CN108784537A - The dust-collecting robot of adjustable chassis height and its method for establishing grating map - Google Patents
The dust-collecting robot of adjustable chassis height and its method for establishing grating map Download PDFInfo
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- CN108784537A CN108784537A CN201810673396.4A CN201810673396A CN108784537A CN 108784537 A CN108784537 A CN 108784537A CN 201810673396 A CN201810673396 A CN 201810673396A CN 108784537 A CN108784537 A CN 108784537A
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- China
- Prior art keywords
- dust
- collecting robot
- actuating arm
- thimble
- lower cover
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Abstract
The invention discloses a kind of dust-collecting robots of adjustable chassis height, include the driving wheel assembly of body and at least two groups.Lower cover is connected to a screw rod through a threaded portion, and the end of screw rod is stretched into outer outlet body.The top of screw rod is equipped with a thimble, and annular ledge stretches out at least one limiting section, which leans against the side of thimble.Limiting section limitation thimble deviates outward.Articulated shaft is equipped with a torsional spring, and one end of the torsional spring is pressed on actuating arm, and the other end is pressed on thimble.Torsional spring drives driving wheel to be stretched out out of mounting groove through actuating arm.Rotation screw rod can drive thimble to move up and down, and the active force for being applied to actuating arm of torsional spring be adjusted, to change the terrain clearance of lower cover.
Description
Technical field
The present invention relates to a kind of dust-collecting robots, belong to smart home device.The invention further relates to the dust-collecting robots
Drawing reading is referred in particular to the method for working map rasterizing.
Background technology
Prior art discloses some elastic connections driving wheel assembly dust-collecting robot, such as 201210300831.1,
201210322214.1 waiting.The driving wheel assembly of this kind of dust-collecting robot is hinged in body, and body passes through with driving wheel assembly
Elastomeric element connects.It is influenced by pavement behavior, small angle deflection may occur for driving wheel assembly.Dust-collecting robot checks this kind of
Valuator device working condition after defection signal.But this kind of dust-collecting robot can not pre-adjust the active force of elastomeric element, with
Adapt to expected different pavement behavior.
Invention content
The present invention proposes a kind of dust-collecting robot of adjustable chassis height, can adjust the active force of elastomeric element, fits
It is contemplated that different pavement behavior.
The technical proposal of the invention is realized in this way：
A kind of dust-collecting robot of adjustable chassis height, includes the driving wheel assembly of body and at least two groups, the body
Upper cover body including mutual snapping and lower cover, the lower cover are equipped with directive wheel, and the driving wheel assembly includes actuating arm, driving
Wheel, driving source, deceleration component and outer outlet body, the lower cover have mounting groove, an annular ledge are fixed on the mounting groove, should
Outer outlet body is fixed on the top on the lower cover and positioned at the mounting groove, and one end one of the actuating arm is hinged axis connection
In the outer outlet body, the driving source is fixed on actuating arm, which is connected to the driving through the deceleration component
Wheel, which is characterized in that the lower cover is connected to a screw rod through a threaded portion, and the end of the screw rod is stretched into the outer outlet body,
The top of the screw rod is equipped with a thimble, and the annular ledge stretches out at least one limiting section, which leans against the top
The side of needle, the limiting section limit the thimble and deviate outward, and the articulated shaft is equipped with a torsional spring, a side pressure of the torsional spring
On the actuating arm, the other end is pressed on the thimble, which drives driving wheel to be stretched out of mounting groove through the actuating arm
Go out.
In this dust-collecting robot of the present invention, there is the lower cover limiting section, the limiting section to limit the drive
The maximum angle that swing arm rotates down.
In this dust-collecting robot of the present invention, there is the actuating arm wall extension, the outer outlet body to have one to pass
Sensor acts on a sensor, the corner for detecting actuating arm when the adjutage rotates.
In this dust-collecting robot of the present invention, shield is also set up on the actuating arm, at least part of packet of the shield
Cover the driving wheel.
In this dust-collecting robot of the present invention, the side opposite with the shield of the actuating arm is installed equipped with component
Room, it is indoor that the deceleration component is located at component installation.
In this dust-collecting robot of the present invention, the end of the screw rod is arcwall face.
