CN109077674A - The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper - Google Patents
The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper Download PDFInfo
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- CN109077674A CN109077674A CN201810685121.2A CN201810685121A CN109077674A CN 109077674 A CN109077674 A CN 109077674A CN 201810685121 A CN201810685121 A CN 201810685121A CN 109077674 A CN109077674 A CN 109077674A
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- cleaning brush
- sweeper
- distance
- control unit
- driving motor
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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
- A47L11/28—Floor-scrubbing 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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
-
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The automatic obstacle-avoiding method and intelligent sweeping machine of a kind of sweeper are disclosed, which includes: robot body；Converter section；Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged on the lifter plate, and described connecting rod one end is connected to the cleaning brush, and the other end passes through the through-hole and is connected to the driving motor；Laser range finder, the laser range finder are arranged on the side wall of the robot body, are communicatively coupled to described control unit；Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor.The intelligent sweeping machine can more changing brush head, cleaning effect more preferably, being capable of automatic obstacle avoiding.
Description
Technical field
The present invention relates to intelligent robot and smart machine control method fields, more particularly, to a kind of sweeper
Automatic obstacle-avoiding method and intelligent sweeping machine.
Background technique
Intelligent sweeping machine is that one kind is suitable for hard ground cleaning while blotting sewage, and the cleaning that sewage is taken away from the scene
Machinery has many advantages, such as environmentally friendly, energy saving, efficient.Every field use it is very universal, especially some stations, harbour,
Airport, workshop, warehouse, school, hospital, restaurant, sales field etc. have the place of wide hard ground, replace the clear of manpower with mechanical
Clean theory has been rooted in the hearts of the people.But existing sweeper cleaning brush is single pattern, the cleaning brush of single pattern can not fit
Multiple types of floors is answered, keeps the cleaning effect of sweeper bad.Existing sweeper still needs to manual operation driving simultaneously, and use is not square
Just, unpiloted sweeper is easy and wall or pedestrian collision.
Therefore, it is necessary to develop it is a kind of can more changing brush head, cleaning effect more preferably, be capable of automatic obstacle avoiding sweeper from
Dynamic barrier-avoiding method and intelligent sweeping machine.
The information for being disclosed in background of invention part is merely intended to deepen the reason to general background technique of the invention
Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form
Technology.
Summary of the invention
The invention proposes a kind of intelligent sweeping machines and the automatic obstacle-avoiding method of sweeper, the intelligent sweeping machine to replace
Brush head, cleaning effect more preferably, being capable of automatic obstacle avoiding.
According to an aspect of the invention, it is proposed that the automatic obstacle-avoiding method of sweeper a kind of.The method may include: root
According to the range data that laser range finder obtains, distance function is obtained；Based on the distance function, the cross-correlation letter of distance is calculated
Number, and then calculate distance parameter；Based on the distance parameter, the automatic obstacle-avoiding strategy of the sweeper is obtained.
Preferably, the cross-correlation function of the distance are as follows:
Wherein, R (l) indicate distance cross-correlation function, L indicate path length, x (l) indicate distance function, l indicate away from
From △ l is indicated apart from adjustment amount.
Preferably, further includes: the cross-correlation function based on the distance sets cross-correlation function threshold value, and then calculates institute
State distance parameter.
Preferably, the distance parameter are as follows:
Wherein, F (l) indicates that distance parameter, M indicate cross-correlation function threshold value.
Preferably, the automatic obstacle-avoiding strategy of the sweeper: when distance parameter is 1, the sweeper straight forward；When
When distance parameter is 2, the sweeper stops or turning.
Provide a kind of robot body according to another aspect of the present invention, robot body bottom be provided with driving wheel and
The driving device being connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the machine
Device human body bottom is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, another
End is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged described
On lifter plate, described connecting rod one end is connected to the cleaning brush, and the other end passes through the through-hole and is connected to the driving electricity
Machine；
Laser range finder, the laser range finder are arranged on the side wall of the robot body, are communicatively coupled to described
Control unit；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor；
Robot dodge strategy control unit, the Robot dodge strategy control unit control the robot according to automatic obstacle-avoiding strategy
Ontology avoidance.
