CN110755002A - Intelligent multifunctional outdoor cleaning robot - Google Patents
Intelligent multifunctional outdoor cleaning robot Download PDFInfo
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- CN110755002A CN110755002A CN201911119032.2A CN201911119032A CN110755002A CN 110755002 A CN110755002 A CN 110755002A CN 201911119032 A CN201911119032 A CN 201911119032A CN 110755002 A CN110755002 A CN 110755002A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 140
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 230000003993 interaction Effects 0.000 claims abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 34
- 238000005259 measurement Methods 0.000 claims description 22
- 239000011159 matrix material Substances 0.000 claims description 17
- 239000000428 dust Substances 0.000 claims description 9
- 230000004927 fusion Effects 0.000 claims description 8
- 238000005507 spraying Methods 0.000 claims description 7
- 230000001105 regulatory Effects 0.000 claims description 6
- 230000000875 corresponding Effects 0.000 claims description 5
- 238000007499 fusion processing Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 210000004907 Glands Anatomy 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000003749 cleanliness Effects 0.000 claims description 2
- 239000003643 water by type Substances 0.000 claims description 2
- 230000002567 autonomic Effects 0.000 abstract 1
- 238000011084 recovery Methods 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 7
- 238000010408 sweeping Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003247 decreasing Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000009863 impact test Methods 0.000 description 1
- 239000010847 non-recyclable waste Substances 0.000 description 1
- 239000010819 recyclable waste Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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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
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
Abstract
The utility model provides a multi-functional outdoor robot that cleans of intelligence, includes power drive unit, data transmission unit, autonomic navigation unit, central processing unit, ground monitoring unit, environment monitoring unit, intelligent watering unit, rubbish automatic classification unit and intelligent speed governing unit. The automatic garbage sorting system comprises a power driving unit, a data transmission unit, a self-contained navigation unit, a central processing unit, a ground detection unit, an environment monitoring unit and an automatic garbage sorting unit, wherein the power driving unit is used for driving each part, the data transmission unit is used for cleaning information interaction between a robot and a dispatching room, the self-contained navigation unit realizes self-contained navigation, the central processing unit is used for processing information of each unit and enabling the units to work in a cooperative mode, the ground detection unit is used for monitoring road conditions, the environment monitoring unit is used. The invention realizes high-precision navigation, multi-path condition cleaning and independent garbage classification and recovery, can monitor the environmental information of a working area and improves the intelligence of the cleaning robot.
Description
Technical Field
The invention relates to the field of outdoor cleaning, in particular to an intelligent multifunctional outdoor cleaning robot.
Background
The cleaning robot is used as an intelligent robot, can help people clean and sweep, and greatly improves the comfort and the convenience of people in life. Most of the existing cleaning robots are used indoors, and the types of the outdoor cleaning robots are few. The main difficulties in outdoor cleaning are: the cleaning area is large, the garbage types are multiple, the road condition is complex, and the cleaning of a working area is difficult to realize through autonomous navigation.
Currently, an outdoor cleaning robot mainly comprises a walking unit, a cleaning unit and an autonomous navigation unit. The intelligent cleaning robot aims at flat ground, comprises indoor and outdoor, belongs to a relatively mature technology in the cleaning industry, and is an example in which various intelligent cleaning robots, particularly indoor cleaning robots, are carried out. However, such cleaning robots are only suitable for flat floors. Due to the fact that outdoor road conditions are complex, such as pothole road conditions and high-height road surfaces of garbage barriers, cleaning brushes of cleaning units of the existing cleaning robots generally cannot be automatically adjusted according to the road surface conditions, and the existing cleaning robots are difficult to be suitable for cleaning the complex road conditions. The automatic navigation path planning of the existing outdoor cleaning robot is not accurate, and the cleaning of a working area cannot be well completed. Chinese patent application 201810079515.3 discloses an outdoor cleaning robot, which comprises an automatic driving device and a controller, wherein a path planning and image recognition module is arranged in the controller; the image recognition module is used for determining the type of an object by recognizing and collecting an object image, the sweeper is provided with a garbage collection mechanism, and a garbage bin mechanical arm and other structures are arranged on the side of the sweeper. Although the application document suggests that a path planning and image recognition module is arranged in the controller, how to perform path planning and garbage classification recognition in the application document is not disclosed.
Disclosure of Invention
The invention aims to provide an intelligent multifunctional outdoor cleaning robot, which aims to solve part of defects in the existing cleaning robot.
