CN110502011A - A kind of sweeper obstacles borders detection method - Google Patents
A kind of sweeper obstacles borders detection method Download PDFInfo
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- CN110502011A CN110502011A CN201910758645.4A CN201910758645A CN110502011A CN 110502011 A CN110502011 A CN 110502011A CN 201910758645 A CN201910758645 A CN 201910758645A CN 110502011 A CN110502011 A CN 110502011A
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- sweeper
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- obstacles borders
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- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of sweeper obstacles borders detection methods, when there is barrier in front, driving unit drives sweeper body to carry out rotation by certain angle, scan data is uploaded in the obstacles borders testing and analysis system in control unit by detection unit in real time, itself initial position data is uploaded to control unit by positioning unit, control unit sends rotation to driving unit according to the comparing result of initial position data and real time position data, standby or progress signal, when real time position data is consistent with initial position data, control unit sends standby signal to driving unit, virtual network fence is arranged using itself as basic point in obstacles borders testing and analysis system, and the relative position of scan data is marked on virtual network fence, and obstacles borders are fitted and judged with the quantity of sweeper peripheral obstacle, control Unit processed sends advance, detour or alarm signal according to the result of obstacles borders testing and analysis system.
Description
Technical field
The present invention relates to Intelligent cleaning robot technical field, specially a kind of sweeper obstacles borders detection method.
Background technique
Sweeper detection of obstacles uses mechanical collision formula or infrared reflection method to detect more at present, wherein mechanical collision
Formula can detect obstacle in the large area of front, due to colliding the continuity of mechanism, can accomplish direction of advance non-blind area, but it is limited with
The complexity and cost factor of structure, this method cannot accurate disturbance in judgement object space position and boundary informations；Infrared reflection
Collision detecting device is made of pipe several pairs of infrared receiving/transmissions, in existing detection method, two groups between pipe be check frequency；Separately have
The method for detecting detection barrier using coherent infrared radar, coherent infrared radar is at high cost, and has mechanical rotary device, by
It is limited to signal characteristic, sensor can not cover, and service life is relatively low, and its open structure is but also machine
Waterproof performance it is very low.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of sweeper obstacles borders detection method, mesh is solved
It is preceding sweeper sensing element check frequency as caused by complicated, open structure, at high cost.Service life is lower and machine
The poor problem of waterproof performance.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of sweeper obstacles borders inspection
It is single to be provided with detection unit, driving unit, positioning unit, storage in the sweeper ontology for examining system, including sweeper ontology
Member and control unit, the detection unit is set to sweeper side, is provided with positioning unit below the detection unit, described
Driving unit is set to sweeper body bottom portion, and described control unit and storage unit are set in sweeper ontology, the inspection
It surveys unit, driving unit, positioning unit and storage unit and is electrically connected control unit.
Preferably, the detection unit includes range sensor, and the range sensor encapsulation is set to sweeper front end.
Preferably, the range sensor is infrared tube range sensor or TOF range sensor.
Preferably, the positioning unit includes WiFi locating module, and the WiFi locating module is set to range sensor
Lower section.
Preferably, the driving unit includes driving plate, driving wheel and auxiliary wheel, and the driving wheel is electrically connected driving
Plate, the driving plate electric wire connect control unit.
A kind of sweeper obstacles borders detection method, includes the following steps:
Start sweeper, control unit sends enabling signal to detection unit and positioning unit, and detection unit, which receives, to be opened
Scan data is uploaded in the obstacles borders testing and analysis system in control unit in real time after dynamic signal, positioning unit receives
Position data is uploaded in control unit after to enabling signal and obtains initial position data；
Obstacles borders testing and analysis system is compared and analyzed according to the scan data received with preset value, works as scanning
When data are less than preset value, there is barrier in obstacles borders testing and analysis system judgement front, sends boundary to control unit and examines
Signal is surveyed, safety signal is otherwise sent；
When obstacles borders testing and analysis system sends boundary detection signals to control unit, control unit is single to driving
Member send rotation detect signal, and when positioning unit upload position data it is consistent with initial position data when, control unit to
Driving unit sends standby signal, and when obstacles borders testing and analysis system sends safety signal to control unit, control is single
Member sends progress signal to driving unit, and the driving plate in driving unit controls driving wheel band according to the signal that control unit is sent
Dynamic sweeper ontology rotation, standby or advance；
Obstacles borders testing and analysis system integrates scan data to obtain obstacles borders in real time, and judges to sweep the floor
Machine ontology peripheral obstacle quantity.
