CN111297266A - Wall-following walking control system and method for sweeper and sweeper - Google Patents
Wall-following walking control system and method for sweeper and sweeper Download PDFInfo
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- 238000000034 method Methods 0.000 title abstract description 10
- 238000010408 sweeping Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000013473 artificial intelligence Methods 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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a sweeper walking along a wall control system and method and a sweeper. The invention also provides a control algorithm for the wall-following walking of the sweeper, wherein the microprocessing unit receives the distance signal sent by the TOF wall-following distance sensor module and the current rotating speed signal sent by the roller speed measuring code disc, calculates the expected rotating speeds of the left and right rollers and sends rotating speed control signals to the left and right roller modules to control the rotating speeds of the left and right rollers and keep the distance between the circular outer wall of the sweeper and the wall surface within a certain distance range. The invention also provides a sweeper, wherein the sweeper is provided with a sweeper wall walking control system.
Description
Technical Field
The invention relates to an intelligent household appliance and a control method thereof, in particular to a wall-following walking control system and method of a sweeper and the sweeper.
Background
The floor sweeper is one kind of intelligent household appliance and can complete floor cleaning automatically in room via certain artificial intelligence. Generally, the floor cleaning device adopts a brushing and vacuum mode to absorb and enter the sundries on the floor into the self dust collecting box so as to finish the floor cleaning function.
During the working process of the sweeper, when sweeping along a wall or along other objects, the sweeper needs to be as close as possible to the wall or the object so as to realize comprehensive sweeping, but cannot be in contact with the wall and interfere with the wall. Therefore, when cleaning along a wall, the traveling path of the sweeper needs to be set according to the change of the wall surface.
Disclosure of Invention
The invention provides a sweeper walking along a wall control system and method and a sweeper, wherein the distance between the circular outer wall of the sweeper and a wall surface is kept within a certain distance range through the combined action of a TOF (time of flight) along-the-wall distance sensor module, a roller speed measuring coded disc, a micro-processing unit and a left roller module and a right roller module, and the sweeper realizes sweeping along the wall edge all the time along with the change of the shape of the wall body.
One embodiment of the present invention provides a wall-following walking control system for a sweeper, comprising:
the TOF along-wall distance sensor module is used for measuring the minimum distance between the circular outer wall of the sweeper and the wall surface and sending a distance signal to the micro-processing unit;
the roller speed measuring coded disc is used for measuring the current rotating speeds of the left and right rollers of the sweeper and sending current rotating speed signals to the micro-processing unit;
the micro-processing unit is used for receiving the distance signal and the current rotating speed signal, calculating the expected rotating speeds of the left and right rollers and sending rotating speed control signals to the left and right roller modules; and
the left and right roller modules comprise left and right rollers, a roller control unit and a roller control motor;
the roller control unit receives a rotating speed control signal sent by the microprocessor, adjusts the rotating speed of the roller control motor, and the roller control motor is connected with the left and right rollers through a transmission system to control the rotating speeds of the left and right rollers and keep the distance between the circular outer wall of the sweeper and the wall surface within a certain range.
Preferably, the TOF is arranged on the circular outer wall of the sweeper along the wall distance sensor module, and the included angle between the TOF and the advancing direction of the sweeper is 70-80 degrees.
Preferably, the TOF along-wall distance sensor module is embedded into the circular outer wall of the sweeper, and the distance between the signal transmitting end and the signal receiving end of the TOF sensor and the circular outer wall of the sweeper is 10-20 mm.
Preferably, the position relationship between the signal transmitting end and the signal receiving end of the TOF sensor is vertical up and down.