The invention provides an intelligent multifunctional outdoor cleaning robot, which comprises a vehicle body and a cleaning unit, wherein the vehicle body is provided with a cleaning opening; the intelligent garbage automatic classification system is characterized by further comprising a power driving unit, a data transmission unit, an autonomous navigation unit, a central processing unit, a ground detection unit, an environment monitoring unit, an intelligent watering unit, an automatic garbage classification unit and an intelligent speed regulation unit which are arranged on the vehicle body; the power driving unit is used for driving all parts of the cleaning robot and supplying power; the data transmission unit is used for information interaction between the cleaning robot and the scheduling room; the autonomous navigation unit is used for autonomous navigation of the cleaning robot; the ground detection unit is used for monitoring road conditions, and the environment monitoring unit is used for monitoring the environment and acquiring environment information; the garbage classification unit automatically classifies and recovers the cleaned garbage; the intelligent speed regulating unit is used for intelligently regulating the speed of the cleaning robot in different environmental cleanliness degrees; the central processing unit is a control center of the cleaning robot, is connected with each unit, and is used for processing information and sending instructions to each unit.
The power driving unit comprises a power supply and a power supply management module; the power supply is of a master-slave dual-power structure, and the main power supply is a battery pack; the slave power source is a solar cell.
The power management module adopts an SOC (state of charge) online estimation method based on Kalman filtering to carry out on the residual electric quantity of the cleaning robotCarrying out estimation; according to the previous period of timeAverage speed of travelAnd consume energyCalculating the cruising mileage of the cleaning robot, considering the condition that the cleaning robot possibly needs to avoid obstacles or pedestrians in the process of cleaning the road surface, and reservingThe electric quantity is redundant to obtain the cruising mileage(ii) a When the cruising mileage of the cleaning robot is not enough to return to the charging station, the power supply is automatically switched to the slave power supply so as to ensure the normal work of the cleaning robot.
The data transmission unit comprises a GPRS 4G module and a data transmission module; the GPRS 4G module and the data transmission module are respectively communicated with a scheduling room; preferentially selecting a GPRS 4G module to communicate with a dispatching desk; when the network speed V is less than 50Kbps, and the cleaning robot is within 20 kilometers of the dispatching room, the cleaning robot is switched to the data transmission module to communicate with the dispatching room.
The autonomous navigation unit comprises a Beidou-GPS dual-mode positioning navigation system arranged on the vehicle body, a laser radar arranged in the upper front of the vehicle body, an infrared vision binocular camera arranged in the right front of the vehicle body and an inertia measurement sensor arranged on the vehicle body; the Beidou-GPS dual-mode positioning navigation system is used for navigation work of cleaning global routes of the robot, and the laser radar, the infrared vision binocular camera, the inertia measurement unit and the Beidou-GPS dual-mode positioning navigation system are used for data fusion and local accurate navigation work.
The fusion process is as follows:
s1: constructing a prediction state equation of the system:
whereinAnd
for the output of the system, i.e. the target quantity,the next moment of time is
In order to be a state transition matrix,
in order to control the matrix of the control,
inputting for the system;to measure noise, it suffices，The noise is environmental noise and is obtained by real-time estimation;
s2: constructing a state equation of the measurement:
wherein
Is as followsThe measured values of the individual sensors are,
the sensor for which the matrix is measured,measurement noise therefor, which satisfies；
S3: according to the equation of state inTime to next timeAnd (3) predicting:
s4: according toPredicted value of time and sensor inAnd determining the optimal estimation value of the sensor data fusion system by using a measurement value matrix at the moment as follows:
in the formula (I), the compound is shown in the specification,is composed ofThe optimal state estimation value of the sensor fusion at the moment;in order to be the basis of the kalman gain,for each sensor inA matrix of measured values at the time instants consisting of the measured values from the measurement equation,is an observation matrix.
The environmental noiseThe calculation rule is as follows according to the complexity of the environment: detecting the quantity A of objects in a unit area in the environment image according to the yolo v3 algorithm, and enabling。
The environment monitoring unit is arranged at the tail of the vehicle body; the device comprises a noise sensor, an electronic radiation sensor, a PM2.5 measuring sensor and a temperature and humidity sensor.
