CN109440699A - Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine - Google Patents
Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine Download PDFInfo
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- CN109440699A CN109440699A CN201811497902.5A CN201811497902A CN109440699A CN 109440699 A CN109440699 A CN 109440699A CN 201811497902 A CN201811497902 A CN 201811497902A CN 109440699 A CN109440699 A CN 109440699A
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- information
- robot
- master controller
- pedestrian
- rubbish
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the present invention provides that a kind of environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine, belongs to environmental technology field.The location information and detection of obstacles information of cartographic information and robot are sent to master controller by navigation system and detection module by the present invention, to carry out local motion path planning, and the clean collection for sweeping rubbish in operation and pedestrian's hand in road surface of planning path on the way is carried out by control running gear and operating system, it needs to carry out by manual control tradition machinery mode compared with the prior art clean to sweep operation, the present invention does not need manually to participate in controlling the rubbish cleaning that programme path can be realized, greatly reduce use cost, and it can realize and work continuously, working efficiency is higher.
Description
Technical field
The present invention relates to environmental technology field, more particularly to a kind of environmental sanitation intelligently it is clean sweep Work robot control system and
Cleaning machine.
Background technique
With the fast development of modern science and technology, intelligent control technology is also increasingly taken seriously in terms of environmental sanitation cleaning, existing
There is environmental sanitation cleaning in technology to need the good cleaning route of advance planning, prevents from encountering traffic jam, and clean the real time position of vehicle, and with
Destination depends on cleanup crew to the familiarity of work route apart from situation.
In the prior art the cleaning multi-pass of environmental sanitation manually push excessively or the modes such as Mechanical course realize the promotion of cleaning vehicle with
Avoidance, it is necessary to which arrangement has at least one cleanup crew, and there are certain requirements to the mechanically actuated qualification of cleanup crew.This
Outside, the cleaning vehicle of the prior art can only realize the cleaning to the ground refuse of planning path.
Summary of the invention
The purpose of the embodiment of the present invention is that providing, a kind of environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine,
It can carry out that nobody is clean to sweep operation by independent navigation and path planning.
To achieve the goals above, the embodiment of the present invention provides that a kind of environmental sanitation is intelligently clean to sweep Work robot control system,
The system includes: navigation system, for constructing robot global cartographic information and providing the global map information and the machine
The location information of people is to master controller；Detection module, the module is for constructing robot local map information and providing the part
Cartographic information and detection of obstacles information are to the master controller；Master controller, the master controller are used for according to navigation system
The location information for the global map information and the robot that provide of uniting carries out global working path planning, and in conjunction with described
The local map information and the detection of obstacles information that detection module provides carry out local motion path planning；Running System
System, the system is for controlling the local motion route that the robot is planned according to the master controller；And make
Industry system, the operating system include: chassis rubbish cleaning modul, for the robot according to local motion path row
To the cleaning of ground refuse during sailing.
Optionally, the navigation system includes: GPS antenna, for receiving the original location information of the robot, and is passed
Transport to GPS data processing module；4G module, the module include: 4G antenna, for receiving GPS differential signal and/or the overall situation
Cartographic information, and the GPS differential signal and/or global map information are sent to the master controller；GPS data handles mould
Block, the module are used to receive and process the original location information of the robot and the 4G module that the GPS antenna provides
The GPS differential signal provided, to obtain the robot accurately location information.
Optionally, the navigation system may also include that IMU unit, for measuring the posture information and biography of the robot
Transport to the master controller, the detection of obstacles information that the master controller is provided according to the posture information and the detection module
The steering angle of deflecting roller and the speed of direction and driving wheel is calculated.
Optionally, the running gear includes: steering motor and driver, for driving the deflecting roller to move；Actively
Turbin generator and driver, for driving the driving wheel to move；And bottom controller, it is provided for receiving by the master controller
The deflecting roller steering angle and direction and the driving wheel speed, and by the steering angle of the deflecting roller and direction
Be converted to rotational angle and the direction of the steering motor；It is turning for the driver motor by the rate conversion of the driving wheel
Speed.