In this dust-collecting robot of the present invention, outside setting walking sensor C1, C2, C3, C4, C5 of lower cover,
Adjacent walking sensor angle is immediately ahead of 45 ° and C3 arrangement lower covers advance, and C1 and C5 is located at driving wheel axis
On.
A kind of method that dust-collecting robot establishes grating map, which is characterized in that include the following steps, systemic presupposition is built
It founds maximum functional region, interior searching loop and establishes work grid network.
This dust-collecting robot for implementing the present invention, has the advantages that：Rotation screw rod, which can drive on thimble, to be moved down
It is dynamic, the active force for being applied to actuating arm of torsional spring is adjusted, to change the terrain clearance of lower cover.Screw rod is acted on through thimble transmission
Power, annular ledge limits the lateral shift of thimble, to ensure that thimble moves vertically downward always, avoids thimble rotation or traversing
Torsional spring active force is caused to generate the variation except being expected.
Description of the drawings
Fig. 1 is the schematic diagram of the dust-collecting robot of the present invention；
Fig. 2 is the sectional view of Fig. 1；
Fig. 3 is Fig. 1 explosive views；
Fig. 4 is the schematic diagram of the dirt box of Fig. 1；
Fig. 5 is the sectional view of Fig. 4；
Fig. 6 is the schematic diagram of the driving wheel assembly of the present invention；
Fig. 7 is the sectional view of Fig. 6；
Fig. 8 is the enlarged drawing of Fig. 7；
Fig. 9 is the partial view of Fig. 3, the main presentation structure of baffle；
Figure 10 is another partial view of Fig. 3, the main presentation schematic diagram of cleaning part；
Figure 11 is the schematic diagram for establishing dust-collecting robot grating map of the present invention；
Figure 12 is the dust-collecting robot systemic presupposition schematic diagram of the present invention；
Figure 13 is the schematic diagram of the working region of the dust-collecting robot of the present invention；
Figure 14 is that the dust-collecting robot of the present invention traverses the track schematic diagram of working region；
Figure 15 is the schematic diagram of the rasterizing working region of the present invention；
Figure 16 is dust-collecting robot two sub-slot map of the present invention, and main presentation establishes next rail according to upper subslot
Mark；
Figure 17 is the schematic diagram of the dust-collecting robot detour barrier of the present invention；
Figure 18 is that the dust-collecting robot of the present invention finds the schematic diagram of initial point close to wall；
Figure 19 is a kind of barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 20 is another barrier schematic diagram of right-hand bend detour of the dust-collecting robot of the present invention；
Figure 21 is that the right-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram；
Figure 22 is a kind of barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 23 is another barrier schematic diagram of left-hand bend detour of the dust-collecting robot of the present invention；
Figure 24 is that the left-hand bend of the dust-collecting robot of the present invention is detoured another barrier schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
The dust-collecting robot of the invention as shown in Fig. 1 to 10, including it is body 100, blower fan apparatus 200, dirt box 300, slow
Flushing device 400 and the driving wheel assembly 500 of at least two groups, cleaning device 600.The body 100 includes the upper cover of mutual snapping
Body 110 and lower cover 120, upper cover body 110 form a cavity 130 with lower cover 120, which is equipped with directive wheel 129.
Cleaning device 600 includes that cleaning motor 610, hairbrush 620 and retarder 630, the cleaning motor 610 are fixed on lower cover
In 120, which is connected to hairbrush 620 through the retarder 630, which stretches out from the lower cover 120.