Preferably, the cleaning brush is multiple, and multiple cleaning brush are identical or different, and the cleaning brush passes through
Connecting rod is connected to the lifter plate, and the cleaning brush for being connected to the same lifter plate is identical, clear from the connection of different lifter plates
Clean brush head is identical or different.
It preferably, further include cleanliness detection unit, the cleanliness detection unit includes catch basin, connecting conduit, liquid
Position instrument, driving motor Rotating speed measring sensor and timer, the tank gage and the timer are communicatively coupled to the control
Unit, the tank gage are arranged in the catch basin, and the catch basin is arranged in the robot body, are led by connection
Pipe is connected to the cleaning brush across the connecting rod, and the driving motor Rotating speed measring sensor is for measuring the driving
The revolving speed of motor.
It preferably, further include floor type analytical unit, the floor type analytical unit includes depth transducer and color
The connection of the cleaning brush Yu the connecting rod is arranged in damp sensor, the depth transducer and the color sensor
Place, is communicatively coupled to described control unit.
It preferably, further include detergent delivery unit, the detergent delivery unit includes detergent storage tank, control
Valve, catheter, the detergent storage tank are arranged on the lifter plate, and one end of the catheter is connected to by control valve
The detergent storage tank, the other end pass through the connecting rod and are connected to the cleaning brush, and the control valve is communicatively coupled to
Described control unit.
The beneficial effects of the present invention are:
1) intelligent sweeping machine of the application is connected to multiple lifter plates by multiple cleaning brush, and lifter plate can band
Dynamic cleaning brush rises or falls, and then intelligent sweeping machine can be made to clear up different types ofly by different cleaning brush
Face, cleaning effect is more preferably.
2) intelligent sweeping machine of the application realizes automatic obstacle avoiding by the setting of laser range finder.
The present invention has other characteristics and advantages, these characteristics and advantages are from the attached drawing and subsequent tool being incorporated herein
It will be apparent, or will be carried out in body embodiment in the drawings and the subsequent detailed description incorporated herein
Statement in detail, the drawings and the detailed description together serve to explain specific principles of the invention.
Detailed description of the invention
Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other
Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference label is usual
Represent same parts.
Fig. 1 shows the flow chart of the step of automatic obstacle-avoiding method of sweeper according to the present invention.
Fig. 2 shows the schematic diagrams of intelligent sweeping machine according to an embodiment of the invention.
Fig. 3 shows the top view of converter section according to an embodiment of the invention.
Description of symbols
1, robot body；2, driving wheel；3, disk；4, lifter plate；5, telescopic rod；6, through-hole；7, cleaning section；8, it connects
Bar；9, cleaning brush；10, brush head storage silo；11, mechanical gripper；12, cleanliness detection unit；13, catch basin；14, connection is led
Pipe；15, tank gage；16, laser range finder.
Specific embodiment
The present invention will be described in more detail below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing,
However, it is to be appreciated that may be realized in various forms the present invention and should not be limited by the embodiments set forth herein.On the contrary, providing
These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability
The technical staff in domain.
Fig. 1 shows the flow chart of the step of automatic obstacle-avoiding method of sweeper according to the present invention.
In this embodiment, the automatic obstacle-avoiding method of sweeper according to the present invention may include: step 101, according to sharp
The range data that optar obtains obtains distance function；Step 102, it is based on distance function, calculates the cross-correlation letter of distance
Number, and then calculate distance parameter；Step 103, it is based on distance parameter, obtains the automatic obstacle-avoiding strategy of sweeper.
In one example, the cross-correlation function of distance are as follows:
Wherein, R (l) indicate distance cross-correlation function, L indicate path length, x (l) indicate distance function, l indicate away from
From △ l is indicated apart from adjustment amount.
In one example, further includes: the cross-correlation function based on distance sets cross-correlation function threshold value, and then calculates
Distance parameter.
In one example, distance parameter are as follows:
Wherein, F (l) indicates that distance parameter, M indicate cross-correlation function threshold value.
In one example, the automatic obstacle-avoiding strategy of sweeper: when distance parameter is 1, sweeper straight forward；When away from
From parameter be 2 when, sweeper stop or turning.
