CN111026162A - Self-following cleaning robot - Google Patents

Self-following cleaning robot Download PDF

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Publication number
CN111026162A
CN111026162A CN201911256588.6A CN201911256588A CN111026162A CN 111026162 A CN111026162 A CN 111026162A CN 201911256588 A CN201911256588 A CN 201911256588A CN 111026162 A CN111026162 A CN 111026162A
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China
Prior art keywords
robot
control system
operator
self
laser radar
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Granted
Application number
CN201911256588.6A
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Chinese (zh)
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CN111026162B (en
Inventor
张斌
李亮
谢平春
万军
陈凯
易喆鑫
胡小林
张岁寒
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to CN201911256588.6A priority Critical patent/CN111026162B/en
Publication of CN111026162A publication Critical patent/CN111026162A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a self-following cleaning robot. According to the self-following cleaning robot, legs of front operators are continuously scanned through the laser radar, the control system is used for selecting the mean value point of leg characteristics as the calibration of identification operators based on the scanning result of the laser radar, meanwhile, the identification range of the laser radar is divided based on the position information of the mean value point, and the identification range is updated in real time based on the position change of the mean value point, so that data outside the identification range are eliminated, the system calculation amount is greatly reduced, the identification tracking efficiency is improved, the subsequent tracking identification is carried out based on the position information of the mean value point, and the identification accuracy is greatly improved.

Description

Self-following cleaning robot
Technical Field
The invention relates to the technical field of environmental sanitation equipment, in particular to a self-following cleaning robot.
Background
In the existing cleaning operation of areas such as urban high-speed rail stations, airports, parks, wind-light belts, communities and the like, because a large-scale sweeping machine cannot enter the cleaning operation, most of the cleaning operation is carried out by pure workers, and the other cleaning operation is carried out by a small-scale sweeping machine. The manual cleaning mode is low in efficiency, high in operation cost and high in manual labor intensity, the small road sweeper needs to be manually driven, when the condition that manual cleaning is needed is met, one person needs to drive and clean, or after one person cleans at a fixed point, the vehicle is moved to move and then the next position point is cleaned, and the problems of low cleaning efficiency, high manual labor intensity and high cost are still not effectively solved.
At present, although some intelligent sanitation robots automatically follow the walking of front operating personnel based on machine vision appear, the calculation amount of real-time processing is very large, so that the recognition and tracking efficiency is very low, especially in places with large human flow such as airports and high-speed railway stations, the situation that the self-following operation cannot be performed suddenly often appears, and when a pedestrian with a body type similar to that of the operating personnel appears, the recognition accuracy is poor, and the situation of wrong following often appears.
Disclosure of Invention
The invention provides a self-following cleaning robot, which aims to solve the technical problems of low identification tracking efficiency and poor identification accuracy of the existing self-following sanitation robot.
According to one aspect of the invention, a self-following cleaning robot is provided, which comprises a laser radar and a control system, wherein the laser radar is used for continuously scanning the leg of a worker walking in front of the robot, and the control system is used for controlling the robot to carry out self-following operation according to the scanning result of the laser radar;
after the laser radar is initialized, the control system selects a mean value point of leg features of the operator based on a primary scanning result of the laser radar, takes the mean value point as calibration for identifying the operator, records position information of the mean value point, the position information comprises a distance L and an angle theta, and calibrates an identification range A (L) of the laser radar based on the mean value pointq、θq) And the identification range A is updated along with the position change of the average value point,
θ-λ≤θqtheta + lambda and L- ξ is less than or equal to Lq≤L+ξ，
λ and ξ are preset identification range increments of the laser radar;
the laser radar continuously scans the surrounding environment at high frequency, and the control system automatically calculates the distance L of the average value point of the scanned object track curve in the identification range AnAnd angle thetanAnd the distance L from the average value point calculated when the operator is scanned last timefAnd angle thetafAnd comparing, and judging whether the scanned operator is:
if L isf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+ △ ω, determining the scanned object as the operator, wherein △ K is a distance determination difference, △ ω is an angle determination difference, △ K is H × B/N, △ ω is G × B/N, H is a distance constant, G is an angle constant, B is the traveling speed of the operator, and N is the scanning frequency of the laser radar;
and the rest of the objects are determined to be non-operators.
Further, the control system specifically selects a mean point of the leg characteristics of the operator by:
the control system establishes a plane coordinate system by taking a laser emission center of the laser radar as an original point, filters objects scanned by the laser radar and located on two sides of the robot, scans legs of a front operator by the laser radar to obtain a plurality of reflection cloud points, the reflection cloud points located on the same plane form one or two curves, and the control system performs cluster segmentation on the one or two curves and selects characteristic points as mean values of leg characteristics of the operator.
Further, after identifying the operator, the control system obtains the distance L of the operator relative to the robot based on the detection result of the laser radar, and compares the distance L with a preset safe distance R and a maximum self-following distance S:
if L is larger than or equal to S, the robot is judged to be too far away from the operating personnel, the control system controls the robot to brake and stop, and a warning is sent out;
if L is less than or equal to R, the robot is judged to be too close to the operator, and the control system controls the robot to park;
and if S is larger than L and larger than R, judging that the operator is in the self-following set range, and controlling the robot to move forwards by the control system.
Further, the control system, after identifying the operator, obtains an angle β of the operator relative to the longitudinal centerline of the robot based on the detection result of the laser radar, and compares the angle with the steering start angle δ:
if β is larger than or equal to delta, the worker is judged to deviate in the right direction relative to the robot, and the control system controls the robot to turn in the right direction;
if β is less than or equal to-delta, the operator is judged to deviate leftwards relative to the robot, and the control system controls the robot to turn leftwards;
and if the-delta is less than β and less than the delta, judging that the robot does not need to turn for the moment.
Further, for the situation that pedestrians or objects are inserted around the operating personnel in the operating process, when the pedestrians or the objects enter the identification range A of the laser radar, the control system carries out distinguishing calibration on the multiple close pedestrians or the objects, respectively calculates the position information of the average value point of the pedestrians or the objects, simultaneously records the movement speed of the pedestrians or the objects, and records the distance L between the average value points of the two or more objectsnAnd angle thetanMean value of operator analyzed by last scanningComparing the point position information one by one, and screening out a mean value point meeting the requirement of the following formula:
Lf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+△ω，
If the number of the mean value points meeting the requirements is only one, the mean value point is judged to be the calibration mean value point of the operator, and the control system controls the robot to move forward along the track of the mean value point;
if two or more mean points meet the requirements, the movement speed V of the mean points meet the requirements and the average operation movement speed V of the operator calculated by the control systempAnd comparing to screen out a mean value point meeting the requirement of the following formula:
Vp-△V≤V≤Vp+△V
wherein △ V is a speed judgment difference value;
if the number of the mean value points meeting the requirements is only one, the mean value point is judged to be the calibration mean value point of the operator, and the control system controls the robot to move forward along the track of the mean value point;
and if two or more mean points meet the requirements, judging that the identification is wrong, controlling the robot to brake and stop by the control system, and prompting the intervention of operators.
Further, the control system is also used for controlling the robot to reduce the following speed when the laser radar senses that a moving and approaching person or object exists at a distance.
