CN108089200A - A kind of sweeping robot with linear solid-state radar - Google Patents
A kind of sweeping robot with linear solid-state radar Download PDFInfo
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- CN108089200A CN108089200A CN201810024029.1A CN201810024029A CN108089200A CN 108089200 A CN108089200 A CN 108089200A CN 201810024029 A CN201810024029 A CN 201810024029A CN 108089200 A CN108089200 A CN 108089200A
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- sensor
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- sweeping robot
- linear
- state radar
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
Abstract
The present invention provides a kind of sweeping robot with linear solid-state radar, and the sweeping robot includes control unit, sensor unit, movement and driving unit, cleaning unit, frame unit, charging unit.Sensor unit includes steep cliff sensor, along wall sensor, IMU inertia measurements sensor, electronic compass sensor, speedometer sensor, crash sensor, ultrasonic sensor, linear solid-state radar distance measuring sensor.The one or more linear solid-state radar distance measuring sensors of sweeping robot edge arrangement, when sweeping robot moves in the environment, linear solid-state radar distance measuring sensor can realize the structure of one section of environmental map, with reference to the information of one or more of IMU inertia measurements sensor, electronic compass sensor, speedometer sensor sensor, realize Fusion, movement by sweeping robot in the environment again can realize high-precision structure and the navigation of entire map.
Description
Technical field
It can be carried out the present invention relates to sweeping robot field and mobile robot field more particularly to radar
Map structuring and the sweeping robot field of navigation.
Background technology
With the development of smart home, home-use, factory sweeping robot is increasingly valued by people and likes
Love.Partly do not have map structuring and navigation feature in existing family's sweeping robot, " run chaotically " in cleaning process, it is difficult to
Realize that all standing cleans；Another sweeping robot is then by IMU Inertial Measurement Units, electronic compass sensor, odometer
Sensor, crash sensor realize map structuring and the navigation of low precision, and effect is better than the former, but still is difficult to realize cover entirely
Lid cleans；At this stage, it can realize that the home-use sweeping robot of preferable map structuring and navigation uses rotary laser more
Radar scheme, which realizes the measurement adjusted the distance by the way of range of triangle, but the program is driven by motor
Measurement module rotation can face slip ring life problems, although this can be solved the problems, such as by way of wireless power and communication,
Also increase the cost of the program.
The content of the invention
Solve the problems, such as to be to provide required for of the invention a kind of long-life low-cost with linear solid-state radar map structure
The sweeping robot built and navigated, it is intended to the map structuring of sweeping robot and the function of navigation are realized in a manner of most economical.
To achieve these goals, the present invention is using following technical scheme, and is carried out by taking a kind of typical embodiment as an example
Explanation.Following embodiment contributes to those skilled in the art to further understand the present invention, but does not limit this hair in any form
It is bright.It should be pointed out that those of ordinary skill in the art, without departing from the inventive concept of the premise, can also make
Several modifications and improvements.These belong to the scope of the present invention.
A kind of sweeping robot with linear solid-state radar, it is characterised in that including control unit, sensor unit, fortune
Dynamic and driving unit, cleaning unit, charging unit, frame unit；Sensor unit includes steep cliff sensor, is sensed along wall
Device, IMU inertia measurements sensor, electronic compass sensor, speedometer sensor, crash sensor, linear solid-state radar ranging
Sensor；Control unit realizes control, data processing, the function of communication, is fixed on inside frame unit；Sensor unit is used for
Gather various kinds of sensors data；Movement uses the organization plan of double driving wheels and a universal wheel with driving unit, and three is solid
Due on frame unit；Cleaning unit is fixed on frame unit；Charging unit realizes the charging and confession of sweeping robot
Electricity Functional is fixed on inside frame unit；The linear solid-state radar distance measuring sensor can perceive one section of region in environment
Object and sensor between distance, with reference to the structure of the global map of the mobile realization environment of sweeping robot.
A kind of sweeping robot with linear solid-state radar uses linear solid-state radar distance measuring sensor combination IMU inertia
One or more sensing datas in measurement sensor, electronic compass sensor, speedometer sensor, crash sensor carry out
Information merges, and realizes high-precision map structuring and navigation；The map structuring and air navigation aid is equally applicable to all movements
Robot, also in claims.