Preferably, after the data of obstacles borders testing and analysis system download location, with detection unit in initial position data
Virtual network fence diagrams are set up for basic point, and by label after the integration of real-time scan data combination real time position data in virtual network
On fence diagrams, the relative position of each scan data is obtained；
Relative position on virtual network fence diagrams is fitted by obstacles borders testing and analysis system according to algorithm, is obtained
Obstacles borders, and according to obstacles borders disturbance in judgement object quantity.
Preferably, the running log of control unit, the obstacles borders and sweeper that are scanned track route back up
It is uploaded to storage unit.
(3) beneficial effect
The present invention provides a kind of sweeper obstacles borders detection methods.Has following beneficial effect: the sweeper obstacle
Object boundary detection method, the rotation that body can be manipulated by the algorithm in control unit drive the detection list of body front end encapsulation
Member is scanned sweeper front, before control unit judges sweeper according to the combination of scan data and displacement state
The boundary of barrier when whether side has barrier and have barrier, and detour signal is sent to driving unit, the degree of automation
Height, high-efficient, detection unit is set to sweeper front end using package method, and detection unit does not have movement mechanism, non-open type
Structure dustproof and waterproof performance is good, long service life.
Detailed description of the invention
Fig. 1 is the scanning schematic diagram when present invention faces single barrier；
Fig. 2 is the scanning schematic diagram when present invention faces multi-obstacle avoidance；
Fig. 3 is scanning schematic diagram of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of sweeper obstacles borders detection system
System, including sweeper ontology, be provided in the sweeper ontology detection unit, driving unit, positioning unit, storage unit and
Control unit, the detection unit are set to sweeper side, are provided with positioning unit, the driving below the detection unit
Unit is set to sweeper body bottom portion, and described control unit and storage unit are set in sweeper ontology, and the detection is single
Member, driving unit, positioning unit and storage unit are electrically connected control unit, and control unit is provided with external interface, technology
Algorithm needed for personnel can input sweeper by the external interface.
The detection unit includes range sensor, and the range sensor encapsulation is set to sweeper front end.
The range sensor is infrared tube range sensor or TOF range sensor.
The positioning unit includes WiFi locating module, and the WiFi locating module is set to below range sensor, fixed
Bit location further includes code-disc, inertial sensor etc. based on dead reckoning, obtains the position of sweeper with WiFi locating module
Occur after information integration to control unit, and positioning unit is set in sweeper below detection unit, main measurement distance passes
The angle of line and advance route, code-disc are set on driving wheel between sensor and sweeper body central, can by code-disc
The more detailed motion state for understanding sweeper, such as direction, position.
The driving unit includes driving plate, driving wheel and auxiliary wheel, and the driving wheel is electrically connected driving plate, the drive
Movable plate is electrically connected control unit.