Further, still including setting up the side ultrasonic radar in the frame side and setting up the preceding ultrasonic radar at the frame front end, control system still is used for with the distance U that side ultrasonic radar and/or preceding ultrasonic radar detected surrounding object and robot carries out the comparison with robot safety obstacle avoidance distance W:
if U is less than or equal to W, the control system controls the robot to brake and stop until surrounding objects are removed or an operator intervenes;
if W is larger than U and smaller than Y, the control system controls the robot to follow the operator at a low speed, and Y is the ultrasonic radar sensing distance.
Further, the system also comprises an electronic pedal which is used as an accelerator pedal and a brake pedal, and in the self-following operation mode, the control system shields an output signal of the electronic pedal;
in the transition mode, if a driver steps on an electronic pedal, the control system controls the robot to move forwards; if the driver eases the electronic pedal, the control system controls the robot to decelerate; and if the driver completely releases the electronic pedal, the control system controls the robot to brake emergently.
The driving wheel assembly comprises a driving motor, a speed reducer, an axle, tires and an electronic brake, the axle is mounted at the bottom of the frame, the speed reducer and the tires are mounted on the axle, one end of a motor shaft of the driving motor is connected with the speed reducer, the other end of the motor shaft of the driving motor is provided with a brake disc, the electronic brake is mounted at one end, far away from the speed reducer, of the driving motor and is coaxially connected with the driving motor, and the control system controls the robot to move forwards, move backwards or brake by controlling the working states of the driving motor and the electronic brake.
The steering column assembly comprises a bottom column, a limiting pore plate, a folding column, a spring plunger, a hinge, a steering wheel and an encoder, wherein the bottom column is fixedly connected with the frame, the folding column is installed above the bottom column through the hinge, the steering wheel is installed on the folding column, the encoder is installed on a rotating shaft of the steering wheel and is used for detecting the rotating direction and the rotating angle of the steering wheel and transmitting the detection result to a control system, the control system correspondingly controls the robot to steer according to the detection result of the encoder, the limiting pore plate is fixedly installed at the upper end of the bottom column, the lower end of the folding column is provided with a hollow structure for accommodating the limiting pore plate, and the limiting pore plate is provided with at least two spring plunger connecting holes, the position of one of them spring plunger connecting hole corresponds to folding column's fold condition, and the position of another spring plunger connecting hole corresponds to folding column's conventional state, radial through-hole has been seted up on folding column, spring plunger passes arbitrary spring plunger connecting hole with radial through-hole after-fixing folding column.
The invention has the following beneficial effects:
according to the self-following cleaning robot, legs of front operators are continuously scanned through the laser radar, the control system is used for selecting the mean value point of leg characteristics as the calibration of identification operators based on the scanning result of the laser radar, meanwhile, the identification range of the laser radar is divided based on the position information of the mean value point, and the identification range is updated in real time based on the position change of the mean value point, so that data outside the identification range are eliminated, the system calculation amount is greatly reduced, the identification tracking efficiency is improved, the subsequent tracking identification is carried out based on the position information of the mean value point, and the identification accuracy is greatly improved.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of a self-following cleaning robot according to a preferred embodiment of the present invention.
Fig. 2 is a schematic view of the construction of the driving wheel assembly of fig. 1 in accordance with the preferred embodiment of the present invention.
FIG. 3 is a schematic view of the structure of the tubular body of the hand-held pipette of FIG. 1 in accordance with the preferred embodiment of the present invention.
FIG. 4 is a schematic structural view of the holder for the hand-held pipette of FIG. 1 in accordance with the preferred embodiment of the present invention.
FIG. 5 is a schematic diagram of the wide flat suction opening of the hand-held pipette of FIG. 1 in accordance with the preferred embodiment of the present invention.
Fig. 6 is a schematic structural view of the duct hanger of fig. 1 in accordance with a preferred embodiment of the present invention.
FIG. 7 is a schematic view of the steering column assembly of FIG. 1 in a transition mode in accordance with a preferred embodiment of the present invention.
FIG. 8 is a schematic structural view of the steering column assembly of FIG. 1 in a self-following mode of operation in accordance with a preferred embodiment of the present invention.
Fig. 9 is a schematic view showing the installation position of the sun visor of the direction post assembly of fig. 1 according to the preferred embodiment of the present invention.
Fig. 10 is a schematic view of a self-following cleaning robot performing a self-following work according to a preferred embodiment of the present invention.
Description of the reference numerals
1. A frame; 2. a drive wheel assembly; 3. a front wheel; 4. a power battery; 5. a fan; 6. a fan motor; 7. a side ultrasonic radar; 8. a front ultrasonic radar; 9. an electronic pedal; 10. a steering column assembly; 11. a servo motor; 12. a worm gear assembly; 13. a control system; 14. a housing assembly; 16. an air duct hanger; 17. a soft air inlet pipe; 18. a soft air outlet pipe; 19. an audible and visual alarm; 20. a filter cartridge; 21. a dust hood; 22. an elastic drawstring; 23. a hand-held pipette; 24. a trash can; 201. a drive motor; 202. a speed reducer; 203. an axle; 204. a tire; 205. an electronic brake; 101. a bottom pillar; 102. limiting the pore plate; 103. folding the column; 104. a spring plunger; 105. a hinge; 106. a steering wheel; 107. an encoder; 108. a radar mount; 109. a laser radar; 110. a sun visor; 111. a touch screen; 112. a spring plunger connecting hole; 231. a pipe body; 232. a circular suction opening; 233. a fixed seat; 234. a universal wheel; 235. an operating handle; 236. a wide flat suction port; 2331. a connecting rod; 2332. a circular tube; 2333. a limiting plate; 2361. a wide flat portion; 2362. a circular butt joint portion; 161. a mounting seat; 162. a first gas spring; 163. a housing; 164. a hinge plate; 165. a telescopic shaft; 166. a chain; 167. hanging a sleeve by an air pipe; 168. a second gas spring.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 1, a preferred embodiment of the present invention provides a self-following robot cleaner, which can intelligently follow an operator to perform work, can rapidly transition to another place, and can rapidly and effectively perform garbage cleaning work on places such as waiting rooms, streets and roads on streets from back to back, and ancient streets. The self-following cleaning robot comprises a frame 1, a driving wheel assembly 2, a front wheel 3, a power battery 4, a fan 5, a fan motor 6, a side ultrasonic radar 7, a front ultrasonic radar 8, an electronic pedal 9, a direction column assembly 10, a servo motor 11, a worm and gear assembly 12, a control system 13, a housing assembly 14, a soft air inlet pipe 17, a soft air outlet pipe 18, an audible and visual alarm 19, a handheld suction pipe 23 and a garbage can 24, wherein the driving wheel assembly 2 and the front wheel 3 are both installed at the bottom of the frame 1, the driving wheel assembly 2 provides driving power and braking power for the robot, and the front wheel 3 is used for driving the robot to turn. The steering column assembly 10 and the electronic pedal 9 are installed on the frame 1 and located in front of the whole machine, the side ultrasonic radar 7 is installed on the side face of the frame 1 and used for detecting the distance between an object on the side of the whole machine and the robot, the front ultrasonic radar 8 is installed at the foremost end of the frame 1 and used for detecting the distance between the object on the front of the whole machine and the robot, and the side ultrasonic radar 7, the front ultrasonic radar 8 and the electronic pedal 9 are all in communication