It includes actuating arm 510, driving wheel 520, driving source 530, deceleration component 540 and outer outlet body to drive wheel assembly 500
550.Lower cover 120 has mounting groove 121, fixes an annular ledge 122 on the mounting groove 121, which is fixed on down
Top on lid 120 and positioned at mounting groove 121.One articulated shaft 511 of one end of actuating arm 510 is connected in outer outlet body 550,
Driving source 530 is fixed on actuating arm 510, which is connected to driving wheel 520, actuating arm 510 through deceleration component 540
The side opposite with the outer outlet body 550 is equipped with component and installs room, and it is indoor that deceleration component 540 is located at component installation.Lower cover 120
It is connected to a screw rod 123 through a threaded portion 122, the end of the screw rod 123 is stretched into outer outlet body 550.The top of screw rod 123 is equipped with
One thimble 124, thimble 124 stretch out limiting section 125, which is resisted against the side of thimble 124.The limitation of limiting section 125 top
Needle 124 deviates outward, and the end of thimble 124 is arcwall face.When screw rod 123 rotates, thimble 124 only moves up and down, and avoids bullet
Spring surface abrasion.Articulated shaft 511 is equipped with a torsional spring 512, and one end of the torsional spring 512 is pressed on actuating arm 510, and the other end is pressed in
On thimble 124, torsional spring 512 drives driving wheel 520 to be stretched out out of mounting groove 121 through actuating arm 510.Rotation screw rod 123 can drive
Thimble 124 moves up and down, and the active force that torsional spring 512 is applied to actuating arm 510 is adjusted, to change the liftoff height of lower cover 120
Degree.Screw rod 123 is through 124 transmitting forces of thimble.Annular ledge 122 has a limit protrusion 126, the limit protrusion 126 limitation
The maximum angle that the actuating arm 510 rotates down.Lower cover 120 limits the lateral shift of thimble, to ensure thimble always
It moves vertically downward, avoids thimble rotation or the traversing variation caused except the generation expection of torsional spring active force.On actuating arm 510 also
Shield 513 is set, and the shield 513 is at least part of to coat the driving wheel 520.The actuating arm 510 has a wall extension
514, the outer outlet body 550 has a sensor 551, and the adjutage 514 acts on when rotating on sensor 551, for examining
Survey the corner of actuating arm 510.
Blower fan apparatus 200 includes motor 221, aerofoil fan 222, fan shroud 223, and the motor 221 is fixed on fan shroud
223 top, aerofoil fan 222 are located in the fan shroud 223, and the output of the motor 221 is pivotally connected to the aerofoil fan
222.Blower fan apparatus 200 is fixed on lower cover 120, and lower cover 120 has a sweep-up pipe 127.The blower fan apparatus 200 has one
Inlet scoop 210, inlet scoop 210 are equipped with separation net 211.Dirt box 300 is mounted in cavity 130, and upper cover body 110 has a cover board
111, which is pressed on the dirt box 300.Dirt box 300 has inlet portion 310 and outlet portion 320.Inlet portion 310 is substantially
Positioned at 300 middle part of dirt box, in favor of storing dust debris.Inlet portion 310 is connected to sweep-up pipe 127, which is connected to
The inlet scoop is equipped with strainer 330 between inlet portion 310 and outlet portion 320.Sweep-up pipe 127 has a vertically extending column
128, which stretches into inlet portion 310.The top of inlet portion 310 is rotatably arranged with a sealing plate 311, the sealing plate 311
It is pressed on inlet portion 310.When the column 128 stretches into the inlet portion 310, the upper end of the column 128 jacks up sealing plate
311.Shaft 312 is arranged in the top of inlet portion 310 in dirt box 300, in the lower section of inlet portion 310 setting protrusion 313, sealing plate
311 are arranged a notch 314 in the position corresponding to the protrusion 313.The notch 314 can be just covered in protrusion 313.Dirt box
After 300 are mounted in cavity 130, column 128 jacks up sealing plate 311, is conducive in dust debris sucking dirt box 300.Dirt box 300
Top have leader 340, dirt box 300 take out after, sealing plate 311 is covered under the effect of gravity on inlet portion 310, is avoided
Dust spills.
Buffer unit 400 includes baffle 410, crossbeam 420, swing arm 430.Swing arm 430 is hinged on crossbeam through a shaft 431
On 420, a spring 432 is sleeved in shaft 431, and one end of the spring 432 is fixed in swing arm 430, and the other end is connected to crossbeam
420, which there is compression zone 434 and service portion 433, the compression zone 434 to withstand on 410 inside of baffle, the service portion 433
Stretch into sensor 421.When robot is squeezed, baffle 410 is moved along the negative direction of stress.Multiple swing arms 430 rotate, sensing
Device adjusts robot pose and speed according to shift length.The middle part of crossbeam 420 is equipped with spring leaf 422, the end of the spring leaf 422
Portion is slideably sleeved in the crossbeam 420.422 guide baffle plate 410 of spring leaf moves back and forth, and improves the response of sensor 421
Precision.