Optionally, the running gear may also include that encoder/IMU unit, for acquiring the speed of the driving wheel in real time
Degree information simultaneously feeds back to bottom controller, the bottom controller pass through by the velocity information acquired in real time and target velocity into
Row compares, and finally constantly corrects the movement velocity of the driving wheel until the robot reaches or approaches target velocity.
Optionally, the posture information of the robot includes: direction and the angular speed of the robot.
Optionally, the master controller can also be used in the robot that the navigation system is provided location information and
Directional information is compared with target position information and directional information, and constantly corrects steering angle and the direction of the deflecting roller
Until the robot reaches or approaches target position and direction.
Optionally, the operating system may also include that interactive system, which includes: Intellectual phonetic system, the dress
Setting includes: voice output module, which is used to inquire the rubbish of pedestrian's processing whether in need；Speech reception module, the mould
Block is for receiving the voice messaging fed back by pedestrian；And speech processing module, the module be used for the voice messaging into
Row identification, judges whether pedestrian has garbage disposal, and judging result is sent to the master controller；And/or sighting device, it should
Device includes: camera, for obtaining the image information of pedestrian's belongings on hand；And image processor, the processor are used for
The image information that the camera obtains is handled to and is carried out feature extraction, and then carries out aspect ratio pair with rubbish picture,
Judge whether pedestrian has garbage disposal on hand, and judging result is sent to the master controller.
Optionally, the master controller receives pedestrian's hand of the Intellectual phonetic system and/or sighting device transmission
In rubbish judging result, control the speech control module voice prompting pedestrian and throw away rubbish and carry out garbage collection in dustbin
Or control robot continues to travel by planning path.
Correspondingly, the present invention also provides a kind of cleaning machine, including environmental sanitation described above is intelligently clean sweeps Work robot
Control system.
Through the above technical solutions, the present invention passes through navigation system and detection module for the position of cartographic information and robot
Information and detection of obstacles information are sent to master controller, to carry out trajectory path planning, and by control running gear and
Operating system carries out the clean collection for sweeping rubbish in operation and pedestrian's hand in road surface of planning path on the way, compared with the prior art, this
Invention has the advantage that
(1) prior art multi-pass crosses manual control tradition machinery mode to make cleaning vehicle progress is clean to sweep operation, the present invention
It does not need manually to participate in controlling the rubbish cleaning that programme path can be realized, greatly reduces use cost, and robot may be used also
It works continuously under high temperature, rain and snow weather, working efficiency is higher；
(2) present invention can also be collected the portable rubbish of pedestrian, be providing convenience property of pedestrian.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1, which is that the environmental sanitation of one embodiment of the invention offer is intelligently clean, sweeps Work robot Control system architecture block diagram.
Fig. 2 is the navigation system structural block diagram that one embodiment of the invention provides.
Fig. 3 is the running gear structural block diagram that one embodiment of the invention provides.
Fig. 4 is the operating system structural block diagram that one embodiment of the invention provides.
Fig. 5 is the sighting device work flow diagram that one embodiment of the invention provides.
Fig. 6 is the flow chart being collected to pedestrian's rubbish that one embodiment of the invention provides.
Fig. 7, which is that the environmental sanitation that provides of one embodiment of the invention is intelligently clean, sweeps Work robot overall structure figure.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1, which is that the environmental sanitation of one embodiment of the invention offer is intelligently clean, sweeps Work robot Control system architecture block diagram.The control
System processed includes: navigation system, and the system is for constructing robot global cartographic information and providing the global map information and machine
The location information of device people is to master controller；Detection module, the module is for constructing robot local map information and providing the office
Portion's cartographic information and detection of obstacles information are to master controller；Master controller, the master controller according to navigation system for providing
Global map information and the location information of robot carry out global working path planning, and the part for combining detection module to provide
Cartographic information and detection of obstacles information carry out local motion path planning；Running gear, the system are pressed for controlling robot
The local motion route of license-master's controller planning；And operating system, the system is for robot according to local motion
The collection of rubbish is carried during route to the cleaning of ground refuse and pedestrian.
