual control route mode so that control mode is single, no
It is easy to the automatic charging of robot.
The content of the invention
The technical problems to be solved by the invention are overcome the deficiencies in the prior art, there is provided a kind of energy-saving machine of sweeping the floor
The wireless charging control method of people, solves existing sweeping robot, intelligently can not be filled according to space map automated wireless
Electricity, and need manual control route mode so that the problem of control mode is single.
It is of the invention specifically to solve above-mentioned technical problem using following technical scheme：
A kind of wireless charging control method of energy-saving sweeping robot, comprises the following steps：
The space map according to where sweeping robot establishes plane coordinate system and obtains the seat of object region in the map of space
Mark, and the elements of a fix for the wireless charging base position that prestores；
Obtain the position coordinates of current sweeping robot position, and calculate and to determine with the wireless charging base position that prestores
The distance of position coordinate, and route planning generation navigation way is carried out according to the distance of calculating；
Judge with the presence or absence of the coordinate of object region in navigation way, when the coordinate of object region be present, to leading
Air route line carries out the direction adjustment in X-axis and Y-axis, and the navigation way after output adjustment；
The elements of a fix of wireless charging base position are moved to according to the navigation way control sweeping robot after adjustment, and
Control establishes inductive with wireless charging base and receives electric current, to carry out wireless charging to sweeping robot.
Further, as a preferred technical solution of the present invention：Obtained and worked as using GPS positioning technology in methods described
The position coordinates of preceding sweeping robot position.
Further, as a preferred technical solution of the present invention：Also include setting in methods described and be used for road of navigating
Direction adjusting range in the X-axis and Y-axis of line.
Further, as a preferred technical solution of the present invention：Methods described also includes the letter according to infrared acquisition
Number direction carried out to navigation way in X-axis and Y-axis adjusts.
Further, as a preferred technical solution of the present invention：Methods described also includes wireless to sweeping robot
The time timing and display of charging.
Further, as a preferred technical solution of the present invention：Also include calculating using based on ant colony in methods described
Method carries out route search.
Further, as a preferred technical solution of the present invention：Methods described also includes being entered according to the distance of calculating
The navigation way of row route planning generation, optimal path is selected as navigation way.
The present invention uses above-mentioned technical proposal, can produce following technique effect：
The wireless charging control method of a kind of energy-saving sweeping robot provided by the invention, by using establishing plane coordinate system
Mode, space map is converted into plane coordinate system, and obtain object region coordinate and wireless charging base where
The elements of a fix of position, position coordinates is obtained when sweeping robot is walked, and the distance calculated carries out route planning generation and led
Air route line, and judge to whether there is the coordinate of object region in navigation way, when the coordinate of object region be present,
The direction carried out to navigation way in X-axis and Y-axis adjusts, and the navigation way after output adjustment so that route can not only advise
Draw, route can also only adjust, reasonably realize that robot reaches determining for wireless charging base position using control method
The route control of position coordinate, it is not necessary to be manually controlled, possess automatically control effect so that robot can voluntarily fill
Electricity, the flexibility of charging is improved, be applicable in the charging process of all types of sweeping robots.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the wireless charging control method of the energy-saving sweeping robot of the present invention.
Embodiment
Embodiments of the present invention are described with reference to Figure of description.
As shown in figure 1, the present invention devises a kind of wireless charging control method of energy-saving sweeping robot, the party
Method is based on sweeping robot and wireless charging base, and specifically, method comprises the following steps：
The space map according to where sweeping robot establishes plane coordinate system and obtains the seat of object region in the map of space
Mark, and the elements of a fix for the wireless charging base position that prestores.
The position coordinates of current sweeping robot position is obtained, and is calculated and the wireless charging base position that prestores
The elements of a fix distance, and according to the distance of calculating carry out route planning generation navigation way.
Judge in navigation way whether there is object region coordinate, when the coordinate of object region be present,
The direction carried out to navigation way in X-axis and Y-axis adjusts, and the navigation way after output adjustment；Otherwise navigation road is directly exported
Line.
The positioning that wireless charging base position is moved to according to the navigation way control sweeping robot after adjustment is sat
Mark, and control establish inductive with wireless charging base and receive electric current, to carry out wireless charging to sweeping robot.
The principle of this method is：Using the mode for establishing plane coordinate system, space map is converted into plane coordinate system, and
The coordinate of object region and the elements of a fix of wireless charging base position are obtained, is obtained when sweeping robot is walked
Position coordinates, and the distance calculated carries out route planning generation navigation way, and judge to whether there is object institute in navigation way
Coordinate in region, when the coordinate of object region be present, the direction carried out to navigation way in X-axis and Y-axis adjusts, and
Navigation way after output adjustment so that route can not only be planned, only route can also adjust, using control method reasonably
Realize that robot reaches the route control of the elements of a fix of wireless charging base position, complete automatic charging.
Preferably, the position coordinates of current sweeping robot position is obtained in methods described using GPS positioning technology.
The position coordinates of sweeping robot can be obtained exactly using GPS location.
In methods described, when being adjusted to route, the side in the X-axis and Y-axis for navigation way can also be set
To adjusting range.The direction adjusting range in X-axis and Y-axis is such as set as respective 1 to 2 meter, but the invention is not restricted to the scope, its
His scope is equally applicable.
For the control action of Enhancement Method, methods described can also include the signal according to infrared acquisition to navigation way
Carry out the direction adjustment in X-axis and Y-axis.The signal of infrared acquisition human body is utilized, when robot has people on navigation way
During body, navigation way can be equally adjusted, its direction in X-axis and Y-axis is adjusted certain distance, such as 1 to 2 meter.