Referring to Fig.1 1 to 24, the invention also discloses a kind of methods for establishing the dust-collecting robot grating map, including are
System is preset, establishes maximum functional region, interior searching loop, establishing work grid network, while in maximum functional region, interior cycle
Embedded barrier-avoiding method in the walking process of traversal.Each this method can be embedded existing on the basis of installing the sensor of predetermined quantity
Dust-collecting robot hardware system.Hardware system may include microprocessor unit, and sensor unit drives execution unit.It passes
Sensor cell is primarily referred to as being mounted on five ultrasonic sensors and crash sensor and suddenly of surrounding on front side of dust-collecting robot
That sensor.It includes step motor control module and left and right sides stepper motor to drive execution unit.Microprocessor unit includes master
Control, display and communication module etc..Concrete structure can refer to《The research of dust-collecting robot based on ARM controller》(Jiangxi science and engineering
University's master thesis, Wang Zhongfeng) etc. described in.
Systemic presupposition refers to the bulk for setting robot and the designated position placement sensor in dust-collecting robot.Its
Generally comprise following steps.step11：Absolute reference the point O1, O2 of setting at least two in the side of purging zone.Absolutely ginseng
Examination point is set to the side of wall, and two absolute reference points can determine the current absolute location of dust-collecting robot.Working map is built
After vertical, the dust-collecting robot of anywhere booting can determine the location information of its residing working map.step12：Outside car body
Side setting walking sensor C1, C2, C3, C4, C5, adjacent walking sensor angle are that 45 ° and C3 arrangement dust catchers advance
Front, C1 and C5 are located on wheel axis, each sensor be defined as with the sum of car body radius at a distance from entity s1,
s2,s3,s4,s5.Dust-collecting robot is according to the location determination car body of each sensor at a distance from wall and other barriers.It should
The sum of distance and car body radius indicate at a distance from car body geometric circular and barrier (s1, s2, s3, s4, s5).Sensor is, for example,
《The Intellectual Autonomous Cleaning Robot development of Driven by Ultrasonic Motors》(Nanjing Aero-Space University, Wang Hongjian),《Based on ultrasonic ranging skill
The Autonomous mobile robot navigation system research of art》Ultrasonic ranging used by (Wuhan University of Technology, Hu Jingcao) etc. passes
Sensor.step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the sides C2 vehicle wheel rotational speed ω2.Vehicle
Take turns rated speed ωp.In general, the driving motor of dust-collecting robot is encoded using angular speed, defines angular speed and be more advantageous to measurement
Car body state.
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d.O3 is used for O4
Record the position in outside in car body.D is more thanB/2, about 50mm.The distance can prevent any position of car body from touching
Hit barrier.Step15 and step16 is used to find initial point close to wall.step15：Dust-collecting robot is along when front direction straight line
It runs to s1, s2, s3, s4, s5 any one and is equal to d.After the completion of avoidance, coordinate system is established as origin using the position of O3 at this time
(xoy), x is car body direction of travel.step16：The origin and O1 are detected, the distance (a, b) of O2 reference points simultaneously stores.The present invention
Wheel pulse positioning mode can be used, such as in the method for not limiting dust-collecting robot coordinate setting《Under dust-collecting robot non-structure environment
The research of autonomous paths planning method》(Zhejiang University's master thesis, Feng Shenkun) is described.Dust-collecting robot command range side
The distance of edge, welt walking change fine tuning direction of travel according to wall.It is measured caused by avoid the improper transformation of barrier
Software for jitters elimination filtering can be used in error (accidental error), the present invention, and such mode mainly utilizes in the compiling procedure of program
Time delays detect, and are detected again after delay 30 to 50ms after detecting the ultrasonic signal met the requirements, if error model
Data in enclosing still are detected, then it is assumed that the data-signal is correct believable.Kalman filtering drop can be used in simultaneity factor
Error (systematic error) on low measurement method.Kalman filtering mode with for as it is known to those skilled in the art that do not do herein
It repeats, concrete structure principle can refer to《Intelligent sweeping machine device people designs and its research of path planning》(Harbin industry is big
Learn, Zhang Chao) it is described.