An embodiment of the present invention further provides a control algorithm for controlling the floor sweeper to walk along the wall, which includes the following steps:
1) the TOF along-wall distance sensor module measures the distance between the circular outer wall of the sweeper and the wall surface and sends a distance signal to the micro-processing unit; meanwhile, the roller speed measuring code disc measures the current rotating speed of the left and right rollers of the sweeper and sends a current rotating speed signal to the micro-processing unit;
2) the micro-processing unit receives the distance signal and the current rotating speed signal, calculates the expected rotating speeds of the left and right rollers and sends rotating speed control signals to the left and right roller modules;
3) the roller control units on the left and right roller modules receive the rotating speed control signals sent by the microprocessor, and adjust the rotating speeds of the left and right roller control motors, and the left and right roller control motors are connected with the left and right rollers through a transmission system to control the rotating speeds of the left and right rollers, so that the distance between the circular outer wall of the sweeper and the wall surface is kept within a fixed range.
Preferably, when the sweeper sweeps along the left wall and the sweeper is far away from the left wall, the rotating speed of the right roller is increased, the rotating speed of the left roller is reduced, and the sweeper is close to the left wall; when the sweeper is close to the left wall, the rotating speed of the left roller is increased, the rotating speed of the right roller is decreased, and the sweeper is far away from the left wall.
Preferably, when the sweeper sweeps along the right wall and the sweeper is far away from the right wall, the rotating speed of the left roller is increased, the rotating speed of the right roller is reduced, and the sweeper is close to the right wall; when the sweeper is close to the right wall, the rotating speed of the right roller is increased, the rotating speed of the left roller is reduced, and the sweeper is far away from the right wall.
Preferably, a first distance threshold and a second distance threshold are arranged in the micro-processing unit;
when the distance between the circular outer wall of the sweeper and the wall surface is smaller than a first distance threshold, the sweeper deviates towards the direction far away from the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is larger than the first distance threshold;
when the distance between the circular outer wall of the sweeper and the wall surface is larger than a first distance threshold value and smaller than a second threshold value, the sweeper moves linearly in a direction parallel to the wall surface; and
when the distance between the circular outer wall of the sweeper and the wall surface is greater than the second distance threshold, the sweeper deviates towards the direction close to the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is less than the second distance threshold.
Preferably, the first distance threshold value ranges from 5mm to 15mm, and the second distance threshold value ranges from 25 mm to 35 mm.
The embodiment of the invention also provides a sweeper, wherein the sweeper body is provided with the sweeper walking control system in any embodiment.
The sweeper walking along the wall control system and method and the sweeper provided by the invention have the following beneficial effects:
1. through the combined action of the TOF along-wall distance sensor module, the roller speed-measuring coded disc, the micro-processing unit and the left and right roller modules, the distance between the circular outer wall of the sweeper and the wall surface is kept within a certain distance range, and the sweeper is always swept along the edge of the wall.
And 2, the TOF along-wall distance sensor module is arranged on the circular outer wall of the sweeper and forms an included angle of 70-80 degrees with the advancing direction of the sweeper, and the distance signal detected by the TOF along-wall distance sensor module is more accurate in precision.
And 3, the TOF along-wall distance sensor module is embedded into the circular outer wall of the sweeper, the distance between the emission end of the TOF sensor and the outer surface of the circular outer wall of the sweeper is 10-20mm, and the distance between the sweeper body and the wall surface can be smaller than 5mm when the sweeper is sweeping along the wall surface.
And 4, the position relation between the signal transmitting end and the signal receiving end of the TOF sensor is vertical up and down, so that crosstalk interference can be effectively prevented.
Drawings
Fig. 1 is a schematic view of an embodiment of the wall-following walking control system of the sweeper of the invention.
Figure 2 is a schematic view of one embodiment of the TOF along-the-wall distance sensor module of the present invention mounted on the sweeper body.
FIG. 3 is a schematic diagram of one embodiment of the relationship of the TOF sensor signal transmitting end and signal receiving end position on the TOF along-wall distance sensor module of the present disclosure.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, in one embodiment of the present invention, a sweeper walking along a wall control system includes:
the TOF along-wall distance sensor module is used for measuring the minimum distance between the circular outer wall of the sweeper and the wall surface and sending a distance signal to the micro-processing unit;
the principle that the TOF measures the distance between the side surface of the circular outer wall of the sweeper and the wall surface along the wall distance sensor module is as follows: the laser emission unit emits signals to the wall or the barrier, the light emission unit receives the signals reflected by the wall or the barrier, the clock unit times, the calculation unit calculates distance signals and sends the distance signals to the micro-processing unit;
in one embodiment of the invention, the TOF sensor module is arranged on the circular outer wall of the sweeper along the wall, and the included angle between the TOF sensor module and the advancing direction of the sweeper is 70-80 degrees.
