CN109480715A - System and method is recharged automatically based on laser radar map structuring and angular transducer - Google Patents
System and method is recharged automatically based on laser radar map structuring and angular transducer Download PDFInfo
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- CN109480715A CN109480715A CN201811636219.5A CN201811636219A CN109480715A CN 109480715 A CN109480715 A CN 109480715A CN 201811636219 A CN201811636219 A CN 201811636219A CN 109480715 A CN109480715 A CN 109480715A
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- sweeping robot
- angular transducer
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- laser radar
- robot ontology
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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
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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
- A47L11/40—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
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
-
- 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
- A47L2201/02—Docking stations; Docking operations
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides one kind and recharges system automatically based on laser radar map structuring and angular transducer, including MCU master controller, angular transducer, cleaning agency, walking mechanism and the display screen for showing the current state of sweeping robot of sweeping robot body interior is arranged in for the sweeping robot ontology with charging pile charging connection；Cleaning agency, walking mechanism and display screen setting are arranged on sweeping robot ontology；Further include: laser radar sensor, infrared distance sensor, wireless module and bluetooth module.The present invention also provides one kind based on laser radar map structuring and the automatic recharging method of angular transducer.The present invention solve the problems, such as at present it is infrared automatically recharge mode low efficiency and precision it is low, it can be achieved that accurately guidance sweeping robot carry out recurrence charging, thus improve sweeping robot return charging efficiency and precision.
Description
Technical field
The present invention relates to robots to recharge technical field, is based on laser radar map structuring more specifically to one kind
System and method is recharged automatically with angular transducer.
Background technique
With the development and the improvement of people's living standards of modern economy technology, sweeping robot is got in our life
Come more common, can be realized the automatic cleaning to ground, can be realized in electric power deficiency recurrence charging, in guidance signal
Lower sweeping robot automatic returning is guided to realize charging docking to charging unit.Due to energy of the sweeping robot when cleaning engineering
Source all relies on the battery of itself, and therefore, sweeping robot can must recharge automatically when detecting that electricity is lower.
The charging modes of most sweeping robot on the market are guided using infrared signal at present, machine of sweeping the floor
Infrared signal determines the location fix of charging unit matched with its to people based on the received, so that the charging end of sweeping robot
Cooperate with the charging electrode of charging unit, so that carrying out guiding returns charging.However, this method using infrared alignment methods
Not only low efficiency, but also have the defects that accuracy is low, it has only taken into account and has returned to charging pile this " point ", without in view of wanting
Charging pile interface is connected, sweeping robot is caused to be difficult to be properly positioned the position of charging unit or refill time length or difficult
To find charging unit, to substantially reduce practicability and ease of use.In addition, must also be considered using infrared alignment methods
Not so the problem of being aligned to the charging interface direction of sweeping robot with charging pile interface direction can also largely effect on robot suction
Dirt device returns the efficiency of charging, accuracy and reliability.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of based on laser radar map structure
It builds and recharges system and method automatically with angular transducer, this is recharged, and system and method solution is infrared at present to recharge mode efficiency automatically
The low problem low with precision is, it can be achieved that accurately guidance sweeping robot carries out recurrence charging, to improve sweeping robot recurrence
The efficiency and precision of charging.
In order to achieve the above object, the technical scheme is that: one kind be based on laser radar map
Building recharges system with angular transducer automatically, is used for and charging pile charging connection；It is characterized by comprising be used for and charging pile
The MCU master controller of sweeping robot body interior, cleaning agency, walking is arranged in the sweeping robot ontology of charging connection
Mechanism and display screen for showing the current state of sweeping robot；The cleaning agency and walking mechanism, which are arranged at, sweeps
The bottom of floor-washing robot ontology；The top of sweeping robot ontology is arranged in the display screen；Further include:
The laser radar sensor for constructing map for the environment around detecting and being positioned in real time；
For realizing recharge, avoidance and the anti-infrared distance sensor for falling function；
For detecting the angular transducer of sweeping robot ontology current angle position；
Wireless module for communication；
And the bluetooth module for remote control；
The wireless module and bluetooth module are arranged in sweeping robot ontology, and are wirelessly connected with MCU master controller
It connects；The laser radar sensor, infrared distance sensor, angular transducer, walking mechanism, cleaning agency and display screen with
The connection of MCU master controller signal.