connection with the control system 13. The cover assembly 14 is arranged on the frame 1, the cover assembly 14 is a complete machine peripheral cover and consists of a plurality of thin-shell type covers, and a driving seat is formed at the front part of the cover assembly 14, so that the covering and the wrapping of the internal structure of the complete machine are realized, the driving seat is provided for a driver in a transition mode, a special driving seat is not required to be arranged, and the requirements of attractive integral appearance and simple structure are met. The power battery 4, the fan 5, the fan motor 6, the servo motor 11, the worm and gear assembly 12 and the control system 13 are all installed on the frame 1 and located in the housing assembly 14, wherein the power battery 4 is installed on the frame 1 and located below other equipment, so that the center of the whole machine can be effectively reduced, the driving stability is improved, and the power battery 4 is used for providing electric energy for vehicle-mounted electric equipment. Fan motor 6 is connected with fan 5 and works in order to drive fan 5, servo motor 11 is connected with drive turbine worm subassembly 12 work with turbine worm subassembly 12, turbine worm subassembly 12 is connected with front wheel 3 and turns to in order to drive front wheel 3, fan motor 6 and servo motor 11 all with control system 13 communication connection. Audible-visual annunciator 19 installs at the top of dust excluding hood 21 for warn pedestrian on every side, audible-visual annunciator 19 with control system 13 communication connection. Garbage bin 24 installs on frame 1 and is located the rear of complete machine, garbage bin 24's bung is in the open mode, dust excluding hood 21 is installed to garbage bin 24's top opening part, install in the dust excluding hood 21 and strain a section of thick bamboo 20, just strain an air outlet department that section of thick bamboo 20 installed at dust excluding hood 21 top, need through the filtering action who strains a section of thick bamboo 20 from the air outlet department outflow of dust excluding hood 21, the air outlet at dust excluding hood 21 top links to each other through the air intake of soft tuber pipe 18 with fan 5, the anterior air intake of dust excluding hood 21 links to each other with handheld straw 23 through soft air-supply line 17, when fan 5 begins the during operation, can produce certain negative pressure in dust excluding hood 21 and handheld straw 23 to can carry out rubbish suction through the handheld straw 23 of operation and pick up the operation to the road surface. When the self-following cleaning robot is in a self-following operation mode, an operator only needs to operate the handheld suction pipe 23 to suck and pick up garbage in front, and the self-following cleaning robot can automatically carry out following operation in the rear. It is understood that the dust hood 21 and the filter cartridge 20 can be omitted, and the soft air inlet pipe 17 and the soft air outlet pipe 18 can be directly communicated with the garbage can 24.
It can be understood that, as shown in fig. 2, the driving wheel assembly 2 includes a driving motor 201, a speed reducer 202, an axle 203, a tire 204, and an electronic brake 205, the axle 203 is installed at the bottom of the frame 1, the speed reducer 202 and the tire 204 are both installed on the axle 203, one end of a motor shaft of the driving motor 201 is connected to the speed reducer 202, the other end is installed with a brake disc, the electronic brake 205 is installed at the tail of the driving motor 201, that is, at a side of the driving motor 201 away from the speed reducer 202, that is, a side installed with the brake disc, and is coaxially connected to the driving motor 201, a spring, a brake pad, an electromagnetic coil and the like are arranged inside the electronic brake 205, a braking force release handle is arranged outside the electronic brake 205, the. The driving motor 201 and the electronic brake 205 are both in communication connection with the control system 13, when the control system 13 sends a forward or backward control command, the power battery 4 is connected with the line of the driving wheel assembly 2, the electromagnetic coil on the electronic brake 205 is electrified, the brake pad pressed on the brake disc of the motor rotating shaft is released by overcoming the acting force of the internal spring, so that the braking force is released, meanwhile, the driving motor 201 runs to drive the tire 204 to roll, and the self-following cleaning robot starts to move forward or backward. If the control system 13 does not send a forward or backward control command, the power battery 4 is disconnected from the driving wheel assembly 2, the electromagnetic coil in the electronic brake 205 is de-energized, and the electronic brake 205 presses the brake block on the brake disc of the motor shaft under the action of the internal spring, so that the self-following cleaning robot stops and brakes. In addition, the electronic brake 205 has a manual release function, when the power of the power battery 4 is exhausted and the robot needs to move to follow the cleaning robot, the brake force release handle on the electronic brake 205 can be manually pushed, the brake block pressed on the brake disc of the motor shaft is released to overcome the elastic force of the internal spring, and the brake force on the motor shaft is released, so that the robot is moved.
In this embodiment, the driving wheel assembly 2 employs the electronic brake 205, which reduces the weight and the layout space of the driving shaft and improves the sensitivity and the corresponding speed of the whole braking compared with the existing drum type and oil type brakes.
It can be understood that as preferred, elastic drawstring 22 is all installed to the outside left and right sides of dust excluding hood 21, and the one end of an elastic drawstring 22 is fixed in the left side of dust excluding hood 21, and one end is connected to the left side handle of garbage bin cover, and the one end of another elastic drawstring 22 is fixed in the right side of dust excluding hood 21, and one end is connected to the right hand of garbage bin cover, through the fixed garbage bin cover of above two elastic drawstrings 22, avoids leading to garbage bin cover and barrel collision and noise or cause the damage of garbage bin 24 at the robot driving in-process because accelerate or brake.
It can be understood that, as shown in fig. 3 and 4, the hand-held suction pipe 23 includes a pipe body 231 and a fixing base 233, the upper end of the pipe body 231 is used for connecting with the soft air inlet pipe 17, the lower end of the pipe body 231 is provided with a circular suction opening 232 for sucking and picking up the garbage, the front end of the circular suction opening 232 is provided with an oblique cut, and the fixing base 233 is used for fixing the pipe body 231. The fixed seat 233 comprises a connecting rod 2331, a round pipe 2332 and a limit plate 2333, the round pipe 2332 is fixedly connected with the frame 1 through the connecting rod 2331, the limit plate 2333 is fixedly sleeved on the periphery of the round pipe 2332 and is obliquely arranged, the inclination angle of the limit plate 2333 is the same as the inclination angle of the oblique notch of the circular suction port 232, and the outer diameter of the round pipe 2332 is smaller than or equal to the inner diameter of the pipe body 231 and the circular suction port 232. When the pipe 231 is required to be fixed on the fixing seat 233, the pipe 231 is only sleeved on the circular pipe 2332, and the oblique notch at the front end of the circular suction opening 232 is attached to the limiting plate 2333, so that the pipe 231 is axially limited and circumferentially limited, and the handheld suction pipe 23 is effectively fixed. When the hand-held suction pipe 23 needs to be taken down for manual operation, the pipe body 231 only needs to be pulled out, and the taking and placing operation is very convenient. It can be understood that the limiting plate 2333 is fixedly sleeved on the periphery of the circular tube 2332 by welding, or the limiting plate 2333 is integrally formed with the circular tube 2332. It can be understood that the fixing seat 233 is installed at the rear right of the whole machine, so that when the handheld suction pipe 23 needs to be installed and removed on a highway, the influence on passing vehicles and the safety risk of operators can be reduced. It is to be understood that the inclined angle of the oblique cut at the front end of the circular suction opening 232 is the angle between the tangent plane and the axial direction of the pipe body 231, and the inclined angle of the limiting plate 2333 is the angle between the limiting plate 2333 and the axial direction of the circular pipe 2332.