Steep cliff sensor is located at the preceding bottom of sweeping robot in sensor unit, and quantity is even number, is symmetrically arranged, and uses
Whether there is object below detection sensor, prevent sweeping robot from falling；It is located in sensor unit along wall sensor and cleans
The left side side or right side side of robot, quantity are 1 or 2, and signal transmitting is oriented parallel to ground with reception, when quantity is
At 1, right side side is preferentially arranged in, when quantity is 2, left side side and right side side respectively arrange one；IMU inertia measurements sense
Device and electronic compass sensor are fixed on the mainboard of control unit；Speedometer sensor is located at movement on driving unit, examining
The angle that driving wheel rotates is surveyed, quantity is 2；Crash sensor is located at the leading flank of sweeping robot, and quantity is even number, left and right
It is arranged symmetrically, has protective cover in front of crash sensor, when collision, protective cover is collided with object, pressing collision crash sensor,
Realize sensing.
Linear solid-state radar distance measuring sensor is arranged in the side of sweeping robot；Linear solid-state radar distance measuring sensor bag
Containing linear transmitting module knead dough battle array receiving module, linear transmitting module launches specific wavelength light, prioritizing selection 780nm,
808nm, 950nm and 940nm wavelength light, light are the linear shape of linear type；The line of linear type in sweeping robot application
Shape light ray parallel is in ground；The receiving sensor of face battle array receiving module is face battle array CMOSE or CCD photosensitive sensors；Face battle array receives
Module is located at the both sides of the linear light of linear type.
Linear solid-state radar distance measuring sensor quantity is at least 1 in robot, is preferentially arranged in front, the left side of robot
Front, right front；When linear solid-state radar distance measuring sensor circumferentially is arranged multiple, it can be achieved that 360 degree of environmental modeling.
Compared with prior art, the present invention advantageous effect is：It is provided in an embodiment of the present invention that there is linear solid-state radar
Map structuring and the sweeping robot scheme of navigation, the sensor for being used for map structuring and navigation have service life length, valency
Lattice advantage at low cost, and merged by the information of multisensor, the map structuring for meeting sweeping robot can be reached and led
Boat function.
Description of the drawings
Fig. 1 is a kind of sweeping robot appearance principle signal with linear solid-state radar provided in an embodiment of the present invention
Figure；
Fig. 2 is linear solid state radarmap structure provided in an embodiment of the present invention and the realization principle figure of navigation feature.
Fig. 3 is that linear solid state radar range finding sensor provided in an embodiment of the present invention realizes measuring principle side view.
Fig. 4 is that linear solid state radar range finding sensor provided in an embodiment of the present invention realizes measuring principle top view.
In figure, 1 unit in order to control；2 be sensor unit；21 be steep cliff sensor；22 be along wall sensor；23 be IMU
Inertia measurement sensor；24 be electronic compass sensor；25 be speedometer sensor；26 be crash sensor；27 be linear solid
State radar range finding sensor；271 be linear transmitting module；272 be face battle array receiving module；3 be movement and driving unit；4 be clear
Sweep unit；5 be charging unit；6 be frame unit.
Specific embodiment
In order to which technical problem solved by the invention, technical solution and advantageous effect is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, the present invention is not limited.
As shown in Figure 1, a kind of sweeping robot with linear solid-state radar, it is characterised in that including control unit 1, pass
Sensor cell 2, movement and driving unit 2, cleaning unit 4, charging unit 5, frame unit 6；Sensor unit 2 includes outstanding
Precipice sensor 21, along wall sensor 22, IMU inertia measurements sensor 23, electronic compass sensor 24, speedometer sensor 25,
Crash sensor 26, linear solid-state radar distance measuring sensor 27；Control unit 1 realizes control, data processing, the function of communication,
It is fixed on inside frame unit 6；Sensor unit 2 is used to gather various kinds of sensors data；Movement is with driving unit 3 using double main
The organization plan of driving wheel and a universal wheel, three are fixed on frame unit 6；Cleaning unit 4 is fixed on frame unit 6
On；Charging unit 5 realizes charging and the function of supplying power of sweeping robot, is fixed on inside frame unit 6；Described is linear
Solid-state radar distance measuring sensor 27 can perceive in environment distance between the object and sensor in one section of region, with reference to sweeping machine
The structure of the global map of the mobile realization environment of people.
A kind of sweeping robot with linear solid-state radar is used to using linear solid-state radar distance measuring sensor 27 with reference to IMU
Property measurement sensor 23, electronic compass sensor 24, speedometer sensor 25, one or more sensings in crash sensor 26
Device data are merged into row information, realize high-precision map structuring and navigation；The map structuring and air navigation aid is equally applicable
In all mobile robots, also in claims.