In the above scheme, the angle information that the present invention can be current by angular transducer real-time detection sweeping robot,
The obstacle information that is acquired by laser radar sensor simultaneously detects the environment of surrounding to construct map and positioned in real time, logical
Cross infrared distance sensor reach recharge, avoidance and it is anti-fall function, thus solve it is infrared at present recharge automatically mode low efficiency and
For the low problem of precision, it can be achieved that accurately guidance sweeping robot carries out recurrence charging, raising sweeping robot returns the effect of charging
Rate and precision.
The top of sweeping robot ontology is arranged in the laser radar sensor.
The infrared distance sensor is separately positioned on the front of sweeping robot ontology, the left and right.
The angular transducer is arranged at sweeping robot body interior center.
The walking mechanism includes encoding by the revolver of the direct current generator driving with encoder and power amplifier and by band
The right wheel of the direct current generator of device and power amplifier driving.
The walking mechanism is additionally provided with revolver encoder and right wheel encoder for detecting revolver and right wheel speed, with
And the revolver DC motor driver being connect with direct current generator and the right wheel DC motor driver being connect with direct current generator；It is described
Revolver encoder, right wheel encoder, revolver DC motor driver and right wheel DC motor driver are believed with MCU master controller
Number connection.
The cleaning agency is made of direct current generator, dust sucting motor and the DC motor driver connection of band edge brush；Institute
DC motor driver is stated to connect with direct current generator.
One kind is based on laser radar map structuring and the automatic recharging method of angular transducer, it is characterised in that: including following
Step:
The first step sets sweeping robot ontology in the point of charging pile as initial bit；Establish rectangular coordinate system in space, and with
The length of sweeping robot ontology and the wide unit length as rectangular coordinate system in space X-axis and Y-axis, at this time sweeping robot ontology
Coordinate in a coordinate system is (0,0)；Meanwhile the record inceptive direction angle θ that angular transducer detects at this time；
Second step carries out passing through the number of acquisition angles sensor and encoder in cleaning process in sweeping robot ontology
Posture information of the current location as ontology of sweeping robot ontology is learnt according to dead reckoning method is carried out, and passes through laser thunder
It is measured in real time to obtain detection information up to environment of the sensor YDLIDARX4 to surrounding, will test information and pass through SLAM algorithm
Fused filtering is carried out with the posture information of sweeping robot ontology, realizes that the building of map is accurately positioned with sweeping robot；
Third step carries out judging battery by real-time detection cell voltage in cleaning process in sweeping robot ontology
Whether electricity is sufficient: when detecting electricity abundance, control sweeping robot ontology is clear by normal route according to the map of building
It sweeps；When detecting not enough power supply, the 4th step is carried out；
4th step, sweeping robot ontology, to plan the shortest path recharged, and are controlled according to the map of building and positioning
Sweeping robot drives to the point that coordinate is (0,2) with shortest path；Then, corresponding PWM value control revolver direct current is exported
Machine and right wheel direct current generator are contrary, so that sweeping robot ontology rotates, realize the angle of adjustment sweeping robot ontology
For inceptive direction angle θ；This angle is calibrated and updated with coordinate position by infrared mode；
5th step, control sweeping robot ontology straight line retreat two unit lengths to charging pile (0,0) position and charge；
6th step is obtained sweeping robot ontology angle information in real time by angular transducer, and is passed by infrared distance measurement
Sensor calibrates sweeping robot body position, and whether detection this posture of sweeping robot is correct: if sweeping robot
Pose deviates, then by the steering of the revolver direct current generator and right wheel direct current generator of PID control sweeping robot ontology come
Sweeping robot pose is adjusted, the 6th step is returned again to；If sweeping robot pose is correct, completion is recharged.