Specifically, the automatic obstacle-avoiding method of sweeper according to the present invention may include: to be obtained according to laser range finder
Range data obtains distance function；Based on distance function, the cross-correlation function for calculating distance is formula (1), sets cross-correlation letter
Number threshold value, and then calculating distance parameter is formula (2)；When distance parameter is 1, sweeper straight forward；When distance parameter is 2
When, sweeper stops or turning, determines whether sweeper turns and turn by the lateral distance of sweeper present position
Direction.
A kind of intelligent sweeping machine is provided according to an aspect of the present invention, and the intelligent sweeping machine includes:
Robot body, the driving device that robot body bottom is provided with driving wheel and connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the machine
Device human body bottom is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, another
End is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged described
On lifter plate, described connecting rod one end is connected to the cleaning brush, and the other end passes through the through-hole and is connected to the driving electricity
Machine；
Laser range finder, the laser range finder are arranged on the side wall of the robot body, are communicatively coupled to described
Control unit；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor；
Robot dodge strategy control unit, the Robot dodge strategy control unit control the robot according to automatic obstacle-avoiding strategy
Ontology avoidance.
Specifically, cleaning section is provided with multiple cleaning brush, and multiple cleaning brush are connected to lifter plate, and lifter plate can
To pass through the stretching and contraction of telescopic rod, cleaning brush is driven to be promoted or landed, in intelligent sweeping machine in use, according to ground kind
The difference of class, control unit control the promotion and landing of lifter plate, select the cleaning brush of suitable current application scene to ground
It is cleaned, cleaning effect more preferably, improves cleaning efficiency, and suitable cleaning brush is selected cleaning brush can be prevented to ground
Cause wear-out failure.
Specifically, the Robot dodge strategy control unit controls the robot body avoidance packet according to automatic obstacle-avoiding strategy
The range data obtained according to laser range finder is included, distance function is obtained；Based on distance function, the cross-correlation function of distance is calculated
For formula (1), cross-correlation function threshold value is set, and then calculating distance parameter is formula (2)；When distance parameter is 1, sweeper
Straight forward；When distance parameter is 2, sweeper stops or turning, is determined by the lateral distance of sweeper present position
The direction whether sweeper turns and turn.
Specifically, for cleaning brush according to the difference of cleaning floor type, cleaning brush can be banister brush head, nylon bruss
Head, bristle brush head and needle stand brush head, ground can for fibrous gypsum ground, carpet, brick flooring and flooring surface, according to ground
It is the state of the art that type difference, which selects different brush heads, and details are not described herein.
Specifically, by the setting of laser range finder, robot measurement ontology prevents machine at a distance from its peripheral obstacle
Device human body collides metope or pedestrian.
Preferably, the cleaning brush is multiple, and multiple cleaning brush are identical or different, the cleaning brush
Head is connected to the lifter plate by connecting rod, and the cleaning brush for being connected to the same lifter plate is identical, connects from different lifter plates
The cleaning brush connect is identical or different.
It is highly preferred that it is identical as the cleaning brush of same lifter plate connection, from the cleaning brush of different lifter plates connection
Difference enables intelligent sweeping machine to be suitable for the cleaning of multiple types of floors, uses different cleaning brush to different ground, prevents
Cleaning brush wears ground, makes cleaning effect more preferably.
It preferably, further include cleanliness detection unit, the cleanliness detection unit includes catch basin, connects and lead
Pipe, tank gage, driving motor Rotating speed measring sensor and timer, the tank gage and the timer are communicatively coupled to described
Control unit, the tank gage are arranged in the catch basin, and the catch basin is arranged in the robot body, pass through company
It connects conduit and is connected to the cleaning brush across the connecting rod, the driving motor Rotating speed measring sensor is described for measuring
The revolving speed of driving motor.
Specifically, by the setting of tank gage and timer, control unit detects water storage tank liquid in the unit time
Decrease speed；Driving motor idler revolutions are detected by driving motor Rotating speed measring sensor, control cleaning brush with rear telescopic rod
Head and ground face contact, detect driving motor load speed；When decrease speed is lower in the unit time of liquid, driving motor is loaded
When revolving speed reduces, judges that the cleaning brush cleanliness is low, need replacing cleaning brush.