It refers to taking a round along indoor lateral wallflow to establish maximum functional region, records room maximum coordinates position, is follow-up
It traverses working region and outer non-economic is provided.The step is also referred to as walked along side, and the prior art has been disclosed for feasible realization
Algorithm, such as《Intelligent sweeping machine device people designs and its research of path planning》(Harbin Institute of Technology, Zhang Chao),《Vacuum cleaner
The research of autonomous paths planning method under device people's non-structure environment》Described in (Zhejiang University's master thesis, Feng Shenkun) etc..
step21：WithAnd s1=d walkings, avoidance, it records the tracks O3 (x, y) and the tracks O4 (x ', y ').step22：If
(x, y)=(0,0), maximum functional region y=F (x) is generated according to O3 path lines, and virtual boundary line is generated according to 4 path lines of O
Y '=gi(x '), t=0.Virtual boundary line is the expected trajectory of O3 next time.
There are many interior searching loops of operation interval, and the prior art is concentrated mainly on region segmentation, dressing traversal and spiral shell
In rotation three kinds of methods of traversal.Dressing traversal is prior art the most common type, and system operations are simple, but if working region
There are barrier, system is that the working region at covering barrier rear will produce many duplicate paths at middle part.Region segmentation can solve
Certainly there are path planning when barrier, this method references for operation interval《Dust-collecting robot complete coverage path planning is studied》(weight
Celebrate university's master thesis, Zhang Yue).For having the wall and barrier on long inclined-plane, region segmentation less efficient.《Based on ARM
The research of the dust-collecting robot of controller》(Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) is adopted when selecting path planning
The mode that broken line approaches walking can detour oblique barrier, also as the reference of the application.Spiral traversal can be coped with oblique
Wall, but how to select prior art when reference still unsolved after being detached from wall when internal cycle.
Interior searching loop refers to traversing entire working region in maximum functional region inside spin, and unapproachable space is remembered
Barrier is recorded into, the whole region that can be walked is determined with this.In the prior art, interior searching loop mostly uses reciprocal row of turning back
Mode is walked, which easy tos produce blind area.The application reduces the presence of blind area by the way of spiral traversal.step31：T=t
+ 1, according to y '=gt-1(x ') establishes the t times O3 predetermined paths (xt, yt, θt), xt, ytFor coordinate value, θtFor corner, yt=gt-1
(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place.Limit seat of the coordinate in addition to calibration point of dust-collecting robot state
It can also include direction coordinate that mark is outer.To keep body movement smooth, the application determines direction of travel by the derivative of predetermined paths.
step32：Demarcate O3 starting points (xmin, ymin), which is generally in predetermined paths near the position of last time final on trajectory
It sets.Dust-collecting robot is along predetermined paths walking, avoidance, record O3 path lines (x, y) and the tracks O4 (x ', y ').In practical walking
In the process, due to the presence of barrier, O3 path lines (x, y) and predetermined paths (xt, yt, θt) not quite identical.step33：If
Current track (x, y)=(xt, yt), show dust-collecting robot cut-through object, is travelled again along predetermined paths.step34：
(if x, y)=(xmin, ymin), indicate that dust-collecting robot has been returned to the initial point of this track route.System is according to O3 rails
Mark generates t subslot lines y=ft(x), according to the t times virtual boundary line y '=g of O4 Track Pick-upst(x′).step35：If this
Subslot line is overlapped with the path line of arbitrary previous storage, shows that dust-collecting robot comes into circulation route, traversal is completed.It is no
It is then back to step31, again interior searching loop.Dust-collecting robot running center there are when minimum irregular barrier,
The interior searching loop it is less efficient.It is contemplated that indoor environment is mostly the space of rule, barrier is just at vacuum cleaner
The possibility at cycle center is again relatively low in device people, and the method for this interior searching loop of the application has feasibility.
In the prior art, the map component of dust-collecting robot mostly uses Grid Method, and Grid Method can reduce system data amount simultaneously
Easy to maintain and path planning.The premise of Grid Method is the reading of operation interval, and the prior art is mostly used walks along side, the application
Also it is such.Along side, walking obtains the premise that maximum functional environment is interior searching loop.《Intelligence based on ultrasonic sensor is inhaled
The research of dirt Algorithms of Robots Navigation System》(Zhejiang University's master thesis, Wang Huoliang) discloses the mode that this map is read.