In the above scheme, sweeping robot ontology of the invention uses the obstacle information of laser radar sensor acquisition
And the environment construction indoor electronic map of surrounding is detected, the current angle letter of angular transducer real-time detection sweeping robot ontology
Breath, then dead reckoning method is cooperated to extrapolate the current location information of sweeping robot, finally by traditional infrared positioning side
Formula is tested correction, and high-precision is reached, efficient to recharge automatically.Revolver by PID control sweeping robot ontology is straight
The steering of galvanic electricity machine and right wheel direct current generator adjusts sweeping robot pose, it can be achieved that sweeping robot drives into correct navigation channel
And correct pose is kept to enter charging pile charging, it completes to recharge.
SLAM algorithm of the present invention is handled the data that laser radar sensor receives, and is constructed map and is positioned certainly
Position in map.Specifically: sweeping robot ontology is moved since a unknown position in circumstances not known, is being moved
Self poisoning is carried out according to location estimation and map during dynamic, while building increment type map on the basis of self poisoning,
Realize the autonomous positioning and navigation of sweeping robot ontology.The present invention can be more in conjunction with dead reckoning method using SLAM algorithm
Accurately obtain the position in itself locating map.
In second step, described learnt by the data of acquisition angles sensor and encoder progress dead reckoning method is swept the floor
The current location of robot body refers to as the posture information of ontology: the revolver and right wheel of walking mechanism are obtained using encoder
Speed, and by integral obtain displacement information s；The data information Δ θ for turning over angle is obtained using angular transducer, then is calculated
The current location of robot body out are as follows:
Wherein, coordinate (x0,y0) be a moment on sweeping robot ontology position, θ 0 is a moment on sweeping robot ontology
Deflection.
Compared with prior art, the invention has the advantages that with the utility model has the advantages that the present invention is based on laser radar map structures
Build recharged automatically with angular transducer system and method solve the problems, such as it is infrared at present recharge mode low efficiency and precision is low automatically,
Accurate guidance sweeping robot can be achieved and carry out recurrence charging, to improve efficiency and precision that sweeping robot returns charging.
Detailed description of the invention
Fig. 1 is that the present invention is based on the block diagrams that laser radar sensor map structuring and angular transducer recharge system automatically；
Fig. 2 is that the present invention is based on the signals that laser radar sensor map structuring and angular transducer recharge system automatically
Figure；
Fig. 3 is that the present invention is based on the processes of laser radar sensor map structuring and the automatic recharging method of angular transducer
Figure；
Fig. 4 is the rectangular coordinate system in space established in the first step and the schematic diagram of detection direction angle θ；
Fig. 5 is the signal that sweeping robot ontology calculates current location and last moment position by dead reckoning method
Figure；
Fig. 6 is the schematic diagram that sweeping robot ontology returns to coordinate (0,2)；
Fig. 7 is the schematic diagram that sweeping robot ontology alignment angle is inceptive direction angle θ.
Wherein, 1 it is laser radar sensor, 2 be infrared distance sensor, 3 be direct current generator, 4 be cleaning agency, 5 is
Display screen, 6 are sweeping robot ontology.
Specific embodiment
The present invention is described in further detail with specific embodiment with reference to the accompanying drawing.