Intelligence is clean to sweep after Work robot control system receives enabled instruction, and navigation system carries out robot global map
The global map information and robot location's information are simultaneously sent to master controller by information architecture, and master controller carries out global operation
Path planning chooses the path of current time the coast is clear as working path, and then detection module is on the working path
Specific road conditions and barrier are detected, so that the local map information of the working path and detection of obstacles information are sent to
Master controller, master controller carry out the planning in local job path, and running gear is driven to travel according to the motion path of planning,
The collection of rubbish is carried in the cleaning and pedestrian that control operating system progress ground refuse simultaneously.
It is appreciated that global map information may include road path, the clean destination for sweeping operation and road traffic condition, root
According to road path and destination information, when master controller carries out global working path planning, a plurality of global work can be cooked up simultaneously
Industry path, and according to road traffic condition information, it can first select the route of free pathway to carry out operation, in order to avoid traffic jam, shadow
Ring the progress of operation.
Local map information may include the environmental sanitation intelligently clean surface conditions for sweeping road surface locating for Work robot, according to part
Cartographic information and detection of obstacles information can carry out local motion path planning, avoiding obstacles, and select road environment preferable
Path.
Wherein, navigation system is sustainable is sent to main control for the global map information of update and robot location's information
Device, if having jam situation in the good global working path of the preplanning that operation is found on the way, master controller can carry out global work
Industry path reselects, and the local map information and obstacle information of the new global working path sent according to detection module
Carry out the planning again in local motion path.
It is appreciated that master controller can have route memory function, when the cleaning operation progress for completing a paths is another
When the planning of item overall situation working path, master controller had carried out the clean section for sweeping operation before can avoiding, and selected not carry out
The clean section for sweeping operation is crossed to be planned.
Fig. 2 is the navigation system structural block diagram that one embodiment of the invention provides.The navigation system includes: GPS antenna, is used for
The original location information of robot is received, and is transmitted to GPS data processing module；Information receiving module, for receiving GPS difference
Signal and/or global map information, and the GPS differential signal and/or global map information are sent to master controller；GPS number
According to processing module, robot for receiving and processing GPS antenna offer original location information and information receiving module are provided
GPS differential signal, to obtain robot accurately location information.
After navigation system receives enabled instruction, one side information receiving module receives the base station from background server
GPS differential signal and/or global map information, and the information is sent to master controller, then master controller believes GPS difference
Number it is sent to GPS data processing module；On the other hand, GPS antenna receives the original location information of robot, and is sent to GPS
Data processing module, last GPS data processing module carry out the original location information of received GPS differential signal and robot
The accurate location information of robot is obtained after certain algorithm process, and is sent to master controller.Receiving module can be to globally
Figure information is cached, after navigation system receives enabled instruction, if receiving module is cached with newer global map information,
Then the global map information directly can be sent to master controller, without receiving global map information again.
Wherein the original location information of the received robot of GPS antenna is uncorrected location information, it is understood that there may be error,
Therefore the GPS differential signal of base station transmission is needed to carry out position correction, to obtain the more accurate location information of robot.
Wherein, information receiving module can choose communication (radio station, 4G or other).
Master controller receives mould according to the accurate location information of robot that GPS data processing module transmits and come self-information
The cartographic information of block carries out global working path planning.
It is appreciated that global map information may include road path, the clean destination for sweeping operation and road traffic condition, root
According to road path and destination information, when master controller carries out global working path planning, a plurality of global work can be cooked up simultaneously
Industry path, and according to road traffic condition information, it can first select the route of free pathway to carry out operation, in order to avoid traffic jam, shadow
Ring the progress of operation.
Wherein, information receiving module and the sustainable global map information and robot by update of GPS data processing module
Accurate location information is sent to master controller, if having congestion feelings in the good global working path of the preplanning that operation is found on the way
Condition, then master controller can carry out reselecting for global working path.
It is appreciated that master controller can have route memory function, when the cleaning operation progress for completing a paths is another
When the planning of item overall situation working path, master controller had carried out the clean section for sweeping operation before can avoiding, and selected not carry out
The clean section for sweeping operation is crossed to be planned.