It preferably, further include floor type analytical unit, the floor type analytical unit includes depth sensing
The cleaning brush and the connecting rod is arranged in device and color sensor, the depth transducer and the color sensor
Junction is communicatively coupled to described control unit.
Specifically, according to the difference of floor type, control unit controls lifter plate decline, is used in Current terrestrial and is adapted
Cleaning brush complete cleaning, by the setting of floor type analytical unit, control unit, which can be known, current to need to clear up
Floor type, by the setting of depth transducer, detection cleaning ground whether there is difference in height；Pass through setting for color sensor
It sets, detection is with the rate of change of the walking ground color of robot body and with the presence or absence of color period of change；When ground is deposited
In difference in height, rate of color change it is high and when color period of change is not present, processing unit judges Current terrestrial for fibrous gypsum ground；
When ground is there are difference in height, color rate of color change it is low and there are color period of change and color period of change in short-term, determine
Current terrestrial is flooring surface；When there are differences in height on ground, color rate of color change is low and there are color period of change and colors
When damp period of change is long, determine that Current terrestrial is ground brick flooring；When difference in height is not present in ground, determine that Current terrestrial is ground
Blanket ground.
Preferably, further include detergent delivery unit, the detergent delivery unit include detergent storage tank,
Control valve, catheter, the detergent storage tank are arranged on the lifter plate, and one end of the catheter is connected by control valve
The detergent storage tank is passed through, the other end passes through the connecting rod and is connected to the cleaning brush, the control valve communication link
It is connected to described control unit.
Specifically, control unit control control valve unlatching and its open amplitude, and then control detergent supply and its
Supply amount.
It is highly preferred that further including cleaning brush memory block, the periphery of the cleaning brush memory block is provided with positioning label,
The positioning label communication is connected to described control unit, and cleaning brush memory block memory is placed with spare brush head.
Specifically, control unit knows the location information of positioning label, when the cleaning brush being equipped in brush head storage silo is complete
After portion's use, control unit control robot body marches to cleaning brush memory block, ressembles cleaning brush, robot sheet
Body can also replace cleaning brush in cleaning brush memory block.
It is highly preferred that further including brush head storage silo, the brush head storage silo is arranged on the side wall of the robot body,
For storing the cleaning brush.
Specifically, by the setting of brush head storage silo, intelligent sweeping machine itself is equipped with the cleaning brush of multiple cleanings, in intelligence
When cleaning brush breakage or cleanliness reduce in energy sweeper use process, cleaning brush can be replaced on the spot, improved cleaning and imitated
Rate.
It is highly preferred that further including mechanical gripper, positioning label, the mechanical gripper setting are provided in the cleaning brush
On the side wall of the robot body, the cleaning brush in the brush head storage silo can be grabbed.
Specifically, in the case where cleaning brush cleanliness reduces or damages, control unit controls mechanical gripper crawl brush
Cleaning brush in head storage silo, places it on ground, and driving motor drives the unloading of connecting rod Negative selection to need replacing
Cleaning brush, then drive connecting rod rotate in the forward direction, be connected to cleanliness it is high, can normal use cleaning brush, complete
The replacement of cleaning brush, last control unit control mechanical gripper grab the cleaning brush changed, are stored to brush head and stored
Storehouse.
It is highly preferred that the driving wheel is two, it is set to the robot body two sides of the bottom, the converter section setting
Between two driving wheels.
A specific embodiment is given below in the scheme and its effect of the embodiment of the present invention for ease of understanding.This field skill
Art personnel should be understood that the example only for the purposes of understanding the present invention, and any detail is not intended to be limited in any way
The present invention.
Embodiment
Fig. 2 shows the schematic diagrams of intelligent sweeping machine according to an embodiment of the invention.
Fig. 3 shows the top view of converter section according to an embodiment of the invention.