Embodiment
As depicted in figs. 1 and 2, a kind of recharged automatically based on laser radar map structuring with angular transducer of the present invention is
System, be for charging pile charging connection；It includes for the sweeping robot ontology 6 with charging pile charging connection, setting
MCU master controller, cleaning agency 4, walking mechanism inside sweeping robot ontology 6 and for showing that sweeping robot is worked as
The display screen 5 of preceding state, wherein cleaning agency 4 and walking mechanism are arranged at the bottom of sweeping robot ontology 6, display
The top of sweeping robot ontology 6 is arranged in screen 5.This recharges system further include:
The laser radar sensor 1 for constructing map for the environment around detecting and being positioned in real time；
For realizing recharge, avoidance and the anti-infrared distance sensor 2 for falling function；
For detecting the angular transducer of 6 current angle position of sweeping robot ontology；
Wireless module for communication；
And the bluetooth module for remote control；
Wherein, wireless module and bluetooth module are arranged in sweeping robot ontology 6, and with MCU master controller signal
It is wirelessly connected, laser radar sensor 1, infrared distance sensor 2, angular transducer, walking mechanism, cleaning agency 4 and display
Screen 5 is connect with MCU master controller signal.
Specifically, the top of sweeping robot ontology 6 is arranged in laser radar sensor 1, by the data of acquisition into
After row calculation process, useful data is transferred on MCU master controller STM32 by serial ports.Infrared distance sensor 2 is distinguished
Front, the left and right of sweeping robot ontology 6 are set, and angular transducer is arranged in 6 inside of sweeping robot ontology
The heart.Wireless module uses 2.4G wireless module, is used to communicate with monitor terminal, transmits the walking information of sweeping robot ontology 6
Onto monitor terminal, 6 run trace figure of sweeping robot ontology is drawn.The present invention is also carried out using bluetooth module and remote controler
Remote control.And walking mechanism includes the revolver driven by the direct current generator 3 with encoder and power amplifier and is encoded by band
The right wheel of the direct current generator 3 of device and power amplifier driving is additionally provided with the revolver for detecting revolver and right wheel speed and compiles
Code device and right wheel encoder, and the revolver DC motor driver being connect with direct current generator 3 and the right side being connect with direct current generator 3
Take turns DC motor driver, the revolver encoder, right wheel encoder, revolver DC motor driver and the driving of right wheel direct current generator
Device is connect with MCU master controller signal.Cleaning agency 4 is driven by the direct current generator, dust sucting motor and direct current generator of band edge brush
Device connection composition, the DC motor driver are connect with direct current generator.
MCU master controller of the present invention handles a series of data that sensors obtain, and then exports corresponding PWM value control machine
The revolver direct current generator and right wheel direct current generator of device people, to control the speed of sweeping robot ontology 6 and corner reaches by road
The purpose that diameter planning cleans.
As shown in figure 3, a kind of existed based on laser radar map structuring with the automatic recharging method of angular transducer, feature
In: the following steps are included:
The first step sets sweeping robot ontology in the point of charging pile as initial bit；Establish rectangular coordinate system in space, and with
The length of sweeping robot ontology and the wide unit length as rectangular coordinate system in space X-axis and Y-axis, at this time sweeping robot ontology
Coordinate in a coordinate system is (0,0)；Meanwhile the record deflection θ that angular transducer MPU6050 is detected at this time, such as Fig. 4 institute
Show.
Second step carries out passing through the number of acquisition angles sensor and encoder in cleaning process in sweeping robot ontology
Posture information of the current location as ontology of sweeping robot ontology is learnt according to progress dead reckoning method；It is as shown in Figure 5: logical
The operating range s and azimuthal variation delta θ for crossing real-time measurement sweeping robot, then it is current to calculate sweeping robot ontology
Position are as follows:
Wherein, coordinate (x0,y0) be a moment on sweeping robot ontology position, θ0It is a moment on sweeping robot ontology
Deflection.
And be measured in real time to obtain detection information by environment of the laser radar sensor YDLIDARX4 to surrounding, it will
Detection information carries out fused filtering by the posture information of SLAM algorithm and sweeping robot ontology, realizes the building of map and sweeps
Floor-washing robot accurately positions.