Fig. 3 is the running gear structural block diagram that one embodiment of the invention provides.The running gear includes: steering motor and drive
Dynamic device, for driving deflecting roller to move；Driver motor and driver, for driving driving wheel to move；And bottom controller, it uses
In the speed of the steering angle and direction and driving wheel that receive the deflecting roller provided by master controller, and by the steering angle of deflecting roller
Degree and direction are converted to rotational angle and the direction of steering motor；It is the revolving speed of driver motor by the rate conversion of driving wheel.
After master controller completes trajectory path planning, steering angle and the direction of deflecting roller are calculated by certain algorithm
And the speed of driving wheel, and the speed in the steering angle of deflecting roller and direction and driving wheel is sent to bottom controller, bottom
The steering angle of deflecting roller and direction are converted to rotational angle and the side of steering motor by certain algorithm operation by controller
To；By the rate conversion of driving wheel it is the revolving speed of driver motor, so that deflecting roller be driven to turn according to calculated deflecting roller
It is moved to angle and direction, driving wheel according to the speed of calculated driving wheel.
Wherein, the speed of the steering angle of deflecting roller and direction and driving wheel is to be believed by master controller robot pose
What the detection of obstacles information that breath and detection module provide was calculated, the posture information of robot includes: the direction of robot
And angular speed, it can be obtained by the IMU unit measurement in navigation system.
It is appreciated that driver motor driver and steering motor driver are respectively used to receive what bottom controller was sent
The speed of the rotational angle of the steering motor and direction and the driver motor, and drive the steering motor according to specified rotation
Angle and direction, the driver motor are operated according to specified speed.
Running gear may also include that encoder/IMU unit, for acquiring the velocity information of driving wheel in real time and feeding back to
Bottom controller, bottom controller pass through the velocity information for acquiring this in real time and are compared with target velocity, finally constantly repair
The movement velocity of the just described driving wheel is until the robot reaches or approaches target velocity.
Wherein, target velocity is the speed of the robotically-driven wheel set in the case of clear, by driving wheel
Movement velocity is constantly corrected, it is ensured that completes to avoid wasting the unnecessary time while cleaning operation.
It is appreciated that target speed value can surpass to guarantee maximum speed value needed for robot completes ground cleaning operation
Crossing the velocity amplitude then may cause the less clean position in ground, therefore should ensure that be no more than to the amendment of the movement velocity of driving wheel and be somebody's turn to do
Target speed value.Certainly, according to the clean difference for sweeping operation section situation, which can be set as different in different sections of highway
Value.
Encoder/IMU unit can also be used to acquire robot mileage information, by the position that robot is centainly calculated
Information can be used as the standby message for the robot location that navigation system measures in necessary situation.
The location information and directional information of the robot that master controller is also used to provide navigation system and target position are believed
Breath and directional information are compared, and the steering angle for constantly correcting deflecting roller and direction are until robot reaches or approaches target
Position and direction.
The position and direction for the robot that target position and direction are set when being clear, according to the target position and side
To the steering angle of continuous amendment deflecting roller and direction so that robot reaches or approaches target position and direction.
Detection module also has positioning function, can be used for interior for example including laser radar and vision system etc..Work as machine
Device people carries out outdoor clean when sweeping operation, and navigation system can provide the location information and directional information of robot simultaneously, thus and mesh
Cursor position information and directional information are compared；And when robot carry out it is indoor it is clean sweep operation when, (can be swashed by detection module
Light, vision etc.) building cartographic information determine robot location and directional information, thus with target position information and directional information
It is compared.
Robot carries out outdoor clean when sweeping operation, and the location information of robot handles mould by the GPS data in navigation system
Block provides, and the directional information of robot is provided by IMU module in navigation system；Robot carries out indoor clean when sweeping operation, machine
The location information of people is provided by detection module, and the directional information of robot is provided by IMU module in navigation system.
Fig. 4 is the operating system structural block diagram that one embodiment of the invention provides.The operating system includes: the cleaning of chassis rubbish
Module, the module include: blower, chassis apparatus for work and sweep disk, the cleaning for chassis ground refuse.Wherein, chassis operation
It device and sweeps disk and can be started and stopped by the instruction of master controller.