A kind of sweeper obstacles borders detection method, includes the following steps:
Start sweeper, control unit sends enabling signal to detection unit and positioning unit, and detection unit, which receives, to be opened
Scan data is uploaded in the obstacles borders testing and analysis system in control unit in real time after dynamic signal, positioning unit receives
Position data is uploaded in control unit after to enabling signal and obtains initial position data, it is fixed after obtaining initial position data
The position data that bit location uploads is real time position data；
Obstacles borders testing and analysis system is according to the scan data (i.e. range data) and preset value (preset value received
Generally half body of sweeping the floor is long, can freely set) it compares and analyzes, when scan data is less than preset value, barrier side
Boundary's testing and analysis system judgement front have barrier, to control unit send boundary detection signals, otherwise send safety signal to
Control unit；
When obstacles borders testing and analysis system sends boundary detection signals to control unit, control unit is single to driving
Member sends rotation and detects signal, and (sweeper first carries out when the position data that positioning unit uploads is caused with initial position data
Primary rotation compares the position data and initial position data of positioning unit upload again, that is, needs sweeper rotation one week, at this time
The position data that positioning unit uploads is consistent with initial position data, because of ground and self reason meeting when due to sweeper rotation
Certain change in location is caused, therefore a regional value should be compared, which is that preset value also is understood as position data
The set that fluctuation certain predetermined value is formed up and down), control unit sends standby signal to driving unit, when obstacles borders detect
When analysis system sends safety signal to control unit, control unit sends progress signal to driving unit, in driving unit
The signal control driving wheel that driving plate is sent according to control unit drives the rotation of sweeper ontology, and (sweeper is when rotation with a list
Rotation is until rotation one week, the unit angle generally preset value that can be divided exactly by 360 ° on the basis of parallactic angle), standby (stand-by time
Hold obstacles borders testing and analysis system to be fitted obstacles borders) or advance；
Obstacles borders testing and analysis system integrates scan data to obtain obstacles borders in real time, and judges to sweep the floor
Machine ontology peripheral obstacle quantity, when barrier quantity is 1, control unit controls sweeper and detours, when barrier quantity is big
When 1, control unit compares judgement with body to the gap between barrier, and judging can be logical by then controlling sweeper
It crosses, it cannot be by then issuing alarm signal.
After the data of obstacles borders testing and analysis system download location, using detection unit in initial position data as basic point frame
If virtual network fence diagrams, and by label after the integration of real-time scan data combination real time position data in virtual network fence diagrams
On, the relative position of each scan data is obtained, the point that real time position data, that is, sweeper records when rotating one week is having regional value
In the case where should be sweeper parameter value, sweeper of the invention is using round sweeper, when there is certain area value, turns
The real time position data of dynamic one week record is circumference, that is, sweeper shape of sweeper；
Relative position on virtual network fence diagrams is fitted by obstacles borders testing and analysis system according to algorithm, is obtained
Obstacles borders, and according to obstacles borders breakpoint number disturbance in judgement object quantity, that is, judge two phases of obstacles borders of fitting
Whether the distance between adjacent punctuate is greater than preset value, and judgement disconnects herein when greater than preset value, is two barriers.
The track route of the running log of control unit, the obstacles borders scanned and sweeper is backed up to be uploaded to and be deposited
Storage unit.
The present invention can sequentially include the following steps: step 1 at work: starting sweeper, control unit to detection unit and
Positioning unit sends enabling signal, and scan data is uploaded in control unit by detection unit in real time after receiving enabling signal
In obstacles borders testing and analysis system, scan data and preset value carry out obstacles borders testing and analysis system based on the received
Comparing result judges the front whether have barrier, if front clear, control unit sends progress signal to driving unit；
Step 2: if front has barrier or sweeper to encounter barrier when moving forward, obstacles borders test and analyze system
Control unit of uniting sends boundary detection signals, and positioning unit uploading position data obtain initial position data into control unit,
Rotation, which is sent, to driving unit after control unit record displacement state, that is, position data detects signal；
Step 3: driving unit drives sweeper body original place to rotate an angle after receiving rotation detection signal, and examines
It surveys unit and scan data is sent to the obstacles borders testing and analysis system in control unit in real time；
Step: 4: obstacles borders testing and analysis system integrates received scan data, and using itself as basic point
The relative position of scan data, and control unit comparison own location information and initial position are marked on virtual network fence diagrams
Information executes step 5 when own location information is consistent with initial position message, no to then follow the steps 2；
Step 5: control unit transmission standby signal to driving unit, and obstacles borders testing and analysis system is according to reception
Real-time scan data the obstacles borders around sweeper are fitted on virtual network fence diagrams, and to the barrier of fitting
Number is judged；
Step 6: if obstacles borders testing and analysis system judges sweeper peripheral obstacle number for 1, control unit
Send detour signal to driving unit, and obstacles borders testing and analysis system in control unit receive detection unit it is real-time on
The position of the scan data of biography real-time update itself on virtual network fence diagrams, it is no to then follow the steps 7；
Step 7: the obstacles borders testing and analysis system in control unit judges adjacent two according to pre-set program
Whether the distance between a barrier allows sweeper to pass through, and when judging result, which is, to be allowed, control unit is sent out to driving unit
Movable signal is sent, otherwise control unit issues alarm signal.