In this embodiment, the front end of the circular suction port 232 of the hand-held suction pipe 23 is provided with an oblique notch at the front end of the circular suction port 232 installed at the lower end of the pipe body 231, when the operator operates the hand-held suction pipe 23 to perform manual operation, the front end of the circular suction port 232 can better fit with the ground, the suction efficiency is higher, in addition, the circular pipe 2332 of the fixed seat 233 is fixed on the frame 1 through the connecting rod 2331, the periphery of the circular pipe 2332 is fixedly sleeved with the inclined limiting plate 2333, the inclined angle of the limiting plate 2333 is the same as the inclined angle of the oblique notch at the front end of the circular suction port 232, and the outer diameter of the circular pipe 2332 is less than or equal to the inner diameter of the pipe body 231 and the circular suction port 232, when the hand-held suction pipe 23 needs to be fixed, only the pipe body 231 is sleeved on the circular pipe 2332, the oblique notch, the body 231 can not rotate, when the hand-held suction pipe 23 needs to be taken down for manual operation, the body 231 only needs to be pulled out, and the hand-held suction pipe 23 is very convenient to take and place.
It can be understood that, considering that the self-following cleaning robot may encounter a bumpy situation during the driving process, in order to prevent the pipe 231 from jumping greatly and being separated from the tube 2332, the sleeving depth between the pipe 231 and the tube 2332 may be increased, or the pipe 231 and the tube 2332 may be in an interference fit manner, or the pipe 231 and the tube 2332 are in a threaded fit, or an elastic pin is disposed on the sidewall of the tube 2332 to abut against the pipe 231, or other structures that can completely fix the pipe 231 and facilitate the taking and placing of the pipe 231.
It can be understood that, in order to obtain better garbage suction effect, the inclined angle of the oblique notch at the front end of the circular suction opening 232 is preferably 30 ° to 45 °, and further preferably 40 ° to 45 °, and in other embodiments, the inclined angle may also be 35 °, 36 °, 38 °, and so on. In addition, because the circular suction port 232 needs to be attached to the ground as much as possible to ensure a good garbage suction effect during operation, the circular suction port 232 often collides with an obstacle on the road surface to be damaged, and in order to facilitate replacement of the damaged circular suction port 232, the circular suction port 232 and the pipe body 231 adopt a detachable connection mode, such as any one of a threaded connection, a snap connection and an interference fit connection.
It can be understood that, as shown in fig. 5, preferably, the handheld suction pipe 23 further includes a wide and flat suction port 236 for sucking and picking up large-area soft floating garbage, when some large-area soft floating garbage on a road surface needs to be cleaned, the circular suction port 232 is firstly detached from the pipe body 231, and then the wide and flat suction port 236 is connected with the pipe body 231, so that the working area of the handheld suction pipe 23 can be enlarged, and the sucking and picking-up working efficiency can be improved. Specifically, the wide and flat suction opening 236 includes a wide and flat portion 2361 and a circular butt portion 2362, which are integrally connected, the circular butt portion 2362 is detachably connected to the lower end of the tube 231, for example, any one of a threaded connection, a snap connection and an interference fit connection, and the wide and flat portion 2361 is used for sucking and picking up garbage.
It can be understood that, in order to effectively support the pipe body 231 during manual operation so as to reduce the labor intensity of the operator, it is preferable that the lower end of the pipe body 231 is provided with a universal wheel 234 near the circular suction port 232, and when the operator operates the hand-held suction pipe 23 to perform manual operation, the universal wheel 234 can play a role in effectively supporting and flexibly steering, thereby greatly reducing the labor intensity of the operator. In addition, preferably, the pipe body 231 is made of a carbon fiber pipe, the diameter of the carbon fiber pipe is 100-150 mm, and the thickness of the pipe wall is 0.5-1.5 mm, so that the structural strength of the pipe body 231 is ensured, the weight of the handheld suction pipe 23 is reduced, and the labor intensity of operators can be greatly reduced.
It can be understood, still be provided with on the body 231 and be used for control from following cleaning machines people operating condition's operating handle 235, when the handheld straw 23 of operation personnel operation carries out manual work, can be through control operating handle 235 adjustment is from following cleaning machines people's operating condition, need not to go to again and adjusts the operation from following cleaning machines people and go up, labour saving and time saving more. Specifically, a fan gear adjusting switch for adjusting the rotation speed of the fan 5, a horn switch for controlling the on of the audible and visual alarm 19 to warn surrounding pedestrians, a parking button for emergency parking, and the like are arranged on the operating handle 235. For example, when the self-following cleaning robot operates in the self-following operation mode, after the fan 5 is started, the fan 5 can be automatically set to be in a low-gear operation state according to a program, the fan motor 6 operates at a low power, a low negative pressure is generated at the circular suction port 232 or the wide and flat suction port 236, and light garbage such as paper scraps, cigarette butts, betel nut residues and the like on a pavement can be collected; when meetting big rubbish, for example, mineral water bottle, beer bottle etc, fan gear regulating switch on the operating handle 235 is controlled to the operating personnel accessible, adjust fan 5's rotational speed to high gear, fan 5 high-speed operation, circular suction opening 232 or wide flat suction opening 236 department can produce higher negative pressure, thereby collect the clearance to big rubbish effectively, operation process is very convenient, operating personnel need not to run back again and adjusts from following the cleaning machines people and going to the operation, labour saving and time saving more.
It will be appreciated that as shown in fig. 1 and 6, the flexible air inlet ducts 17 are supported by the duct hangers 16, the air hose hanger 16 comprises a mounting seat 161, a first air spring 162, a housing 163, a hinge plate 164, a telescopic shaft 165, a chain 166, an air hose hanger 167 and a second air spring 168, the shell 163 is of a structure with an open end, one end of the mounting seat 161 is fixedly connected with the closed end of the shell 163, the other end is hinged with the frame 1, the first air spring 162 is fixedly installed on the inner wall of the housing 163, one end of the telescopic shaft 165 extends into the housing 163 from the open end of the housing 163 and is connected with the movable end of the first air spring 162, the other end is connected with the chain 166, the air duct hanging sleeve 167 is mounted on the chain 166 and is used for sleeving the soft air inlet duct 17 for supporting, the hinge plate 164 is fixedly mounted to the outer wall of the housing 163 and is connected to the frame 1 by the second gas spring 168. The air hose hanger 16 is a length-adjustable structure, and the length thereof is changed by the contraction and extension of the first air spring 162 installed inside. When the hand-held suction pipe 23 is retracted, the first air spring 162 and the second air spring 168 are compressed, the first air spring 162 drives the telescopic shaft 165 to retract, and the length of the air pipe hanger 16 is shortened, as shown in the state of fig. 1; when the hand-held suction pipe 23 is operated, the first air spring 162 and the second air spring 168 are extended, the first air spring 162 drives the telescopic shaft 165 to extend, and the air pipe hanger 16 is extended to the state shown in fig. 6. The soft air inlet pipe 17 can be conveniently moved or disassembled and assembled through the air pipe hanging frame 16 with the length capable of being automatically adjusted, the soft air inlet pipe 17 does not need to be adjusted when an operator operates the handheld suction pipe 23 to operate, so that the suction effect is prevented from being influenced by the excessive distortion of the soft air inlet pipe 17, the labor intensity of the operator is effectively reduced, the operation convenience is improved, and meanwhile, the operation range of the whole machine is greatly improved. It can be understood that the number of the air duct hangers 16 is multiple, and the air duct hangers support the flexible air inlet ducts 17 uniformly at intervals, so that a better supporting effect can be achieved.