The intelligent sprinkling unit comprises a water tank arranged in the vehicle body and sprinkling nozzles which are communicated with the water tank and positioned outside the two sides of the vehicle body, and the sprinkling nozzles are positioned above the liquid level; a gland capable of moving up and down to force water to be pressed out of the water tank is arranged above the liquid level in the water tank; when the concentration of dust in the air is monitored to be higher thanWhen the intelligent watering device is used, the central processing unit sends an instruction to the intelligent watering unit, and the intelligent watering unit automatically waters; and according to the dust concentration, determining the sprinkling speed: when in useWhen the water spraying speed is more than or equal to 50, the water spraying speed V = 150; when in use(V = 5) water application speed <50 >-20), whereinIn units of cm3/s，In units of mg/m3。
The automatic garbage classification unit comprises a binocular camera arranged right in front of the vehicle body, and a recyclable garbage can and a non-recyclable garbage can which are arranged in the vehicle body side by side; a garbage collecting main pipe is arranged at the bottom of the vehicle body behind the cleaning unit, and two garbage collecting branch pipes at one end of the garbage collecting main pipe are respectively communicated with a recyclable garbage can and a non-recyclable garbage can; a channel switch is arranged at the joint of the garbage collecting main pipe and the garbage collecting branch pipe, and a communication channel between the garbage collecting branch pipe and a garbage can communicated with the garbage collecting branch pipe can be cut off or communicated according to the identified garbage type; and negative pressure fans are arranged at the tops of the recyclable dustbin and the non-recyclable dustbin.
Identifying and classifying the garbage, comprising the following steps: s1, collecting an environment image through a binocular camera arranged right in front of the vehicle body; s2, carrying out primary classification on the objects in the acquired environment image by adopting yolov3 algorithm, and setting confidence K for primarily judging recyclable garbage according to a primary classification result; meanwhile, counting the number of objects in the image, and calculating the number A of the objects in unit area; s3, obtaining a corresponding environmental factor Y according to the five formulated fuzzy rules; first, when A is less than 6, Y = 1; second, when A is more than or equal to 6 and less than 12, Y = 0.9; thirdly, when A is more than or equal to 12 and less than 20, Y = 0.85; fourthly, when A is more than or equal to 20 and less than 30, Y = 0.8; fifthly, when A is larger than or equal to 30, Y = 0.75; s4, obtaining an environmental factor Y; s4, calculating the product P of K x Y; when P is larger than 0.7, judging that the object is recoverable garbage, opening a garbage collecting branch pipe communicated with a recoverable garbage can by a channel switch, and collecting the garbage into the recoverable garbage can; and when the P is less than or equal to 0.7, judging that the object is the unrecoverable garbage, and opening a garbage collecting branch pipe communicated with the unrecoverable garbage box by using the passage switch to collect the garbage into the unrecoverable garbage box.
The ground detection unit is positioned at the center of the bottom of the vehicle body and is close to the garbage inlet end of the automatic garbage classification unit; the ground detection unit comprises a hard object detection sensor and an inclination angle sensor.
The hard object detection sensor detects whether the cleaning robot contacts a hard object;the stress measured after the stress sensor is contacted with the impacted object isAccording toWhereinIn order to be the coefficient of the material,the cleaning speed is set; when in useWhen the impact is not strong, the impact is judged to be hard.
The intelligent speed regulating unit is used for intelligently controlling the speed of the cleaning robot according to the number A of objects in a unit area measured by the automatic garbage classification unit: when A is larger than or equal to 30, the vehicle speed V =0.3 m/s; when a < 30, the vehicle speed V =0.01 × 60-a) m/s.
The intelligent multifunctional outdoor cleaning robot further comprises a service brake module, a display module and a current detection module. The emergency braking module is matched with a service braking device with a control valve, and when an illegal target suddenly breaks into the field of view of the sweeper, the service braking device is controlled to brake emergently. The display module displays the working time, the residual electric quantity, the working environment map, the position of the cleaning robot, the information of the cleaned area and the like by using an LCD. The current detection module detects the overcurrent condition of the motor and prevents the motor from being damaged due to locked rotor of the motor. And judging whether the motor current I is greater than 28A and the traveling speed V is less than 0.1m/s, if so, controlling the power supply to be powered off, and timely transmitting the position information of the power supply back to the dispatching desk.
The outdoor cleaning robot can adjust the cleaning speed and the cleaning gradient according to different road conditions; and through accurate navigation, a cleaning path can be better planned, and the method is suitable for outdoor complex environments; and garbage can be automatically identified and classified. The dust, noise and the like of the external environment can be detected, a report is sent out or a watering function is automatically started according to the detection condition, and the dust of the environment is reduced; still through power management, guarantee that intelligence cleans machine people and normally work, and can guarantee that it has enough electric quantity to get back to the position of charging and charge. And the real-time communication between the cleaning robot and the dispatching room is ensured through two-channel data transmission.