The working principle of the invention: when there is barrier in front, driving unit drive sweeper body by certain angle into
Scan data is uploaded in the obstacles borders testing and analysis system in control unit by row rotation, detection unit in real time, positioning
Itself initial position data is uploaded to control unit by unit, and control unit is according to initial position data and real time position data
Comparing result sends rotation, standby or progress signal to driving unit, when real time position data is consistent with initial position data
(with the regional value of initial position data comparison real time position data), control unit sends standby signal to driving unit, obstacle
Object border detection analysis system is basic point setting virtual network fence with itself (range sensor of detection unit), and virtual
The relative position of scan data is marked on network fence, and obstacles borders are fitted and judged with sweeper surrounding obstacles
The quantity of object, control unit send advance, detour or alarm signal according to the result of obstacles borders testing and analysis system.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of sweeper obstacles borders detection system, including sweeper ontology, which is characterized in that in the sweeper ontology
It is provided with detection unit, driving unit, positioning unit, storage unit and control unit, the detection unit is set to sweeper
Side, the detection unit lower section are provided with positioning unit, and the driving unit is set to sweeper body bottom portion, the control
Unit and storage unit are set in sweeper ontology, and the detection unit, driving unit, positioning unit and storage unit are electric
Property connection control unit.
2. a kind of sweeper obstacles borders detection system according to claim 1, which is characterized in that the detection unit
Including range sensor, the range sensor encapsulation is set to sweeper front end.
3. a kind of sweeper obstacles borders detection system according to claim 2, which is characterized in that the Distance-sensing
Device is infrared tube range sensor or TOF range sensor.
4. a kind of sweeper obstacles borders detection system according to claim 3, which is characterized in that the positioning unit
Including WiFi locating module, the WiFi locating module is set to below range sensor.
5. a kind of sweeper obstacles borders detection system according to claim 1, which is characterized in that the driving unit
Including driving plate, driving wheel and auxiliary wheel, the driving wheel is electrically connected driving plate, and the driving plate electric wire connection control is single
Member.
6. a kind of sweeper obstacles borders detection method, which comprises the steps of:
Start sweeper, control unit sends enabling signal to detection unit and positioning unit, and detection unit receives starting letter
Scan data is uploaded in the obstacles borders testing and analysis system in control unit in real time after number, positioning unit, which receives, to be opened
Position data is uploaded in control unit after dynamic signal and obtains initial position data；
Obstacles borders testing and analysis system is compared and analyzed according to the scan data received with preset value, works as scan data
When less than preset value, there is barrier in obstacles borders testing and analysis system judgement front, sends border detection letter to control unit
Number, otherwise send safety signal；
When obstacles borders testing and analysis system sends boundary detection signals to control unit, control unit is sent out to driving unit
It send rotation to detect signal, and when the position data that positioning unit uploads is consistent with initial position data, controls unit to driving
Unit send standby signal, when obstacles borders testing and analysis system to control unit send safety signal when, control unit to
Driving unit sends progress signal, and the signal control driving wheel drive that the driving plate in driving unit is sent according to control unit is swept
Ground machine ontology rotation, standby or advance；
Obstacles borders testing and analysis system integrates scan data to obtain obstacles borders in real time, and judges sweeper sheet
Body peripheral obstacle quantity.
7. a kind of sweeper obstacles borders detection method according to claim 6, which is characterized in that
After the data of obstacles borders testing and analysis system download location, set up using detection unit in initial position data as basic point empty
Quasi- network fence diagrams, and label after the integration of real-time scan data combination real time position data is obtained on virtual network fence diagrams
To the relative position of each scan data；
Relative position on virtual network fence diagrams is fitted by obstacles borders testing and analysis system according to algorithm, obtains obstacle
Object boundary, and according to obstacles borders disturbance in judgement object quantity.
8. a kind of sweeper obstacles borders detection method according to claim 6, which is characterized in that the fortune of control unit
The track route of row log, the obstacles borders scanned and sweeper backs up and is uploaded to storage unit.
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| CN201910758645.4A CN110502011A (en) | 2019-08-16 | 2019-08-16 | A kind of sweeper obstacles borders detection method |
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