As shown in Fig. 2-Fig. 3, which includes:
Robot body 1, the driving device that 1 bottom of robot body is provided with driving wheel 2 and connect with the driving wheel；
Converter section, the converter section include disk 3, multiple lifter plates 4 and multiple telescopic rods 5, and the disk 3 is arranged in institute
1 bottom of robot body is stated, multiple through-holes 6 are provided on the disk 3, described 5 one end of telescopic rod is connected to the robot
Ontology 1, the other end are connected to the lifter plate 4 that 3 top of disk is arranged in；
Cleaning section 7, the cleaning section 7 include connecting rod 8, cleaning brush 9 and driving motor, and the driving motor setting exists
On the lifter plate 5, described 8 one end of connecting rod is connected to the cleaning brush 9, and the other end passes through the through-hole 6 and is connected to institute
State driving motor；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod 5 and driving electricity
Machine；
Robot dodge strategy control unit, the Robot dodge strategy control unit control the robot according to automatic obstacle-avoiding strategy
Ontology avoidance.
Wherein, the cleaning brush 9 is multiple, and multiple cleaning brush 9 are identical or different, and the cleaning brush 9 is logical
It crosses connecting rod 8 and is connected to the lifter plate 4, the cleaning brush 9 for being connected to the same lifter plate 4 is identical, connects from different lifter plates 4
The cleaning brush 9 connect is identical or different.
It wherein, further include cleaning brush memory block (not shown), the periphery of the cleaning brush memory block is provided with positioning
Label, the positioning label communication are connected to described control unit, and cleaning brush memory block memory is placed with spare brush head.
It wherein, further include cleanliness detection unit 12, the cleanliness detection unit 12 includes catch basin 13, connecting conduit
14, tank gage 15, driving motor Rotating speed measring sensor and timer, the tank gage 15 and the timer are communicatively coupled to
Described control unit, the tank gage 15 are arranged in the catch basin 13, and the catch basin 13 is arranged in the robot sheet
In body 1, the connecting rod 8 is passed through by connecting conduit 14 and is connected to the cleaning brush 9, the driving motor Rotating speed measring passes
Sensor is used to measure the revolving speed of the driving motor.
It wherein, further include floor type analytical unit (not shown), the floor type analytical unit includes depth sensing
The cleaning brush and the connecting rod is arranged in device and color sensor, the depth transducer and the color sensor
Junction is communicatively coupled to described control unit.
Wherein, detergent delivery unit (not shown), the detergent delivery unit include detergent storage tank, control
Valve, catheter, the detergent storage tank are arranged on the lifter plate 4, and one end of the catheter is connected to by control valve
In the detergent storage tank, the other end connects 8 across the connecting rod and passes to the cleaning brush 9, the control valve communication link
It is connected to described control unit.
It wherein, further include brush head storage silo 10, the side wall of the robot body 1 is arranged in the brush head storage silo 10
On, for storing the cleaning brush 9.
Wherein, further include mechanical gripper 11, positioning label is provided in the cleaning brush 9, the mechanical gripper sets 11
It sets on the side wall of the robot body 1, in the brush head storage silo 10 cleaning brush can be grabbed.
It wherein, further include laser range finder 16, the side wall of the robot body 1 is arranged in the laser range finder 16
On, it is communicatively coupled to described control unit.
Wherein, the driving wheel 2 is two, is set to 1 two sides of the bottom of robot body, the converter section is set to
Between two driving wheels 2.
The automatic obstacle-avoiding method of sweeper according to the present invention includes: the range data obtained according to laser range finder, is obtained
Obtain distance function；Based on distance function, the cross-correlation function for calculating distance is formula (1), sets cross-correlation function threshold value, in turn
Calculating distance parameter is formula (2)；When distance parameter is 1, sweeper straight forward；When distance parameter is 2, sweeper stops
It only or turns, the direction whether sweeper turns and turn is determined by the lateral distance of sweeper present position.
It will be understood by those skilled in the art that above to the purpose of the description of the embodiment of the present invention only for illustratively saying
The beneficial effect of bright the embodiment of the present invention is not intended to limit embodiments of the invention to given any example.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes are obvious for the those of ordinary skill in art field.
Claims (10)
1. a kind of automatic obstacle-avoiding method of sweeper, comprising:
According to the range data that laser range finder obtains, distance function is obtained；
Based on the distance function, the cross-correlation function of distance is calculated, and then calculates distance parameter；
Based on the distance parameter, the automatic obstacle-avoiding strategy of the sweeper is obtained.