Steep cliff sensor 21 is located at the preceding bottom of sweeping robot in sensor unit, and quantity is even number, is symmetrically arranged,
For whether having object below detection sensor, prevent sweeping robot from falling；It is located in sensor unit along wall sensor 22
The left side side or right side side of sweeping robot, quantity are 1 or 2, and signal transmitting is oriented parallel to ground with reception, works as number
Measure for 1 when, be preferentially arranged in right side side, when quantity is 2, each arrangement one in left side side and right side side；IMU inertia measurements
Sensor 23 and electronic compass sensor 24 are fixed on the mainboard of control unit；Speedometer sensor 25 is located at movement and driving
On unit 3, the angle of detection driving wheel rotation, quantity is 2；Crash sensor 26 is located at the leading flank of sweeping robot, number
It measures as even number, is symmetrically arranged, there is protective cover in 26 front of crash sensor, and when collision, protective cover is collided with object, pressing
Crash sensor 26 is collided, realizes sensing.
Linear solid-state radar distance measuring sensor 27 is arranged in the side of sweeping robot；Linear solid-state radar distance measuring sensor
27 include linear 271 knead dough battle array receiving module 272 of transmitting module, and linear transmitting module 271 launches specific wavelength light, preferentially
780nm, 808nm, 950nm and 940nm wavelength light are selected, light is the linear shape of linear type；In sweeping robot application
The linear light ray parallel of linear type is in ground；The receiving sensor of face battle array receiving module 272 is the face battle array photosensitive biographies of CMOSE or CCD
Sensor；Face battle array receiving module is located at the both sides of the linear light of linear type.
Linear 27 quantity of solid-state radar distance measuring sensor is at least 1 in robot, be preferentially arranged in robot front,
Left front, right front；When linear solid-state radar distance measuring sensor circumferentially is arranged multiple, it can be achieved that 360 degree of environment is built
Mould.
As shown in Fig. 2, when sweeping robot is in certain point in environment, the hair of linear solid state radar range finding sensor 27
It penetrates module and launches light signal, act on the object in the range of the certain angle of front, light will by reflection, some light
The face of being applied to shakes on receiving module 272, by calculate can obtain multiple points of objects in front to the distance of sweeping robot and
Angle can establish the contour shape of object, i.e. three-dimensional environment at this time, such as the dotted portion in Fig. 2.Existed by sweeping robot
It is constantly moved in environment, and so on, then it can construct entire environmental map.After cartographic information is provided with, by cleaning
Robot using 27 information of linear solid state radar range finding sensor, IMU inertia measurements sensor 23, electronic compass sensor 24,
The one or more sensors such as speedometer sensor 25 data can accurately position the position of sweeping robot in the environment, from
And realize navigation.
The most basic principle of linear solid state radar range finding sensor 27 is principle of triangulation, as shown in figure 3, working as light beam
After fine directional transmissions, when having object at A, light beam is after object reflects, and part reflection light is by entering surface battle array receiving module
272, the receiving point of respective sensor is D；As a same reason, when B points have object, light will act at C points, as a result, understand away from
Object from sensor different distance, action point on a sensor are different.Thus phenomenon is counter pushes away, when knowing the work on sensor
With when, the distance of sensor and object can be obtained.
Linear solid state radar range finding sensor 27 is that the single-point ranging of range of triangle is become the concurrent ranging of multiple spot, passes through line
Property transmitting module transmitting at a linear type light, then by face battle array photosensitive sensor carry out light reception, by right
Face battle array photosensitive sensor glazed thread effect situation calculating, can calculate linear type effect of light to contour of object on it is multiple
Point (straight line is discrete for multiple points) arrives the distance of sensor, as shown in Figure 4.In Fig. 4, linear transmitting module 271 is located at face battle array
272 lower section of receiving module, the dotted line of object edge is the light of linear type effect of light to object, and after reflection, in face, battle array is photosensitive
Curve on sensor is as shown in figure 4, pixel distance difference a on sensor, the range difference b on corresponding object.