It can be understood that, as shown in fig. 7 and 8, the steering column assembly 10 includes a bottom column 101, a limiting orifice plate 102, a folding column 103, a spring plunger 104, a hinge 105, a steering wheel 106 and an encoder 107, the bottom column 101 is fixedly connected with the frame 1, and the folding column 103 is installed above the bottom column 101 through the hinge 105, that is, one end of the hinge 105 is connected with the folding column 103, and the other end is connected with the bottom column 101, so that the folding column 103 can rotate inwards relative to the bottom column 101. The steering wheel 106 is fixedly mounted on the folding column 103, the encoder 107 is mounted on a rotating shaft of the steering wheel 106, the encoder 107 is used for detecting the rotating direction and the rotating angle of the steering wheel 106 and transmitting the detection result to the control system 13, and the control system 13 correspondingly controls the working state of the servo motor 11 according to the detection result of the encoder 107, so as to drive the front wheels 3 to correspondingly steer. The limiting orifice plate 102 is fixedly mounted at the upper end of the bottom column 101, and the lower end of the folding column 103 is provided with a hollow structure, so that the limiting orifice plate 102 can be accommodated. The limiting hole plate 102 is provided with at least two spring plunger connecting holes 112, the position of one spring plunger connecting hole 112 corresponds to the folding state of the folding column 103, the position of the other spring plunger connecting hole 112 corresponds to the conventional state of the folding column 103, the folding column 103 is provided with a radial through hole, and the spring plunger 104 can penetrate through any spring plunger connecting hole 112 and the radial through hole to fix the folding column 103. For example, when the self-following cleaning robot is in the transition mode, the state of the steering column assembly 10 is as shown in fig. 7, that is, the folding column 103 is in the normal state, and the overall height of the steering column assembly 10 is high; when the self-following cleaning robot is in the self-following operation mode, the state of the direction column assembly 10 is as shown in fig. 8, that is, the folding column 103 is in a folding state, and the folding column 103 is folded inwards relative to the bottom column 101, so that the height of the direction column assembly 10 is reduced, the interference with the handheld suction pipe 23 or the soft air inlet pipe 17 is avoided, and the range of the self-following operation is greatly improved. It can be understood that when the folding column 103 needs to be folded, the folding column 103 can be fixed only by pulling out the spring plunger 104, then turning the folding column 103 inward to a proper position, then releasing the spring plunger 104, and inserting the spring plunger into the corresponding spring plunger connecting hole 112 on the limiting hole plate 102, which is very convenient to operate.
In this embodiment, the bottom pillar 101 is connected with the folding pillar 103 through the hinge 105, and then a limiting hole plate 102 is fixedly installed at the upper end of the bottom pillar 101, and the limiting hole plate 102 can be accommodated in the hollow structure at the lower part of the folding pillar 103, so that a hidden design is realized, and the appearance cleanness of the installation structure is not affected. Furthermore, at least two spring plunger connecting holes 112 are arranged on the limiting pore plate 102, wherein the position of one spring plunger connecting hole 112 corresponds to the folding state of the folding column 103, the position of the other spring plunger connecting hole 112 corresponds to the conventional state of the folding column 103, then a radial through hole is arranged on the folding column 103, the spring plunger 104 passes through the radial through hole and any one spring plunger connecting hole 112, the folding column 103 is fixed by the limiting effect of the spring plunger connecting hole 112 on the spring plunger 104, if the height of the direction column assembly 10 needs to be adjusted, the spring plunger 104 is only required to be pulled out, the spring plunger 104 is inserted into the corresponding spring plunger connecting hole 112 after the folding column 103 rotates inwards to the position, the adjusting action is very convenient, at the moment, the height of the direction column assembly 10 is reduced, and the interference with the hand-held suction pipe 23 or the soft air inlet pipe 17 can be effectively avoided, thereby greatly improving the self-following operation range.
It is also understood that, as a preferable example, the number of the spring plunger connecting holes 112 is plural, for example, three, four, five, six, etc., and the specific number is not specifically limited herein, and the plural spring plunger connecting holes 112 are arranged in an arc shape. Through setting up the spring plunger connecting hole 112 that a plurality of arcs were laid to can carry out the rotation regulation and the location of a plurality of angles to folding post 103, application scope is wider.
It can also be understood that, as a preferred option, the bottom pillar 101 is a telescopic positioning mechanism, that is, the lower end of the bottom pillar 101 is a fixed end, and the upper end thereof is a telescopic end, and the limiting orifice plate 102 is fixedly mounted on the telescopic end, so as to adjust the overall height of the steering column assembly 10 by adjusting the telescopic length of the telescopic end of the bottom pillar 101. For example, when the self-following cleaning robot is in the transition mode, the telescopic end of the column 101 may be extended, and the overall height of the column assembly 10 is high, and when the self-following cleaning robot is in the self-following operation mode, the telescopic end of the column 101 may be retracted to reduce the overall height of the column assembly 10. The bottom pillar 101 may be a telescopic tube or other telescopic structure that is positioned by a bolt, a step structure, a stop, a marble, or a thread.
It can be understood that the direction column assembly 10 further includes a radar mounting seat 108 installed at the front of the base column 101, a laser radar 109 is installed on the radar mounting seat 108, and the laser radar 109 is installed at a position 400-500 mm away from the ground, the laser radar 109 is used for detecting the leg characteristics of a front operator and transmitting the detection result to the control system 13, and the control system 13 controls the self-following cleaning robot to automatically follow the front sanitation operator according to the detection result of the laser radar 109, so as to achieve the self-following operation, as shown in fig. 9, preferably, the direction column assembly 10 further includes a sun visor 110 installed at the front of the base column 101 and above the laser radar 109, the sun visor 110 is used for protecting the laser radar 109 and effectively shielding light, so as to prevent the sunlight from affecting the operation of the laser radar 109, further preferably, the sun visor 110 is located 5-10 mm above the laser radar 109 and is circular, so as to achieve a better sunlight shielding effect, and as shown in fig. 3, the connecting line between the front end of the outer edge of the emitting area of the laser radar 110 and the front end of the laser radar 109 and the horizontal plane β can preferably not affect the laser radar 109, so as to achieve the optimal scanning of the laser radar scanning, so as not to affect the laser radar 109, and.