The operating system may also include that interactive system, which may include Intellectual phonetic system and/or vision dress
It sets, which includes: voice output module, for inquiring the rubbish of pedestrian's processing whether in need；Phonetic incepting
Module, for receiving the voice messaging fed back by pedestrian；And speech processing module, for being identified to voice messaging,
Judge whether pedestrian has garbage disposal, and judging result is sent to master controller.Sighting device includes: camera, for obtaining
Take the image information of pedestrian's belongings on hand；And image processor, the image information for obtaining camera are handled
And feature extraction is carried out, and then carry out aspect ratio pair with rubbish picture, judge whether pedestrian has garbage disposal on hand, and will judgement
As a result it is sent to master controller.
Wherein, master controller receives rubbish judging result in Intellectual phonetic system and/or pedestrian's hand of sighting device transmission,
Control speech control module voice prompting pedestrian by rubbish throw away in dustbin carry out garbage collection or control robot continue by
Planning path traveling.
After master controller issues pedestrian's garbage collection instruction, Intellectual phonetic system, which is output by voice module queries pedestrian, is
No to have portable rubbish to need to handle, speech reception module receives the voice messaging fed back by pedestrian and passes through voice
Processing module identifies voice messaging, judges whether pedestrian has portable rubbish to need to handle, and will judge information
It is sent to master controller.It when judging that pedestrian has rubbish to need to handle, is halted, is waited by main controller controls robot
Pedestrian throws away rubbish into dustbin, then proceedes to advance；When judging that pedestrian does not have rubbish to need to handle, robot continue by
Advance according to the route of planning.
Wherein, rubbish judgement to be treated whether believes by the pedestrian that intelligent sound module and/or sighting device provide
After breath is sent to master controller, master controller passes through the steering angle for exporting deflecting roller and driving wheel and direction and velocity information,
To control robot stopping or move on.
It, can when master controller, which receives pedestrian, portable rubbish information to be treated as an embodiment
Control robot is travelled to pedestrian, then is output by voice modular voice prompt pedestrian and is thrown away rubbish into dustbin.
Fig. 5 is the sighting device work flow diagram that one embodiment of the invention provides.The flow chart the following steps are included:
Step 501, Image Acquisition obtains pedestrian's belongings on hand by the camera being mounted in robot in real time
Image information, and be converted into data format (such as JPEG, TIFF, RAW, BMP that image processor can be identified and be handled
Deng).
Step 502, feature extraction, after getting processed image information, image processor is first to acquisition
Image information carries out noise filtering, is then split using dividing methods such as edge detections to image, and to the key of image
Feature is analyzed and is extracted.
Step 503, classify, after the key feature for obtaining picture, picture that image processor can will acquire with save before
Rubbish picture carry out key feature compare classification, to judge whether pedestrian has rubbish to need to handle on hand.
Step 504, analysis result output, treated that result is sent to master controller by picture for image processor.
Wherein, when judgement pedestrian has rubbish to need to handle, then main controller controls robot is travelled to the row for carrying rubbish
People nearby and voice prompting its rubbish is thrown away in dustbin, continue later by programme path carry out operation；If it is determined that pedestrian
There is no rubbish to need to handle, then main controller controls device people carries out operation by programme path.
Fig. 6 is the flow chart being collected to pedestrian's rubbish that one embodiment of the invention provides.The flow chart includes following
Step:
Step 601, whether pedestrian has rubbish to need to handle, if judging result is "Yes", thens follow the steps 602；If judgement
As a result it is "No", thens follow the steps 603.
Judge whether pedestrian has the processing of rubbish needs can be by Intellectual phonetic system and/or sighting device in pedestrian's hand
Junk information is acquired, wherein Intellectual phonetic system, comprising: voice output module, for inquiring pedestrian place whether in need
The rubbish of reason；Speech reception module, for receiving the voice messaging fed back by pedestrian；And speech processing module, for pair
Voice messaging is identified, judges whether pedestrian has garbage disposal, and judging result is sent to master controller；And/or vision
Device, comprising: camera, for obtaining the image information of pedestrian's belongings on hand；And image processor, it is used for camera
The image information of acquisition is handled and is carried out feature extraction, and then carries out aspect ratio pair with rubbish picture, judges pedestrian on hand
Whether there is garbage disposal, and judging result is sent to master controller.