Drawings
Fig. 1 is a schematic view of an outline structure of a cleaning robot.
Fig. 2 is a schematic diagram showing the relationship between the unit modules of the cleaning robot.
Fig. 3 is a schematic structural diagram of the garbage can.
Fig. 4 is a schematic view of a sprinkling structure.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The invention discloses an intelligent multifunctional outdoor cleaning robot, which comprises a vehicle body 1 and wheels for driving the vehicle body to travel, wherein the wheels are driven by a traveling motor as shown in figure 1. Other body contour structures than the body contour structure of fig. 1 are possible and are not limited to fig. 1. The vehicle body is provided with a cleaning unit, an automatic garbage classification unit, an intelligent sprinkling unit, a ground detection unit, an autonomous navigation unit, an environment monitoring unit, a central processing unit, a power driving unit, a data transmission unit and the like, and the structure and the control of the vehicle body are as follows.
The cleaning unit comprises a cleaning brush 2 and a cleaning motor for driving the cleaning brush to rotate. The cleaning brush is positioned at the front part below the vehicle body and used for cleaning ground garbage. The cleaning unit is a mature technology, in this embodiment, the cleaning unit can adopt a cleaning mechanism in 201920421703.X previously applied by the applicant, that is, the cleaning brush is connected with the telescopic frame, referring to fig. 2, the height of the cleaning brush can be adjusted by the telescopic frame, and the inclination angle of the cleaning brush can also be adjusted by different degrees of expansion in different directions of the telescopic frame. The cleaning unit may be a cleaning unit that is not described in detail herein, since a conventional cleaning mechanism may be used.
The automatic garbage classification unit comprises a garbage collection device and garbage identification and classification. The garbage collecting device is provided with a garbage collecting main pipe 3 at the bottom of the vehicle body behind the sweeping brush. The garbage collecting main pipe is communicated with the garbage can through a pipeline. The dustbin is installed on the automobile body. The waste bin is two, one is a recyclable waste bin 31 and the other is a non-recyclable waste bin 32. The two garbage cans are arranged in parallel in the vehicle body. One end of the garbage collecting main pipe is respectively communicated with the two garbage collecting branch pipes, one of the two garbage collecting straight pipes is communicated with the recyclable garbage can, and the other garbage collecting straight pipe is communicated with the non-recyclable garbage can. The garbage collecting main pipe and the two garbage collecting branch pipes are Y-shaped. A channel switch 33 which can seal a garbage collecting branch pipe is arranged in the pipe at the connecting end of the garbage collecting main pipe and the garbage collecting branch pipe. The channel switch 33 can move according to the type of the garbage, when the garbage is recoverable garbage, the channel switch 33 moves to one end of the garbage collecting branch pipe communicated with the non-recoverable garbage can to close the inlet of the garbage collecting branch pipe, and the end of the garbage collecting branch pipe communicated with the recoverable garbage can is opened to enable the recoverable garbage to be recovered into the recoverable garbage can; when the garbage is determined to be unrecoverable, the passage switch 33 closes the garbage collecting branch pipe communicated with the recyclable garbage can, and opens the garbage collecting branch pipe communicated with the unrecoverable garbage can for the unrecoverable garbage to be recycled into the unrecoverable garbage can. The channel switch can be an electromagnetic switch, and can also be other switches which can be intelligently controlled. The top of the adjacent two garbage cans is provided with a turbo fan 34, and the turbo fan 34 can provide garbage recycling power for the recyclable garbage can and the non-recyclable garbage can. One side of the dustbin can be provided with a mechanical arm for dumping the garbage. An infrared binocular camera (not shown) is provided directly in front of the vehicle body to acquire images of objects in the environment in front of the vehicle body.
Garbage identification and classification: s1, collecting an environment image through a binocular camera arranged right in front of the vehicle body; s2, carrying out primary classification on the objects in the acquired environment image by adopting yolov3 algorithm, and setting confidence K for primarily judging recyclable garbage according to a primary classification result; meanwhile, counting the number of objects in the image, and calculating the number A of the objects in unit area; and S3, obtaining the corresponding environmental factor Y according to the five formulated fuzzy rules. First, when A is less than 6, Y = 1; second, when A is more than or equal to 6 and less than 12, Y = 0.9; thirdly, when A is more than or equal to 12 and less than 20, Y = 0.85; fourthly, when A is more than or equal to 20 and less than 30, Y = 0.8; fifth, when A is equal to or greater than 30, Y = 0.75. S4, obtaining an environmental factor Y; s4, calculating the product P of K x Y; when P is more than 0.7, judging that the object is recoverable garbage, opening a garbage collecting branch pipe communicated with a recoverable garbage can by the channel switch, and collecting the garbage into the recoverable garbage can; and when the P is less than or equal to 0.7, judging that the object is the unrecoverable garbage, and opening a garbage collecting branch pipe communicated with the unrecoverable garbage box by using the passage switch to collect the garbage into the unrecoverable garbage box. And realizing garbage recognition and classification.