It is understood that the steering column assembly 10 further includes a touch screen 111 mounted on the upper end of the folding column 103 and used for communicating with the control system 13, and the touch screen 111 is rotatably connected to the folding column 103, and the touch screen 111 can be flipped back and forth relative to the folding column 103. Specifically, the touch screen 111 is connected to the folding post 103 through a base, the base is rotatably connected to the folding post 103, such as a rotating shaft, and the touch screen 111 is fixedly mounted on the base. Alternatively, the touch screen 20 may be rotatably connected to the folding post 103. Wherein, the touch screen 111 has a gravity sensing screen rotation function. When the self-following cleaning robot is in a transition mode, the touch screen 111 can be turned to the rear side and faces a driver (sometimes, an operator), so that the driver can operate the touch screen 111 conveniently; when the robot is in the self-following operation mode, the touch screen 111 can be turned to face the front side, and the front operator can conveniently view information displayed on the touch screen 111 and operate the touch screen 111. No matter which mode the self-following cleaning robot is in, the operator can conveniently operate and control the robot, and the parameters of the whole machine are read from the screen, so that the state of the whole machine is known in real time, and the convenience and the safety of operation are improved.
In addition, the electronic pedal 9 is both an accelerator pedal and a brake pedal, and can be activated only when the self-following cleaning robot is in a transition mode, and the control system 13 completely shields the output signal of the electronic pedal 9 when the self-following cleaning robot is in a self-following operation mode. The electronic pedal 9 operates as follows: in a transition mode, a driver steps on the electronic pedal 9, the control system 13 starts the driving wheel assembly 2 after receiving a signal transmitted by the electronic pedal 9, the electronic brake 205 is powered to release braking, the driving motor 201 is started synchronously, and the self-following cleaning robot is driven to advance; when braking is needed, a driver slightly looses the electronic pedal 9, the control system 13 obtains a signal and then sets the signal according to a program to control the driving motor 201 to decelerate, and at the moment, the driving motor 201 generates resistance by means of back electromotive force generated inside, so that the self-following cleaning robot is decelerated to run; when the emergency brake is needed, the driver can completely release the electronic pedal 9, the control system 13 can control the electronic brake 205 to brake, and the self-following cleaning robot can realize the emergency brake under the action of the driving motor 201 and the electronic brake 205. Through the arrangement, the equipment installation and arrangement space is saved, and the acceleration and braking of the whole machine are effectively realized.
The working process of the self-following cleaning robot is as follows:
before operation, the self-following cleaning robot is in a state shown in fig. 1, namely a transition mode, an operator can get on the robot, sit on a driving position formed by the housing assembly 14, turn on the power supply of the whole robot, the control system 13 can synchronously turn on the warning lamp of the audible and visual alarm 19 to warn the surroundings, the gear of the robot is switched to a forward gear, then the steering wheel 106 and the electronic pedal 9 are operated, the driving robot drives to a required operation area, the folding column 103 on the steering column assembly 10 is integrally folded, and the touch screen 111 is turned to the front side and integrally turns to the state shown in fig. 10.
After the touch screen 111 is operated to switch the robot to the self-following operation mode, the operator walks out of a certain range from the robot, and the robot starts related hardware and programs to enter the self-inspection of the whole machine. Firstly, the robot drives the worm and gear assembly 12 through the servo motor 11 to rotate the front wheel 3 to the front wheel positive zero point calibrated by the encoder carried by the servo motor 11, and then the front wheel 3 is aligned. Meanwhile, the robot can detect the working states of the side ultrasonic radar 7 and the front ultrasonic radar 8 distributed on the periphery of the machine body, the driving wheel assembly 2 and the laser radar 109 positioned in front of the machine body, if some component fails, the control system 13 can start the audible and visual alarm 19 to perform voice fault alarm, and the fault component is displayed on the touch screen 111. As above-mentioned equipment is normal, then control system 13 can utilize side ultrasonic radar 7, preceding ultrasonic radar 8 and laser radar 109 to discern the surrounding environment, judge, if side ultrasonic radar 7, preceding ultrasonic radar 8 detects barrier or laser radar 109 scanning within range has the response object, control system 13 can pass through 19 voice prompt prompts of audible-visual annunciator and suggest that the object is too close from the robot around, can't get into from following the recognition state, at this moment, the operating personnel can move around the object or move the robot to comparatively open area. As the above sensor does not sense an object or an obstacle, the system voice prompt can enter a self-following recognition state, at this time, the operator can take the handheld suction pipe 23 off the fixed seat 233, the air pipe hanger 16 lifts and extends the flexible air inlet pipe 17 under the action of the first air spring 162 and the second air spring 168, the operator holds the handheld suction pipe 23 to walk right in front of the robot, and the robot starts to recognize the operator by operating a button on the touch screen 111.
Specifically, the self-following cleaning robot recognizes and calibrates the worker as follows:
firstly, the laser radar 109 is initialized, the control system 13 establishes an XY plane coordinate system with the laser emission center of the laser radar 109 as the origin, and takes the leftmost irradiation point of the laser radar 109 as the rotation angle zero point with the longitudinal center line of the robot as the Y axis and the axial direction as the X axis. After initialization is completed, before system calibration, the control system 13 filters and ignores the objects scanned by the laser radar 109 and located at two sides of the robot body through a filtering algorithm, and only keeps storage and operation of scanning information of the object in front of the robot. At this time, the laser radar 109 scans the legs of an operator standing in front of the robot to obtain a plurality of reflection cloud points, the reflection cloud points located on the same plane can form one or two curves according to the leg characteristics of the operator standing, the control system 13 performs cluster segmentation on the one or two curves by using an Euclidean cluster segmentation algorithm, selects a certain characteristic point as a mean value of the leg characteristics of the operator, records the distance L between the mean value and the robot and the angle theta data formed by the mean value and the robot, and uses the point as the calibration for identifying the characteristics of the operator to realize machine identification of the operator. The process of selecting the characteristic points as the average value points specifically comprises the following steps: projecting the position information of all points on the curve onto an XY plane coordinate system, for example, the distance is taken as an X axis and the angle is taken as a Y axis, and then calculating the average value of the position information of all points on the curve, that is, the average value of the distance L and the average value of the angle theta, to obtain the position point (L) of an average valueAverage，θAverage) Then, the point on the curve closest to the mean position point is selected as the mean point. After the operator is identified, the control system 13 will define the lidar according to the position information of the mean point calibrated by the operatorRecognition range a (Lq, θ q) of 109:
theta-lambda is not less than theta q is not less than theta + lambda
L-ξ≤Lq≤L+ξ
The lambda and ξ are the increment of the identification range of the laser radar 109 set by the system, the identification range A is changed and adjusted in real time according to the information (distance L and angle theta) of the mean value point scanned last time, the identification tracking efficiency of the control system 13 can be greatly improved by defining the plane identification range A of the laser radar 109, the system operation amount is reduced, for objects or pedestrians outside the target range, the system is automatically shielded through a filtering technology, the identification calibration is completed, the control system 13 can prompt that the calibration is successful, and an operator can start the fan 5 and move the handheld suction pipe 23 to perform road surface cleaning operation by controlling an operation button on the operation handle 235.