Step 602, voice prompting is thrown away rubbish.Master controller receives the row of Intellectual phonetic system and/or sighting device transmission
Rubbish judging result in manpower carries out rubbish to control speech control module voice prompting pedestrian and throw away rubbish in dustbin
It collects or control robot continues to travel by planning path.
Wherein, when master controller, which receives pedestrian, portable rubbish information to be treated, it can control machine
People travels to pedestrian, then is output by voice modular voice prompt pedestrian and throws away rubbish into dustbin.
Step 603, continue to travel by planning path.There is no portable rubbish to need to handle or examine when receiving pedestrian
When measuring pedestrian and throwing away rubbish in dustbin, continue by planning path operation.
Wherein, it when detecting that pedestrian throws away rubbish in dustbin, also needs to determine that pedestrian has fallen back on safe distance
Afterwards, can just continue by planning path operation.
Step 604, if arrive at the destination.It is clean to sweep operation and terminate when robot arrives at the destination；When robot does not have
When arriving at the destination, continues to repeat above step, periodically judge whether pedestrian has rubbish to need to handle.
Fig. 7, which is that the environmental sanitation that provides of one embodiment of the invention is intelligently clean, sweeps Work robot overall structure figure.One side information
Receiving module receives the GPS differential signal and/or global map information of the base station from background server, and the information is transmitted
To master controller, then GPS differential signal is sent to GPS system by master controller；On the other hand, GPS antenna receives robot
Original location information, and it is sent to GPS system, the last GPS system position that received GPS differential signal and robot is original
Confidence breath obtains the accurate location information of robot after carrying out certain algorithm process, and is sent to master controller, master controller
Working path is carried out according to the accurate location information of robot of GPS system transmission and the cartographic information from information receiving module
Planning, and the detection of obstacles information for combining laser radar to provide carries out trajectory path planning.Receiving module can be to global map
Information is cached, after navigation system receives enabled instruction, if receiving module is cached with newer global map information,
The global map information directly can be sent to master controller, without receiving global map information again.
After master controller completes trajectory path planning, steering angle and the direction of deflecting roller are calculated by certain algorithm
And the speed of driving wheel, so that robot be made to travel according to specified motion path.
In robot driving process, blower, chassis apparatus for work and the cleaning that disk is responsible for chassis ground refuse is swept；Intelligent language
Mixer with pedestrian for interacting, to be collected to the portable rubbish of pedestrian.
After master controller issues pedestrian's garbage collection instruction, Intellectual phonetic system issues whether inquiry pedestrian carries
Rubbish voice messaging to be treated, and receive and recognize the voice messaging fed back by pedestrian, judge whether pedestrian has
Portable rubbish needs to handle, and then will judge that information is sent to master controller.When judging that pedestrian has rubbish to need to locate
It when reason, is halted by main controller controls robot, waits pedestrian to throw away rubbish into dustbin, then proceed to advance；When sentencing
It is disconnected go out pedestrian when not having rubbish to need to handle, robot continues to advance according to the route of planning.
Wherein, master controller passes through the steering angle for exporting deflecting roller and driving wheel and direction and velocity information, to control
Robot processed stops or moves on.
It, can when master controller, which receives pedestrian, portable rubbish information to be treated as an embodiment
Control robot is travelled to pedestrian, then is thrown away rubbish into dustbin by Intellectual phonetic system voice prompting pedestrian.
DC power supply power supply can be used in robot, and inside configuration can have the battery mould of voltage and electricity intelligent recognition function
Block shows voltage and information about power at any time, prevents voltage jump and causes robot fault and not enough power supply and influence operation
It carries out.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of environmental sanitation is intelligently clean to sweep Work robot control system, which is characterized in that the system includes:
Navigation system, for constructing robot global cartographic information and providing the position of the global map information and the robot
Information is to master controller；
Detection module, for constructing robot local map information and providing the local map information and detection of obstacles information extremely
The master controller；
Master controller, the location information of the global map information and the robot for being provided according to the navigation system
Global working path planning, and the local map information and the detection of obstacles provided in conjunction with the detection module are provided
Information carries out local motion path planning；
Running gear, the local motion route planned for controlling the robot according to the master controller；With
And
Operating system, comprising:
Chassis rubbish cleaning modul, for the robot to ground refuse during according to the local motion route
Cleaning.