2. the automatic obstacle-avoiding method of sweeper according to claim 1, wherein the cross-correlation function of the distance are as follows:
Wherein, R (l) indicates that the cross-correlation function of distance, L indicate that path length, x (l) indicate that distance function, l indicate distance, △
L is indicated apart from adjustment amount.
3. the automatic obstacle-avoiding method of sweeper according to claim 2, wherein further include:
Based on the cross-correlation function of the distance, cross-correlation function threshold value is set, and then calculates the distance parameter.
4. the automatic obstacle-avoiding method of sweeper according to claim 3, wherein the distance parameter are as follows:
Wherein, F (l) indicates that distance parameter, M indicate cross-correlation function threshold value.
5. the automatic obstacle-avoiding method of sweeper according to claim 4, wherein the automatic obstacle-avoiding strategy of the sweeper:
When distance parameter is 1, the sweeper straight forward；
When distance parameter is 2, the sweeper stops or turning.
6. a kind of intelligent sweeping machine, which is characterized in that the intelligent sweeping machine includes:
Robot body, the driving device that robot body bottom is provided with driving wheel and connect with the driving wheel；
Converter section, the converter section include disk, multiple lifter plates and multiple telescopic rods, and the disk is arranged in the robot
Body bottom portion is provided with multiple through-holes on the disk, and described telescopic rod one end is connected to the robot body, and the other end connects
It is connected to the lifter plate being arranged at the top of the disk；
Cleaning section, the cleaning section include connecting rod, cleaning brush and driving motor, and the driving motor is arranged in the lifting
On plate, described connecting rod one end is connected to the cleaning brush, and the other end passes through the through-hole and is connected to the driving motor；
Laser range finder, the laser range finder are arranged on the side wall of the robot body, are communicatively coupled to the control
Unit；
Control unit, described control unit are communicatively coupled to the driving device, the telescopic rod and the driving motor；
Robot dodge strategy control unit, the Robot dodge strategy control unit control the robot body according to automatic obstacle-avoiding strategy
Avoidance.
7. intelligent sweeping machine according to claim 6, which is characterized in that the cleaning brush be it is multiple, it is multiple described clear
Clean brush head is identical or different, and the cleaning brush is connected to the lifter plate by connecting rod, is connected to the same lifter plate
Cleaning brush is identical, identical or different from the cleaning brush of different lifter plates connection.
8. intelligent sweeping machine according to claim 6, which is characterized in that further include cleanliness detection unit, the cleaning
Spending detection unit includes catch basin, connecting conduit, tank gage, driving motor Rotating speed measring sensor and timer, the liquid level
Instrument and the timer are communicatively coupled to described control unit, and the tank gage is arranged in the catch basin, the catch basin
It is arranged in the robot body, the connecting rod is passed through by connecting conduit and is connected to the cleaning brush, the driving
Motor speed detection sensor is used to measure the revolving speed of the driving motor.
9. intelligent sweeping machine according to claim 6, which is characterized in that further include floor type analytical unit, describedly
Face floristic analysing unit includes depth transducer and color sensor, and the depth transducer and color sensor setting exist
The junction of the cleaning brush and the connecting rod, is communicatively coupled to described control unit.
10. intelligent sweeping machine according to claim 6, which is characterized in that further include detergent delivery unit, the cleaning
Agent feed unit includes detergent storage tank, control valve, catheter, and the detergent storage tank is arranged on the lifter plate,
One end of the catheter is connected to the detergent storage tank by control valve, and the other end passes through the connecting rod and is connected to institute
Cleaning brush is stated, the control valve is communicatively coupled to described control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810685121.2A CN109077674A (en) | 2018-06-28 | 2018-06-28 | The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810685121.2A CN109077674A (en) | 2018-06-28 | 2018-06-28 | The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper |
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| CN109077674A true CN109077674A (en) | 2018-12-25 |
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| CN201810685121.2A Withdrawn CN109077674A (en) | 2018-06-28 | 2018-06-28 | The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper |
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