The cleaning speed of the sweeper can be intelligently adjusted according to the quantity A of objects in unit area in garbage classification and identification. When the number of objects in a unit area is large, it indicates that the number of objects in front of the sweeper is large, and the environment is complicated, at this time, the sweeping speed of the sweeper should be reduced, and when the number of objects is small, the sweeping speed can be properly increased. In the present embodiment, the vehicle speed is adjusted based on: when A is larger than or equal to 30, the vehicle speed V =0.3 m/s; when a < 30, the vehicle speed V =0.01 (60-a) m/s is adjusted.
An environment monitoring unit (not shown) is arranged at the tail of the vehicle body and comprises a noise sensor, an electronic radiation sensor, a PM2.5 measuring sensor, a temperature and humidity sensor and other environment monitoring sensors. When the monitored air quality exceeds the human body safety index, the measured environmental quality parameters are broadcasted once every 30 minutes to remind pedestrians of paying attention to the current environmental air quality. The cleaning robot stores the measured environmental information, generates a report every week, records the pollution condition of the environment measured by the cleaning robot in a week, marks the heavily polluted area out and sends the heavily polluted area to the urban environment monitoring center, and is beneficial to an environment management department to manage the polluted area.
The intelligent watering unit comprises a watering device and intelligent watering control. The sprinkler comprises a water tank 4 arranged in a car body, a pressure plate 41 which can be displaced last time is arranged above the liquid level in the water tank,a vertically displaceable stay 42 is provided on the pressure plate 41, and the stay is connected to a mechanism for driving the vertical displacement thereof. Two sides of the vehicle body behind the cleaning brush are respectively provided with a water spray nozzle 43, and the water spray nozzles 53 are communicated with the water tank through pipelines. When water needs to be sprayed, the stay bar drives the pressing plate to move downwards to apply pressure to the water in the water tank, so that the water is sprayed out of the water spraying nozzle; when the water is not needed to be sprinkled, no external force acts on the water level, and no water is sprinkled from the water sprinkler. Intelligent control of watering: when the environment monitoring unit monitors that the dust concentration in the air is greater thanAnd the central processing unit controls the stay bar to move downwards to automatically spray water, so that the influence on the environment in the cleaning process is reduced. And the sprinkling speed of the sprinkling device is controlled according to the dust concentration. Setting the dust concentration in the air asAnd establishing a corresponding rule: when in use
When the water spraying speed is more than or equal to 50, the water spraying speed V = 150; when in use(V = 5) water application speed <50 >-20), wherein
In units of cm3/s，In units of mg/m3。
A ground detection unit (not shown) is located at the center of the bottom of the vehicle body, and is close to the inlet of the garbage collection main pipe at the bottom of the vehicle body. The ground detection unit comprises a stress sensor and an inclination angleA sensor. The hardness of the object is detected through the stress sensor, and whether the object is a hard object or not is determined. When the stress sensor touches the object, the impact force measured by the stress sensor is F, according toWhereinIs a material coefficient, is related to an impact object and an impacted object,
the cleaning speed of the cleaning robot. The formula is obtained by fitting curves of different impact speeds of the cleaning robot corresponding to different impact forces in different materials. When the impacted hard object is a wood board, it
Has a value of
. The coefficient of the obtained material is more than 250 through the impact test of different hard objects. Therefore, in this embodiment, the setting is as followsWhen the impact is needed, the impacted object is a hard object. The inclination angle sensor is used for sensing the inclination of a road surface. When the inclination of the road surface changes, the central processing unit controls the cleaning unit to adjust the height of the cleaning brush, when the inclination angle is increased, the sweeping brush is properly extended, and when the inclination angle is decreased, the cleaning brush is properly recovered.