And methods described can also include the time timing and display to sweeping robot wireless charging.Record nothing
The time of micro USB electricity is simultaneously shown, strengthens the function of robot.
In order to which the route planning in method is better achieved, also include entering walking along the street using based on ant group algorithm in methods described
Line search.Ant group algorithm is based on using existing, can guarantee that mobile robot successfully avoids obstacle and finds path, demonstrate
Feasibility of the algorithm proposed in route searching.Further, methods described also includes entering walking along the street according to the distance of calculating
The navigation way of line plane-generating, select optimal path as navigation way so that in the selection of some optimized parameters more
Optimization, makes it to find optimal path faster in path planning.
To sum up, the wireless charging control method of a kind of energy-saving sweeping robot provided by the invention so that route is not only
It can plan, only route can also adjust, it is in place reasonably to realize that robot reaches wireless charging base institute using control method
The route control for the elements of a fix put, it is not necessary to be manually controlled, possess automatically control effect so that robot can be with
Voluntarily charge, improve the flexibility of charging, be applicable in the charging process of all types of sweeping robots.
Embodiments of the present invention are explained in detail above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, can also be on the premise of present inventive concept not be departed from those of ordinary skill in the art's possessed knowledge
Make a variety of changes.
Claims (7)
1. a kind of wireless charging control method of energy-saving sweeping robot, it is characterised in that comprise the following steps：
The space map according to where sweeping robot establishes plane coordinate system and obtains the seat of object region in the map of space
Mark, and the elements of a fix for the wireless charging base position that prestores；
Obtain the position coordinates of current sweeping robot position, and calculate and to determine with the wireless charging base position that prestores
The distance of position coordinate, and route planning generation navigation way is carried out according to the distance of calculating；
Judge with the presence or absence of the coordinate of object region in navigation way, when the coordinate of object region be present, to leading
Air route line carries out the direction adjustment in X-axis and Y-axis, and the navigation way after output adjustment；
The elements of a fix of wireless charging base position are moved to according to the navigation way control sweeping robot after adjustment, and
Control establishes inductive with wireless charging base and receives electric current, to carry out wireless charging to sweeping robot.
2. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
The middle position coordinates that current sweeping robot position is obtained using GPS positioning technology.
3. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
In also include setting for navigation way X-axis and Y-axis on direction adjusting range.
4. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
Also include carrying out navigation way according to the signal of infrared acquisition the direction adjustment in X-axis and Y-axis.
5. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
Also include the time timing and display to sweeping robot wireless charging.
6. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
In also include using based on ant group algorithm carry out route search.
7. the wireless charging control method of energy-saving sweeping robot according to claim 1, it is characterised in that：Methods described
Also include the navigation way that route planning generation is carried out according to the distance of calculating, select optimal path as navigation way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622946.5A CN107515602A (en) | 2017-07-27 | 2017-07-27 | A kind of wireless charging control method of energy-saving sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710622946.5A CN107515602A (en) | 2017-07-27 | 2017-07-27 | A kind of wireless charging control method of energy-saving sweeping robot |
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| CN107515602A true CN107515602A (en) | 2017-12-26 |
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| CN201710622946.5A Pending CN107515602A (en) | 2017-07-27 | 2017-07-27 | A kind of wireless charging control method of energy-saving sweeping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279667A (en) * | 2018-01-08 | 2018-07-13 | 浙江立石机器人技术有限公司 | Robot charge path planing method, apparatus and system |
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| WO2011059295A2 (en) * | 2009-11-16 | 2011-05-19 | 엘지전자 주식회사 | Robot cleaner and method for controlling same |
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
| CN105676845A (en) * | 2016-01-19 | 2016-06-15 | 中国人民解放军国防科学技术大学 | Security service robot and intelligent obstacle avoidance method of robot in complex environment |
| CN106787266A (en) * | 2017-02-24 | 2017-05-31 | 安科智慧城市技术（中国）有限公司 | A kind of mobile robot wireless charging method and device |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN106949893A (en) * | 2017-03-24 | 2017-07-14 | 华中科技大学 | The Indoor Robot air navigation aid and system of a kind of three-dimensional avoidance |
-
2017
- 2017-07-27 CN CN201710622946.5A patent/CN107515602A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011059295A2 (en) * | 2009-11-16 | 2011-05-19 | 엘지전자 주식회사 | Robot cleaner and method for controlling same |
| CN101769754A (en) * | 2010-01-19 | 2010-07-07 | 湖南大学 | Quasi three-dimensional map-based mobile robot global path planning method |
| CN104536447A (en) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | Navigation method for sweeping robot |
| CN105676845A (en) * | 2016-01-19 | 2016-06-15 | 中国人民解放军国防科学技术大学 | Security service robot and intelligent obstacle avoidance method of robot in complex environment |
| CN106787266A (en) * | 2017-02-24 | 2017-05-31 | 安科智慧城市技术（中国）有限公司 | A kind of mobile robot wireless charging method and device |
| CN106949893A (en) * | 2017-03-24 | 2017-07-14 | 华中科技大学 | The Indoor Robot air navigation aid and system of a kind of three-dimensional avoidance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279667A (en) * | 2018-01-08 | 2018-07-13 | 浙江立石机器人技术有限公司 | Robot charge path planing method, apparatus and system |
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Application publication date: 20171226 |
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| RJ01 | Rejection of invention patent application after publication |