When the operator works, the laser radar 109 continuously scans the surrounding environment at high frequency, and the control system 13 automatically calculates the mean point information (distance L) of the object trajectory curve scanned in the identification range a at each time of completing the scanningnAngle thetan) And the average value point information (distance L) calculated when the operator is scanned last timefAngle thetaf) And comparing, and judging whether the scanned operator is:
a. if L isf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+ △ ω, the scanned object trajectory curve is determined as the operator, where △ K and △ ω are distance and angle determination differences, and the values are extremely small, specifically, △ K is H × B/N, △ ω is G × B/N, H is a distance constant, G is an angle constant, B is the operator operation travel speed, and N is the scanning frequency of the laser radar 109.
b. And the rest of the objects are determined to be non-operators.
In the operation process, each time the laser radar 109 completes scanning, the control system 13 reads the distance L of the operator relative to the robot and the converted angle β (the right side is positive, the left side is negative) relative to the longitudinal center line of the robot, compares the distance L with the set safe distance R and the maximum self-following distance S, and adopts the following strategy:
a. if L is larger than or equal to S, the robot is judged to be too far away from the operator, the risk exists when the robot continues to follow the robot, the robot is braked and stopped, and the operator is warned that the self-following operation mode is interrupted and needs to intervene for processing;
b. if L is smaller than or equal to R, the system judges that the robot is too close to the operator and does not need to continue to follow, the electronic brake 205 brakes and the robot parks for operation;
c. if S is greater than L and greater than R, the system judges that the robot is far away from the operator and still within the self-following set range, the follow-up operation needs to be continued, the control system 13 starts the driving motor 201 and controls the electronic brake 205 to be synchronously released, and the robot moves forwards;
at the same time, the control system 13 compares β with the set steering starting angle δ in real time and adopts the following strategy:
a. if β is larger than or equal to delta, the control system 13 judges that the operator deviates to the right relative to the robot and needs to drive the robot to turn to the right, and the control system 13 starts the servo motor 11 to drive the worm and gear assembly 12 to drive the front wheel 3 to turn to the right;
b. if β is less than or equal to-delta, the control system 13 judges that the operator deviates left relative to the robot and needs to drive the robot to turn left, and the control system 13 starts the servo motor 11 to drive the worm and gear assembly 12 to drive the front wheel 3 to turn left;
c. if- δ < β < δ, the control system 13 determines that the robot has not to turn for the moment.
In the self-following operation process, the control system 13 continuously analyzes and compares the relevant data acquired by the high-frequency scanning of the laser radar 109, controls the robot to continuously adjust the direction and follow the robot, and realizes the identification and following of the operation personnel.
In addition, if a pedestrian or an object is inserted around the operator during the work, the control system 13 executes the following control strategy:
first, when a pedestrian or an object is within the effective recognition range a of the laser radar 109 immediately before approaching the worker, the laser radar performs the operation109 (the scanning distance X of the laser radar 109 is larger than S), the control system 13 will perform differential calibration on the approaching pedestrian or object, calculate the mean value point data, calculate and record the moving speed V (V) according to the moving algorithm1、V2、V3...). When the pedestrian or the object is separated from the operator by interleaving or crossing, the laser radar 109 scans two or more objects (one of them is the operator), and the control system 13 will first use the mean point data L of the two or more objectsnAnd thetan(the dots are each a distance L1、L2、L3.., and the angle theta1、θ2、θ3...) and the operator mean point data (distance L) analyzed from the previous scanfAngle thetaf) And (3) carrying out one-to-one comparison, and screening out the mean value points meeting the requirements of the following formula:
Lf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+△ω
If:
a. if only one average value point meeting the requirements is needed, the point is judged to be the calibration average value point of the operator, and the robot moves forward along the track of the point;
b. two or more mean points satisfying the above requirements, the moving speed V (V) of the mean point satisfying the above requirements1、V2、V3...) and the average work-movement velocity V of the operator calculated by the control system 13pAnd comparing to screen out a mean value point meeting the requirement of the following formula:
Vp-△V≤V≤Vp+△V
wherein △ V is a speed judgment difference value;
if:
a. if only one average value point meeting the requirements is needed, the point is judged to be the calibration average value point of the operator, and the robot moves forward along the track of the point;
b. two or more mean points still meet the requirements, and the system can prompt recognition errors, the robot is braked and stopped, and operation personnel is prompted to intervene.
Preferably, the self-following cleaning robot is further designed with multiple obstacle avoidance control strategies;
firstly, for a person or an object moving close from a front distance (the distance U between the person or the object and the robot is more than Y, and Y is an ultrasonic radar sensing distance), the control system 13 senses the person or the object through the laser radar 109, and performs early warning in advance, so that the advancing speed of the robot following an operator automatically is reduced; when an object enters an ultrasonic radar sensing range distributed around the body (the distance U from the robot is less than or equal to Y, and Y is an ultrasonic radar sensing distance), the control system 13 controls the object according to the following strategies:
a. if U is less than or equal to W, the robot is braked and stopped until surrounding objects are removed or operation personnel intervene, and W is the safe obstacle avoidance distance of the robot;
b. if W is more than U and less than or equal to Y, the robot crawls at a lower speed to follow the operator.
It can be understood that when the garbage in the garbage can 24 needs to be taken out or dumped to a garbage station on the way, the self-following mode of the self-following cleaning robot can be closed firstly, the handheld suction pipe 23 is put back to the fixed seat 233 for fixing, the elastic pull belt 22 is loosened, the dust hood 21 is integrally turned forwards, the garbage can 24 can be pulled out backwards from the robot, and the garbage is dumped to the garbage station.
It can be further understood that after the operation is completed, when the operator needs to transition to a field or return, the touch screen 111 can be operated to close the self-following operation mode of the robot, the blower 5 is turned off, the hand-held suction pipe 23 is placed back on the fixed seat 233 for fixing, and at this time, the second air spring 168 and the first air spring 162 of the air pipe hanger 16 are compressed under the force of the operator, so as to drive the soft air inlet pipe 17 to descend and retract; the operator then unfolds and resets the folding column 103 to the state shown in fig. 1, turns the touch screen 111 to face the driver, and then operates the steering wheel 106 and the electronic pedal 9 to perform transition or return.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A self-following cleaning robot is characterized in that,
the robot comprises a laser radar (109) and a control system (13), wherein the laser radar (109) is used for continuously scanning the legs of an operator walking in front of the robot, and the control system (13) is used for controlling the robot to perform self-following operation according to the scanning result of the laser radar (109);
after the laser radar (109) is initialized, the control system (13) selects a mean value point of leg features of an operator based on a primary scanning result of the laser radar (109), takes the mean value point as calibration for identifying the operator, records position information of the mean value point, the position information comprises a distance L and an angle theta, and calibrates an identification range A (L) of the laser radar (109) based on the mean value pointq、θq) And the identification range A is updated along with the position change of the average value point,
theta-lambda is more than or equal to theta q and more than or equal to theta + lambda, L- ξ is more than or equal to Lq and more than or equal to L + ξ,
λ and ξ are preset identification range increments of the laser radar (109);
the laser radar (109) continuously scans the surrounding environment at high frequency, and the control system (13) automatically calculates the distance L of the average value points of the scanned object track curve in the identification range AnAnd angle thetanAnd the distance L from the average value point calculated when the operator is scanned last timefAnd angle thetafAnd comparing, and judging whether the scanned operator is:
if L isf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+ △ ω, determining the scanned object as the operator, wherein △ K is a distance determination difference, △ ω is an angle determination difference, △ K is H × B/N, △ ω is G × B/N, H is a distance constant, G is an angle constant, B is the traveling speed of the operator, and N is the scanning frequency of the laser radar (109);
and the rest of the objects are determined to be non-operators.