《Family's sweeping robot path covers the design and realization of system》(Harbin Institute of Technology's master thesis, Zhou Yanan) exists
Grid assignment is carried out while searching loop, does not pay attention to the amendment of traversal route.Meanwhile it can not during searching loop
Avoid there are path overlap, the document does not pay attention to eliminating the part that computes repeatedly.《Dust-collecting robot based on three-dimensionalreconstruction
Location navigation》(Jilin University's master thesis, Zhang Shuming) discloses the gridding method read based on camera data.It should
Method determines the content of grid whether passing through predetermined grid according to route.This route is defined as the path at car body center.
In practical map, even if not necessarily can all enter if the grid grid of the path process of car body Road itself.It will not
Enterable grid, which is defined as work grid, can cause robot work chaotic.The document also discloses that the positioning of dust-collecting robot
Technology can be used as the reference of the application.
It refers to that working region is divided into grid screen after dust-collecting robot traverses working region to establish work grid network
The method of network.step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), HwidthFor
Maximum x value in y=F (x), HlenFor maximum y values, i=x/B, j=y/B.Relative to absolute reference point O1, O2 to grid (i, j)
Coordinate make definitions, no matter when dust-collecting robot is switched on operation, as long as measuring it relative to reference point O1, the position of O2,
The position that can determine this grating map, to avoid the dust-collecting robot moment from recording self-position.step42：Definition
CellValue [i] [j], y=F (x) or y=ft(x) when there was only grid (i, j) that one group or zero group of track are passed through in,
CellValue [i] [j]=0, otherwise CellValue [i] [j]=1, stores grating map.Grid is passed through in two groups of tracks simultaneously
Indicate that dust-collecting robot traversal working map is to enter the grid when (i, j), the grid is generally in can enter state.Only one
Group track enters grid or no track enters grid, indicates grid generally in can not enter state.Although the storage is sentenced
Disconnected mode can regard as cell portion domain (being less than dust-collecting robot size) can not enter grid, but be waited for clearly relative to entire
For sweeping space, abandon segment space and improve storage efficiency and path planning efficiency to be worth.
Existing dust-collecting robot barrier-avoiding method includes mainly accurate avoidance and fuzzy avoidance.《It advises in mobile robot path
It draws》The method that (Northeast Electric Power University's master thesis, Meng Xiangfu) discloses fuzzy avoidance is adopted as fuzzy logic calculation
Method, system-computed amount is larger, is not suitable for the dust-collecting robot of low cost.And《The Intellectual Autonomous Cleaning Robot of base nonyl neural network
Mix sensory perceptual system design and avoidance planning》(Zhejiang University's master thesis, Xu Yong) discloses the suction based on neural network
Dirt intelligent robot obstacle avoidance algorithm, the algorithm are incomplete, it is difficult to be used in practical dust-collecting robot.《Based on circumstances not known
Under robot ergodic algorithm》(Kunming University of Science and Technology's master thesis, Wang Yu) discloses the multiple avoidance of dust-collecting robot
Method, but as described in the case, barrier-avoiding method are suitable for right angle obstacle more, and the obstacle of detour oblique angle obstacle or wall will produce
More can not enter space (omitting grid).
The barrier-avoiding method of the present invention can be used for avoiding the fixed obstacle of regular shape, be particularly suitable for evading with oblique angle
Wall or cabinet.This barrier-avoiding method includes the following steps：step01：It walks along track, measures s2, s3, s4, s5 value, according to
Measurement result enters step02 or step03.Measurement result surface dust-collecting robot faces the barrier of different conditions.If s2,
S3, s4, s5 be all higher than d andReferring to Fig.1 1.Dust-collecting robot enters increased working region, and dust catcher executes
And it is flipped outward along preceding barrier.If s2, s3, s4, s5 be all higher than d andWith reference to Fig. 8 to 9, right side finds oblique
To entity.Dust catcher turns and keeps straight on along new route.If s2, s3, s4, s5 any one are less than or equal to d, referring to Fig.1 0, it is preceding
Side or left side find that oblique entity, front can not enter, and original place big angle rotary is simultaneously returned along new route.