And the autonomous navigation unit (not shown) comprises a Beidou-GPS dual-mode positioning navigation system, a laser radar, an infrared vision binocular camera and an inertia measurement sensor. The Beidou-GPS dual-mode positioning navigation system is installed on the vehicle body, the laser radar is located in front of the vehicle body, and the infrared vision binocular camera is arranged in front of the vehicle body. The inertial measurement sensor is arranged on the vehicle body. The Beidou-GPS dual-mode positioning navigation system is used for cleaning the navigation work of the global route of the robot; and the laser radar, the infrared vision binocular camera, the inertial measurement sensor and the Beidou-GPS dual-mode positioning navigation system perform data fusion and are used for local precise navigation work. The influence of environmental factors on the measurement of the sensor is further considered in the fusion process, so that the method is more suitable for different environments.
In order to accurately estimate the position of the cleaning robot, the invention uses a Kalman filtering algorithm to fuse the data of a vision, a laser radar, an inertial measurement sensor and a Beidou-GPS dual-mode positioning navigation system, and adds the influence of environmental factors on the measurement of the sensor in the fusion process, so that the invention is more suitable for different environments. The data fusion process is as follows:
s1: predicted state equation of the system:
whereinAndfor the output of the system, i.e. the target quantity,in order to be a state transition matrix,in order to control the matrix of the control,is the input of the system, and the system is,
to measure noise, it suffices，The environmental noise is obtained by real-time estimation.
S2: equation of state of measurement:
wherein is atAt the moment of time, the time of day,
is as followsThe measured values of the individual sensors are,
is as followsThe individual sensors measure a matrix of measurements of,is as followsMeasurement noise of individual sensors, which satisfies。
S3: the predicted value at the next moment is:
in the formulaIs at the same time
Time pairThe time of day is worth predicting.
S4: the optimal estimate is:
in the formula (I), the compound is shown in the specification,is composed ofThe best state estimate for sensor fusion at that moment.In order to be the basis of the kalman gain,for each sensor inA matrix of measured values at the time instants consisting of the measured values from the measurement equation,is an observation matrix.
Further, the ambient noise in S2The judgment is carried out according to the complexity of the environment, and the judgment standard is as follows: according to the quantity A of objects in a unit area in the yolo detection environment image, the orderWill beIs reduced toIn addition, the environmental noise is added into the noise measured by the sensor, so that the adaptability of the navigation system to the environment is improved.
The power supply is a dual-power structure and is divided into a main part and a secondary part. The main power supply is a 18650 battery pack, a 30-parallel 20-string structure is adopted, the battery capacity reaches 1200AH, and the discharge current reaches 30A. The auxiliary power supply adopts a solar cell and is provided with a solar photovoltaic module arranged on the vehicle body, the power of the module can reach 300W, and the solar photovoltaic module can be automatically charged in sunlight. The power management adopts an SOC (state of charge) online estimation method based on Kalman filtering to carry out the remaining electric quantity of the cleaning robotAn estimation is performed. According to the previous period of timeAverage speed of travelAnd consume energy
Calculating the cruising mileage of the cleaning robot, considering the condition that the cleaning robot possibly needs to avoid obstacles or pedestrians in the process of cleaning the road surface, and reservingThe electric quantity is redundant to obtain the endurance mileage. When the cruising mileage of the cleaning robot is not enough to return to the charging station, the power supply is automatically switched to the slave power supply so as to ensure the normal work of the cleaning robot.
The data transmission unit comprises a GPRS 4G module and a data transmission module. And the GPRS 4G module and the data transmission module are respectively communicated with the dispatching room. Two channels are selected by judging the network congestion degree, the GPRS 4G module is preferentially selected to be used for communicating with the dispatching desk, but when the network speed V is less than 50Kbps, and the cleaning robot is within 20 kilometers of the dispatching room, the data transmission module is used for communicating with the dispatching room.
And the power driving unit is positioned at the right lower part of the vehicle body and is used for driving each part of the cleaning robot and supplying power. The power driving unit controls the actions of all parts and the switching management between power supplies by sending and receiving all control signals to the central processing unit.
And the central processing unit receives the signals sent by the units, processes and judges the signals, sends an action instruction to the units and controls the units to act in order. In the present embodiment, JetsonTX2 is used as a central processing unit to control the actions of the cleaning robot.
The cleaning robot also comprises a service emergency braking module, a display module and a current detection module. The emergency driving braking module is provided with a driving braking device with a control valve, and when the illegal target suddenly breaks into the field of view of the sweeper, the emergency driving braking device is controlled to brake emergently. The display module displays the working time, the residual electric quantity, the working environment map, the position of the cleaning robot, the information of the cleaned area and the like by using an LCD. The current detection module detects the overcurrent condition of the motor, judges whether the current of the motor is greater than 28A and the traveling speed V of the cleaning robot is less than 0.1m/s, and controls the power supply to be powered off and timely transmits the position information of the cleaning robot back to the dispatching desk if the current of the motor is greater than 28A.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention.