Third step carries out in cleaning process in sweeping robot ontology, is turned using the A/D modulus of MCU master controller STM32
Channel real-time detection cell voltage is changed to judge whether battery capacity is sufficient: when detecting electricity abundance, controlling machine of sweeping the floor
Human body is cleaned according to the map of building by normal route；When detecting not enough power supply, the 4th step is carried out；
4th step, sweeping robot ontology according to the map of building and positioning to plan the shortest path recharged, specifically:
It is (0, y that control sweeping robot ontology, which first reaches coordinate,0) point, y0It is sat for the Y-axis of current sweeping robot ontology point
Mark, then control sweeping robot and drive to the point that coordinate is (0,2).Then, by controlling MCU master controller STM32 output phase
The PWM value control revolver direct current generator and right wheel direct current generator answered are contrary, so that sweeping robot ontology rotates, realize and adjust
The angle of whole sweeping robot ontology is inceptive direction angle θ, as shown in Figure 6；Finally, to this angle and being sat by infrared mode
Cursor position is calibrated and is updated, as shown in Figure 7；
5th step, control sweeping robot ontology straight line retreat two unit lengths to charging pile (0,0) position and charge；
6th step obtains sweeping robot ontology angle information by angular transducer MUP6050 in real time, and by infrared
Distance measuring sensor calibrates sweeping robot body position, and whether detection this posture of sweeping robot is correct: if sweeping the floor
Robot pose deviates, then passes through the revolver direct current generator of PID control sweeping robot ontology and right wheel direct current generator
It turns to adjust sweeping robot pose, returns again to the 6th step；If sweeping robot pose is correct, completion is recharged.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. one kind recharges system based on laser radar map structuring and angular transducer automatically, it is used for and charging pile charging connection；
It is characterized by comprising for the sweeping robot ontology with charging pile charging connection, it is arranged in sweeping robot body interior
MCU master controller, cleaning agency, walking mechanism and the display screen for showing the current state of sweeping robot；It is described
Cleaning agency and walking mechanism are arranged at the bottom of sweeping robot ontology；The display screen is arranged in sweeping robot ontology
Top；Further include:
The laser radar sensor for constructing map for the environment around detecting and being positioned in real time；
For realizing recharge, avoidance and the anti-infrared distance sensor for falling function；
For detecting the angular transducer of sweeping robot ontology current angle position；
Wireless module for communication；
And the bluetooth module for remote control；
The wireless module and bluetooth module are arranged in sweeping robot ontology, and are connect with MCU master controller signal；Institute
State laser radar sensor, infrared distance sensor, angular transducer, walking mechanism, cleaning agency and display screen with MCU master
Controller signals connection.
2. according to claim 1 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the top of sweeping robot ontology is arranged in the laser radar sensor.
3. according to claim 1 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the infrared distance sensor is separately positioned on the front of sweeping robot ontology, the left and right.
4. according to claim 1 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the angular transducer is arranged at sweeping robot body interior center.
5. according to claim 1 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the walking mechanism include by with encoder and power amplifier direct current generator driving revolver and by band encoder and
The right wheel of the direct current generator driving of power amplifier.
6. according to claim 5 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the walking mechanism is additionally provided with revolver encoder and right wheel encoder for detecting revolver and right wheel speed, and
The revolver DC motor driver being connect with direct current generator and the right wheel DC motor driver being connect with direct current generator；The left side
Turns encoder, right wheel encoder, revolver DC motor driver and right wheel DC motor driver with MCU master controller signal
Connection.
7. according to claim 1 recharge system, feature based on laser radar map structuring and angular transducer automatically
Be: the cleaning agency is made of direct current generator, dust sucting motor and the DC motor driver connection of band edge brush；It is described straight
Stream motor driver is connect with direct current generator.