The present invention realizes the turning of different angle, the motion state reference of dust-collecting robot using vehicle wheel rotational speed difference《It is indoor
The region-wide path planning of dust-collecting robot and avoidance research》(Southern Yangtze University, Zeng Cen) is described.Specifically, step02：If
S2, s3, s4, s5 are all higher than d, enter step04, step05 or step06 according to the value of s2.step03：If s2, s3, s4, s5 appoint
Meaning one is less than or equal to d, and discovery can not enter boundary, enter step04, step05 according to the value of s2 after rotating in place to s1=d
Or step06.step04：If s2 is less thanIt was found that entity boundary, executes the first cornering mode, untilIt returns
Return step01.step05：If s2 is more thanIt was found that working region, executes the second cornering mode, untilIt returns
Return step01.step06：IfReturn to step01.In the present invention, the rotating manner of dust-collecting robot is divided into three
Kind：There is the right-hand bend of working region in right side, and the left-hand bend of physical obstacles and front occurs in right side or left side hinders
Hinder rotating in place for object.It refers to rotation substantially about the rotation center of dust-collecting robot to rotate in place, ω1=ωp, ω2=-
ωp.To improve the travel region of dust-collecting robot, the region that can not be traversed is reduced as far as possible, it is necessary to so that dust-collecting robot leans on
Side is walked, and one of feasible method is exactly the turning radius that limitation turns right and turns left.It turns right and uses the first cornering mode：
Turn left to use the second cornering mode：
ω1=ωp；
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (8)
1. a kind of dust-collecting robot of adjustable chassis height, includes the driving wheel assembly of body and at least two groups, the body packet
The upper cover body and lower cover of mutual snapping are included, which is equipped with directive wheel, and the driving wheel assembly includes actuating arm, driving
Wheel, driving source, deceleration component and outer outlet body, the lower cover have mounting groove, an annular ledge are fixed on the mounting groove, should
Outer outlet body is fixed on the top on the lower cover and positioned at the mounting groove, and one end one of the actuating arm is hinged axis connection
In the outer outlet body, the driving source is fixed on actuating arm, which is connected to the driving through the deceleration component
Wheel, which is characterized in that the lower cover is connected to a screw rod through a threaded portion, and the end of the screw rod is stretched into the outer outlet body,
The top of the screw rod is equipped with a thimble, and the annular ledge stretches out at least one limiting section, which leans against the top
The side of needle, the limiting section limit the thimble and deviate outward, and the articulated shaft is equipped with a torsional spring, a side pressure of the torsional spring
On the actuating arm, the other end is pressed on the thimble, which drives driving wheel to be stretched out of mounting groove through the actuating arm
Go out.
2. the dust-collecting robot of adjustable chassis height according to claim 1, which is characterized in that the lower cover has
One limiting section, the limiting section limit the maximum angle that the actuating arm rotates down.
3. the dust-collecting robot of adjustable chassis height according to claim 3, which is characterized in that the actuating arm has
One wall extension, the outer outlet body have a sensor, are acted on a sensor, for detecting actuating arm when the adjutage rotates
Corner.
4. the dust-collecting robot of adjustable chassis height according to claim 1, which is characterized in that on the actuating arm also
Shield, at least part of cladding driving wheel of the shield are set.
5. the dust-collecting robot of adjustable chassis height according to claim 4, which is characterized in that the actuating arm with
The opposite side of the shield is equipped with component and installs room, and it is indoor that the deceleration component is located at component installation.
6. the dust-collecting robot of adjustable chassis height according to claim 1, which is characterized in that the end of the screw rod
For arcwall face.
7. the dust-collecting robot of adjustable chassis height according to claim 1, which is characterized in that set on the outside of lower cover
Walking sensor C1, C2, C3, C4, C5 are set, adjacent walking sensor angle is before 45 ° and C3 arrangement lower covers advance just
Side, C1 and C5 are located on driving wheel axis.
8. the method that the dust-collecting robot described in a kind of claim 7 establishes grating map, which is characterized in that including following step
Suddenly, systemic presupposition, establish maximum functional region, interior searching loop and establish work grid network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810673396.4A CN108784537A (en) | 2018-06-27 | 2018-06-27 | The dust-collecting robot of adjustable chassis height and its method for establishing grating map |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810673396.4A CN108784537A (en) | 2018-06-27 | 2018-06-27 | The dust-collecting robot of adjustable chassis height and its method for establishing grating map |
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| CN108784537A true CN108784537A (en) | 2018-11-13 |
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