Claims (14)
1. An intelligent multifunctional outdoor cleaning robot comprises a vehicle body and a cleaning unit; the intelligent garbage automatic classification system is characterized by further comprising a power driving unit, a data transmission unit, an autonomous navigation unit, a central processing unit, a ground detection unit, an environment monitoring unit, an intelligent watering unit, an automatic garbage classification unit and an intelligent speed regulation unit which are arranged on the vehicle body; the power driving unit is used for driving all parts of the cleaning robot and supplying power; the data transmission unit is used for information interaction between the cleaning robot and the scheduling room; the autonomous navigation unit is used for autonomous navigation of the cleaning robot; the road surface monitoring unit is used for monitoring road conditions, and the environment monitoring unit is used for monitoring the environment and acquiring environment information; the garbage classification unit automatically classifies and recovers the cleaned garbage; the intelligent speed regulating unit is used for intelligently regulating the speed of the cleaning robot in different environmental cleanliness degrees; the central processing unit is a control center of the cleaning robot, is connected with each unit, and is used for processing information and sending instructions to each unit.
2. The intelligent multifunctional outdoor cleaning robot according to claim 1, wherein the power driving unit comprises a power supply and a power supply management module; the power supply is of a master-slave dual-power structure, and the main power supply is a battery pack; the slave power source is a solar cell.
3. The power management module of claim 2, wherein the power management module adopts an online SOC estimation method based on kalman filtering to estimate the remaining power of the cleaning robotCarrying out estimation; according to the previous period of timeAverage speed of travel
And consume energyCalculating the cruising mileage of the cleaning robot, considering the condition that the cleaning robot possibly needs to avoid obstacles or pedestrians in the process of cleaning the road surface, and reservingThe electric quantity is redundant to obtain the cruising mileage(ii) a When the cruising mileage of the cleaning robot is not enough to return to the charging station, the power supply is automatically switched to the slave power supply so as to ensure the normal work of the cleaning robot.
4. The intelligent multifunctional outdoor cleaning robot of claim 1, wherein the data transmission unit comprises two communication modes of a GPRS 4G module and a data transmission module; the GPRS 4G module and the data transmission module are respectively communicated with a scheduling room; preferentially selecting a GPRS 4G module to communicate with a dispatching desk; when the network speed V is less than 50Kbps, and the cleaning robot is within 20 kilometers of the dispatching room, the cleaning robot is switched to the data transmission module to communicate with the dispatching room.
5. The intelligent multifunctional outdoor cleaning robot as claimed in claim 1, wherein the autonomous navigation unit comprises a Beidou-GPS dual-mode positioning navigation system arranged on the vehicle body, a laser radar arranged in the upper front of the vehicle body, an infrared vision binocular camera arranged in the right front of the vehicle body and an inertial measurement sensor arranged on the vehicle body; the Beidou-GPS dual-mode positioning navigation system is used for navigation work of cleaning global routes of the robot, and the laser radar, the infrared vision binocular camera, the inertia measurement unit and the Beidou-GPS dual-mode positioning navigation system are used for data fusion and local accurate navigation work.
6. The intelligent multifunctional outdoor cleaning robot according to claim 5, wherein the fusion process is as follows:
s1: constructing a prediction state equation of the system:
whereinAndfor the output of the system, i.e. the target quantity,
the next moment of time isIn order to be a state transition matrix,in order to control the matrix of the control,inputting for the system;
to measure noise, it suffices
，The noise is environmental noise and is obtained by real-time estimation;
s2: constructing a state equation of the measurement:
whereinIs as followsThe measured values of the individual sensors are,the sensor for which the matrix is measured,measurement noise therefor, which satisfies；
S3: according to the equation of state inTime to next timeAnd (3) predicting:
s4: according toPredicted value of time and sensor inAnd determining the optimal estimation value of the sensor data fusion system by using a measurement value matrix at the moment as follows:
in the formula (I), the compound is shown in the specification,
is composed ofOf time of dayAn optimal state estimation value of sensor fusion;
in order to be the basis of the kalman gain,for each sensor inA matrix of measured values at the time instants consisting of the measured values from the measurement equation,is an observation matrix.