8. one kind is based on laser radar map structuring and the automatic recharging method of angular transducer, it is characterised in that: including following step
It is rapid:
The first step sets sweeping robot ontology in the point of charging pile as initial bit；Rectangular coordinate system in space is established, and to sweep the floor
The length of robot body and the wide unit length as rectangular coordinate system in space X-axis and Y-axis, sweeping robot ontology is being sat at this time
Coordinate in mark system is (0,0)；Meanwhile the record inceptive direction angle θ that angular transducer detects at this time；
Second step, sweeping robot ontology carry out cleaning process in, by the data of acquisition angles sensor and encoder into
Row dead reckoning method learns posture information of the current location as ontology of sweeping robot ontology, and is passed by laser radar
Sensor YDLIDARX4 is measured in real time to obtain detection information to the environment of surrounding, will test information and passes through SLAM algorithm and sweep
The posture information of floor-washing robot ontology carries out fused filtering, realizes that the building of map is accurately positioned with sweeping robot；
Third step carries out judging battery capacity by real-time detection cell voltage in cleaning process in sweeping robot ontology
Whether sufficient: when detecting electricity abundance, control sweeping robot ontology is cleaned according to the map of building by normal route；When
When detecting not enough power supply, the 4th step is carried out；
4th step, sweeping robot ontology plans the shortest path recharged according to the map and positioning of building, and controls and sweep the floor
Robot drives to the point that coordinate is (0,2) with shortest path；Then, export corresponding PWM value control revolver direct current generator and
Right wheel direct current generator is contrary, so that sweeping robot ontology rotates, realizes that the angle of adjustment sweeping robot ontology is first
Beginning deflection θ；This angle is calibrated and updated with coordinate position by infrared mode；
5th step, control sweeping robot ontology straight line retreat two unit lengths to charging pile (0,0) position and charge；
6th step is obtained sweeping robot ontology angle information in real time by angular transducer, and passes through infrared distance sensor
Sweeping robot body position is calibrated, whether detection this posture of sweeping robot is correct: if sweeping robot pose
It deviates, is then adjusted by the steering of the revolver direct current generator and right wheel direct current generator of PID control sweeping robot ontology
Sweeping robot pose returns again to the 6th step；If sweeping robot pose is correct, completion is recharged.
9. according to claim 8 be based on laser radar map structuring and the automatic recharging method of angular transducer, feature
It is: described that sweeper is learnt by the data of acquisition angles sensor and encoder progress dead reckoning method in second step
The current location of device human body refers to as the posture information of ontology: the revolver of walking mechanism and the speed of right wheel are obtained using encoder
Degree, and displacement information s is obtained by integral；The data information Δ θ for turning over angle is obtained using angular transducer, then calculates machine
The current location of device human body are as follows:
Wherein, coordinate (x0,y0) be a moment on sweeping robot ontology position, θ0It is the side at a moment on sweeping robot ontology
To angle.
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| CN109932726A (en) * | 2019-04-18 | 2019-06-25 | 北京石头世纪科技股份有限公司 | Robot ranging calibration method and device, robot and medium |
| CN110338705A (en) * | 2019-08-12 | 2019-10-18 | 江南大学 | A kind of disinfection cleaning products based on medical public space |
| CN110507246A (en) * | 2019-08-14 | 2019-11-29 | 深圳市银星智能科技股份有限公司 | Avoidance recharging method and cleaning equipment avoidance with laser radar recharge system |
| CN110764516A (en) * | 2019-12-06 | 2020-02-07 | 壹佰米机器人技术(北京)有限公司 | Rapid recharging method based on fusion of laser radar and infrared sensor |
| CN111000496A (en) * | 2019-12-19 | 2020-04-14 | 深圳市云鼠科技开发有限公司 | All-dimensional obstacle avoidance processing method for sweeper |
| CN111596257A (en) * | 2020-07-22 | 2020-08-28 | 上海擎朗智能科技有限公司 | Robot starting positioning method and device, electronic equipment and storage medium |
| CN111714031A (en) * | 2019-03-20 | 2020-09-29 | 北京奇虎科技有限公司 | Sweeping method and device for sweeping equipment and electronic equipment |
| CN112327842A (en) * | 2020-10-29 | 2021-02-05 | 深圳市普渡科技有限公司 | Method and system for positioning charging pile by robot |
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