Claims (5)
1. a kind of sweeping robot with linear solid-state radar, it is characterised in that including control unit (1), sensor unit
(2), movement and driving unit (2), cleaning unit (4), charging unit (5), frame unit (6)；Sensor unit (2) wraps
Include steep cliff sensor (21), along wall sensor (22), IMU inertia measurements sensor (23), electronic compass sensor (24), mileage
Flowmeter sensor (25), crash sensor (26), linear solid-state radar distance measuring sensor (27)；Control unit (1) realizes control, number
According to the function of processing, communication, it is internal to be fixed on frame unit (6)；Sensor unit (2) is used to gather various kinds of sensors data；
With driving unit (3) using double driving wheels and the organization plan of a universal wheel, three is fixed on frame unit (6) for movement
On；Cleaning unit (4) is fixed on frame unit (6)；Charging unit (5) realizes the charging of sweeping robot and for electric work
Can, it is internal to be fixed on frame unit (6)；The linear solid-state radar distance measuring sensor (27) can perceive environment Zhong Yiduan areas
Distance between the object and sensor in domain, with reference to the structure of the global map of the mobile realization environment of sweeping robot.
2. a kind of sweeping robot with linear solid-state radar according to claim 1, which is characterized in that using linear
Solid-state radar distance measuring sensor (27) combines IMU inertia measurements sensor (23), electronic compass sensor (24), odometer sensing
One or more sensing datas in device (25), crash sensor (26) are merged into row information, realize high-precision map structuring
And navigation；The map structuring and air navigation aid is equally applicable to all mobile robots, also in claims
It is interior.
3. sensor unit according to claim 1, which is characterized in that steep cliff sensor (21) is located in sensor unit
The preceding bottom of sweeping robot, quantity are even number, are symmetrically arranged, and for whether having object below detection sensor, are prevented clear
Robot is swept to fall；It is located at the left side side or right side side of sweeping robot, quantity 1 in sensor unit along wall sensor (22)
A or 2, signal transmitting is oriented parallel to ground with reception, when quantity is 1, is preferentially arranged in right side side, works as quantity
For 2 when, each arrangement one in left side side and right side side；IMU inertia measurements sensor (23) and electronic compass sensor (24) are solid
Due on the mainboard of control unit；Speedometer sensor (25) is located at movement and on driving unit (3), detection driving wheel rotates
Angle, quantity are 2；Crash sensor (26) is located at the leading flank of sweeping robot, and quantity is even number, is symmetrically arranged,
There is protective cover in front of crash sensor (26), when collision, protective cover is collided with object, pressing collision crash sensor (26),
Realize sensing.
4. linear solid-state radar distance measuring sensor according to claim 1, which is characterized in that linear solid-state radar ranging passes
Sensor (27) is arranged in the side of sweeping robot；Linear solid-state radar distance measuring sensor (27) includes linear transmitting module
(271) knead dough battle array receiving module (272), linear transmitting module (271) launch specific wavelength light, prioritizing selection 780nm,
808nm, 950nm and 940nm wavelength light, light are the linear shape of linear type；The line of linear type in sweeping robot application
Shape light ray parallel is in ground；The receiving sensor of face battle array receiving module (272) is face battle array CMOSE or CCD photosensitive sensors；Face battle array
Receiving module is located at the both sides of the linear light of linear type.
5. linear solid-state radar distance measuring sensor according to claim 1, which is characterized in that linear solid-state thunder in robot
It is at least 1 up to distance measuring sensor (27) quantity, is preferentially arranged in the front, left front, right front of robot；When will be linear solid
, it can be achieved that 360 degree of environmental modeling when state radar range finding sensor circumferentially arranges multiple.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810024029.1A CN108089200A (en) | 2018-01-12 | 2018-01-12 | A kind of sweeping robot with linear solid-state radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810024029.1A CN108089200A (en) | 2018-01-12 | 2018-01-12 | A kind of sweeping robot with linear solid-state radar |
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| CN201810024029.1A Pending CN108089200A (en) | 2018-01-12 | 2018-01-12 | A kind of sweeping robot with linear solid-state radar |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108764196A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | The generation method of block map |
| CN109917788A (en) * | 2019-03-13 | 2019-06-21 | 深圳乐动机器人有限公司 | A kind of control method and device of Robot wall walking |
| CN111240310A (en) * | 2018-11-13 | 2020-06-05 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method and device and electronic equipment |
| CN112190186A (en) * | 2020-09-28 | 2021-01-08 | 湖南格兰博智能科技有限责任公司 | Route planning method and system of sweeping robot and sweeping robot |
| US11828837B2 (en) | 2018-12-21 | 2023-11-28 | Telefonaktiebolaget Lm Ericsson (Publ) | Method for improving radar measurements in a handheld device |
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| CN112190186A (en) * | 2020-09-28 | 2021-01-08 | 湖南格兰博智能科技有限责任公司 | Route planning method and system of sweeping robot and sweeping robot |
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Application publication date: 20180529 |