2. control system according to claim 1, which is characterized in that the navigation system includes:
GPS antenna for receiving the original location information of the robot, and is transmitted to GPS data processing module；
Information receiving module, for receiving GPS differential signal and/or the global map information, and by the GPS differential signal
And/or the global map information is sent to the master controller；
GPS data processing module, for receive and process the original location information of the robot that the GPS antenna provides and
The GPS differential signal that the information receiving module provides, to obtain the robot accurately location information.
3. control system according to claim 2, which is characterized in that the navigation system further include: IMU unit is used for
It measures the posture information of the robot and is transmitted to the master controller, the master controller is according to the posture information and described
The steering angle of deflecting roller and the speed of direction and driving wheel is calculated in the detection of obstacles information that detection module provides.
4. control system according to claim 3, which is characterized in that the running gear includes:
Steering motor and driver, for driving the deflecting roller to move；
Driver motor and driver, for driving the driving wheel to move；And
Bottom controller, for receiving steering angle and direction and the drive of the deflecting roller provided by the master controller
The speed of driving wheel, and the steering angle of the deflecting roller and direction are converted to rotational angle and the direction of the steering motor；
It is the revolving speed of the driver motor by the rate conversion of the driving wheel.
5. control system according to claim 4, which is characterized in that the running gear further include: encoder/IMU is mono-
Member, for acquiring the velocity information of the driving wheel in real time and feeding back to the bottom controller, the bottom controller passes through
The velocity information that this is acquired in real time is compared with target velocity, finally constantly correct the driving wheel movement velocity until
The robot reaches or approaches target velocity.
6. control system according to claim 3, which is characterized in that the posture information of the robot includes: the machine
The direction of device people and angular speed.
7. control system according to claim 6, which is characterized in that the master controller is also used to the navigation system
The location information and directional information of the robot provided are compared with target position information and directional information, and are constantly repaired
The steering angle of the just described deflecting roller and direction are until the robot reaches or approaches target position and direction.
8. control system according to claim 1, which is characterized in that the operating system further include:
Interactive system, comprising:
Intellectual phonetic system, and/or
Sighting device,
The Intellectual phonetic system includes:
Voice output module, for inquiring the rubbish of pedestrian's processing whether in need；
Speech reception module, for receiving the voice messaging fed back by pedestrian；And
Speech processing module judges whether pedestrian has garbage disposal, and judgement is tied for identifying to the voice messaging
Fruit is sent to the master controller；
The sighting device includes:
Camera, for obtaining the image information of pedestrian's belongings on hand；And
Image processor, the image information for obtaining the camera are handled and are carried out feature extraction, and then and rubbish
Rubbish picture carries out aspect ratio pair, judges whether pedestrian has garbage disposal on hand, and judging result is sent to the master controller.
9. control system according to claim 8, which is characterized in that the master controller receives the Intellectual phonetic system
And/or rubbish judging result in pedestrian's hand of sighting device transmission, control the speech control module voice prompting pedestrian
Rubbish is thrown away and carries out garbage collection in dustbin or control robot to continue to travel by planning path.
10. a kind of cleaning machine, which is characterized in that the cleaning machine includes described in any one of claim 1-9 claim
Control system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811497902.5A CN109440699A (en) | 2018-12-07 | 2018-12-07 | Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine |
| PCT/CN2019/103304 WO2020114019A1 (en) | 2018-12-07 | 2019-08-29 | Sanitation intelligent cleaning and sweeping operation robot control system and cleaning machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811497902.5A CN109440699A (en) | 2018-12-07 | 2018-12-07 | Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine |
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| CN109440699A true CN109440699A (en) | 2019-03-08 |
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| CN201811497902.5A Pending CN109440699A (en) | 2018-12-07 | 2018-12-07 | Environmental sanitation is intelligently clean to sweep Work robot control system and cleaning machine |
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| Country | Link |
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| CN (1) | CN109440699A (en) |
| WO (1) | WO2020114019A1 (en) |
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| CN112315366A (en) * | 2020-10-28 | 2021-02-05 | 苏州工艺美术职业技术学院 | Intelligent closestool |
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