2. The self-following cleaning robot of claim 1,
the control system (13) selects the mean point of the leg characteristics of the operator in the following way:
the control system (13) establishes a plane coordinate system by taking a laser emission center of the laser radar (109) as an origin, filters out objects scanned by the laser radar (109) and located on two sides of the robot, the laser radar (109) scans legs of a front operator to obtain a plurality of reflection cloud points, the reflection cloud points located on the same plane form one or two curves, and the control system (13) performs cluster segmentation on the one or two curves and selects characteristic points as mean points of leg features of the operator.
3. The self-following cleaning robot of claim 1,
the control system (13) further obtains the distance L of the operator relative to the robot based on the detection result of the laser radar (109) after identifying the operator, and compares the distance L with a preset safe distance R and a maximum self-following distance S:
if L is larger than or equal to S, the robot is judged to be too far away from the operating personnel, the control system (13) controls the robot to brake and stop, and a warning is sent out;
if L is less than or equal to R, the robot is judged to be too close to the operator, and the control system (13) controls the robot to park;
and if S is larger than L and larger than R, the operator is judged to be in the self-following set range, and the control system (13) controls the robot to move forwards.
4. The self-following cleaning robot of claim 3,
the control system (13) also obtains the angle β of the operator relative to the longitudinal center line of the robot based on the detection result of the laser radar (109) after identifying the operator, and compares the angle with the steering starting angle delta:
if β is larger than or equal to delta, the worker is judged to deviate in the right direction relative to the robot, and the control system (13) controls the robot to turn in the right direction;
if β is less than or equal to-delta, the operator is judged to deviate leftwards relative to the robot, and the control system (13) controls the robot to turn leftwards;
and if the-delta is less than β and less than the delta, judging that the robot does not need to turn for the moment.
5. The self-following cleaning robot of claim 1,
for the situation that pedestrians or objects are penetrated around an operator in the operation process, when the pedestrians or the objects enter the identification range A of the laser radar (109), the control system (13) carries out distinguishing calibration on the multiple close pedestrians or the objects, respectively calculates the position information of the average value points of the pedestrians or the objects, simultaneously records the movement speed of the pedestrians or the objects, and records the distance L between the average value points of the two or more objectsnAnd angle thetanAnd comparing the position information of the mean point of the operator with the position information of the mean point of the operator obtained by scanning and analyzing last time one by one, and screening out the mean point meeting the requirement of the following formula:
Lf﹣△K≤Ln≤Lf+ △ K and θf﹣△ω≤θn≤θf+△ω，
If the number of the mean value points meeting the requirements is only one, the mean value point is judged to be the calibration mean value point of the operator, and the control system (13) controls the robot to move forward along the track of the mean value point;
if two or more mean points meet the requirement, the movement speed V of the mean points meet the requirement and the average operation movement speed V of the operator calculated by the control system (13)pAnd comparing to screen out a mean value point meeting the requirement of the following formula:
Vp-△V≤V≤Vp+△V
wherein △ V is a speed judgment difference value;
if the number of the mean value points meeting the requirements is only one, the mean value point is judged to be the calibration mean value point of the operator, and the control system (13) controls the robot to move forward along the track of the mean value point;
if two or more mean points meet the requirements, the recognition is judged to be wrong, the control system (13) controls the robot to brake and stop, and an operator is prompted to intervene.
6. The self-following cleaning robot of claim 5,
the control system (13) is also used for controlling the robot to reduce the following speed when the laser radar (109) senses that a person or an object moving close is far away.
7. The self-following cleaning robot of claim 6,
still including setting up side ultrasonic radar (7) and the preceding ultrasonic radar (8) of setting in frame (1) front end in frame (1) side, control system (13) are still used for with side ultrasonic radar (7) and/or preceding ultrasonic radar (8) detect the distance U and the robot of surrounding object and robot and carry out the comparison with robot safety obstacle avoidance distance W:
if U is less than or equal to W, the control system (13) controls the robot to brake and stop until surrounding objects are removed or an operator intervenes;
if W is larger than U and smaller than Y, the control system (13) controls the robot to follow the operator at a low speed, and Y is the ultrasonic radar sensing distance.
8. The self-following cleaning robot of claim 1,
the self-following electric vehicle further comprises an electronic pedal (9) serving as an accelerator pedal and a brake pedal, and the control system (13) shields an output signal of the electronic pedal (9) in a self-following operation mode;
in a transition mode, if a driver steps on an electronic pedal (9), the control system (13) controls the robot to move forwards; if the driver eases the electronic pedal (9), the control system (13) controls the robot to decelerate; if the driver completely releases the electronic pedal (9), the control system (13) controls the robot to brake emergently.
9. The self-following cleaning robot of claim 1,
the driving wheel assembly (2) is used for providing driving power and braking force of the robot, the driving wheel assembly (2) comprises a driving motor (201), a speed reducer (202), an axle (203), tires (204) and an electronic brake (205), the axle (203) is installed at the bottom of the frame (1), the speed reducer (202) and the tires (204) are installed on the axle (203), one end of a motor shaft of the driving motor (201) is connected with the speed reducer (202), the other end of the motor shaft is provided with a brake disc, the electronic brake (205) is installed at one end, far away from the speed reducer (202), of the driving motor (201) and is coaxially connected with the driving motor (201), and the control system (13) controls the robot to move forwards, move backwards or brake by controlling the working states of the driving motor (201) and the electronic brake (205).
10. The self-following cleaning robot of claim 1,
the steering column assembly (10) is used for controlling the robot to steer in a transition mode, the steering column assembly (10) comprises a bottom column (101), a limiting hole plate (102), a folding column (103), a spring plunger (104), a hinge (105), a steering wheel (106) and an encoder (107), the bottom column (101) is fixedly connected with the frame (1), the folding column (103) is installed above the bottom column (101) through the hinge (105), the steering wheel (106) is installed on the folding column (103), the encoder (107) is installed on a rotating shaft of the steering wheel (106) and used for detecting the rotating direction and the rotating angle of the steering wheel (106) and transmitting the detection result to a control system (13), the control system (13) correspondingly controls the robot to steer according to the detection result of the encoder (107), the limiting hole plate (102) is fixedly installed at the upper end of the bottom column (101), the lower extreme of folding post (103) is seted up and is used for holding the hollow structure of spacing orifice plate (102), seted up two at least spring plunger connecting holes (112) on spacing orifice plate (102), the position of one of them spring plunger connecting hole (112) corresponds to the fold condition of folding post (103), the position of another spring plunger connecting hole (112) corresponds to the conventional state of folding post (103), radial through-hole has been seted up on folding post (103), spring plunger (104) pass arbitrary spring plunger connecting hole (112) with radial through-hole after-fixing folding post (103).
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