7. The intelligent multifunctional outdoor cleaning robot of claim 6, wherein the environmental noise isThe calculation rule is as follows according to the complexity of the environment: detecting the quantity A of objects in a unit area in the environment image according to the yolo v3 algorithm, and enabling。
8. The intelligent multifunctional outdoor cleaning robot according to claim 1, wherein the environment monitoring unit is disposed at the tail of the vehicle body; the device comprises a noise sensor, an electronic radiation sensor, a PM2.5 measuring sensor and a temperature and humidity sensor.
9. The intelligent multifunctional outdoor cleaning robot according to claim 1, wherein the intelligent watering unit comprises a water tank disposed in the vehicle body and watering nozzles communicating with the water tank and located outside both sides of the vehicle body, the watering nozzles being located above the liquid level; liquid in the water tankA gland which can move up and down to force water to be pressed out from the water tank is arranged above the surface; when the concentration of dust in the air is monitored to be higher thanWhen the intelligent watering device is used, the central processing unit sends an instruction to the intelligent watering unit, and the intelligent watering unit automatically waters; and according to the dust concentration, determining the sprinkling speed: when in useWhen the water spraying speed is more than or equal to 50, the water spraying speed V = 150; when in use(V = 5) water application speed <50 >-20), wherein
In units of cm3/s，In units of mg/m3。
10. The intelligent multifunctional outdoor cleaning robot according to claim 1, wherein the automatic garbage sorting unit includes a binocular camera disposed right in front of the vehicle body, a recyclable garbage can and a non-recyclable garbage can disposed side by side in the vehicle body; a garbage collecting main pipe is arranged at the bottom of the vehicle body behind the cleaning unit, and two garbage collecting branch pipes at one end of the garbage collecting main pipe are respectively communicated with a recyclable garbage can and a non-recyclable garbage can; a channel switch is arranged at the joint of the garbage collecting main pipe and the garbage collecting branch pipe, and a communication channel between the garbage collecting branch pipe and a garbage can communicated with the garbage collecting branch pipe can be cut off or communicated according to the identified garbage type; and negative pressure fans are arranged at the tops of the recyclable dustbin and the non-recyclable dustbin.
11. The intelligent multifunctional outdoor cleaning robot of claim 10, wherein the garbage recognition and classification comprises the following steps: s1, collecting an environment image through a binocular camera arranged right in front of the vehicle body; s2, carrying out primary classification on the objects in the acquired environment image by adopting yolov3 algorithm, and setting confidence K for primarily judging recyclable garbage according to a primary classification result; meanwhile, counting the number of objects in the image, and calculating the number A of the objects in unit area; s3, obtaining a corresponding environmental factor Y according to the five formulated fuzzy rules; first, when A is less than 6, Y = 1; second, when A is more than or equal to 6 and less than 12, Y = 0.9; thirdly, when A is more than or equal to 12 and less than 20, Y = 0.85; fourthly, when A is more than or equal to 20 and less than 30, Y = 0.8; fifthly, when A is larger than or equal to 30, Y = 0.75; s4, obtaining an environmental factor Y; s4, calculating the product P of K x Y; when P is larger than 0.7, judging that the object is recoverable garbage, opening a garbage collecting branch pipe communicated with a recoverable garbage can by a channel switch, and collecting the garbage into the recoverable garbage can; and when the P is less than or equal to 0.7, judging that the object is the unrecoverable garbage, and opening a garbage collecting branch pipe communicated with the unrecoverable garbage box by using the passage switch to collect the garbage into the unrecoverable garbage box.
12. The intelligent multifunctional outdoor cleaning robot according to claim 1, wherein the ground detection unit is located at the bottom center of the vehicle body, close to the garbage inlet end of the automatic garbage classification unit; the ground detection unit comprises a hard object detection sensor and an inclination angle sensor.
13. The intelligent multifunctional outdoor cleaning robot according to claim 12, wherein the hard object detection sensor detects whether the cleaning robot touches a hard object; the stress measured after the stress sensor is contacted with the impacted object isAccording toWhereinIn order to be the coefficient of the material,the cleaning speed is set; when in useWhen the impact is not strong, the impact is judged to be hard.
14. The intelligent multifunctional outdoor cleaning robot of claim 1, wherein the intelligent speed regulating unit intelligently controls the speed of the cleaning robot according to the number A of objects in a unit area measured by the automatic garbage classification unit: when A is larger than or equal to 30, the vehicle speed V =0.3 m/s; when a < 30, the vehicle speed V =0.01 × 60-a) m/s.
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