As shown in fig. 2 and 3, in an embodiment of the present invention, the TOF sensor module along the wall may be embedded in the circular outer wall of the sweeper, and the distance between the signal transmitting end and the signal receiving end of the TOF sensor module and the circular outer wall of the sweeper is 10-20 mm. The position relation between the signal transmitting end and the signal receiving end of the TOF sensor is vertical up and down. As shown in fig. 3, the signal transmitting end may be located at the upper side and the signal receiving end may be located at the lower side, or vice versa.
The roller speed measuring coded disc is used for measuring the current rotating speeds of the left and right rollers of the sweeper and sending current rotating speed signals to the micro-processing unit; the speed measuring code disc is installed on the rotating shaft of the motor, generally has twelve pairs of magnetic poles, and a Hall device fixed on the motor senses the rotating speed measuring code disc to output corresponding counting pulses, and the rotating speed of the motor is measured by checking the number of the pulses in a period of time.
The micro-processing unit is used for receiving the distance signal and the current rotating speed signal, calculating the expected rotating speeds of the left and right rollers and sending rotating speed control signals to the left and right roller modules; and
the left and right roller modules comprise left and right rollers, a roller control unit and a roller control motor;
the roller control unit receives a rotating speed control signal sent by the microprocessor, adjusts the rotating speed of the roller control motor, the roller control motor is connected with the left roller and the right roller through a transmission system, the rotating speed of the left roller and the rotating speed of the right roller are controlled, the distance between the circular outer wall of the sweeper and the wall surface is kept within a certain range, and the sweeper is always swept along the edge of the wall.
The first straight line of machine of sweeping the floor is walked until touchhing the wall, rotatory fuselage detects the wall until following the wall sensor this moment, and begin to walk forward, the walking in-process fuselage remains throughout and becomes a fixed distance with the wall, the distance of walking is calculated through the code wheel simultaneously, combine gyroscope sensor angle signal to judge the shape of wall, look for one section straight wall along the wall in-process, the machine of sweeping the floor after the wall is ended can automatic adjustment fuselage direction of advance and the parallel or perpendicular route of wall that finds plan and clean.
In one embodiment of the present invention, there may be a sweeper walk along a wall control algorithm comprising the steps of:
1) the TOF along-wall distance sensor module measures the distance between the circular outer wall of the sweeper and the wall surface and sends a distance signal to the micro-processing unit; meanwhile, the roller speed measuring code disc measures the current rotating speed of the left and right rollers of the sweeper and sends a current rotating speed signal to the micro-processing unit;
2) the micro-processing unit receives the distance signal and the current rotating speed signal, calculates the expected rotating speeds of the left and right rollers and sends rotating speed control signals to the left and right roller modules;
in one embodiment of the invention, a first distance threshold and a second distance threshold may be set within the micro-processing unit;
the first distance threshold may have a value ranging from 5 to 15mm, and the second distance threshold may have a value ranging from 25 to 35 mm.
When the distance between the circular outer wall of the sweeper and the wall surface is smaller than a first distance threshold, the sweeper deviates towards the direction far away from the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is larger than the first distance threshold;
when the distance between the circular outer wall of the sweeper and the wall surface is larger than a first distance threshold value and smaller than a second threshold value, the sweeper moves linearly in a direction parallel to the wall surface; and
when the distance between the circular outer wall of the sweeper and the wall surface is greater than the second distance threshold, the sweeper deviates towards the direction close to the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is less than the second distance threshold.
3) The roller control units on the left and right roller modules receive the rotating speed control signals sent by the microprocessor, and adjust the rotating speeds of the left and right roller control motors, and the left and right roller control motors are connected with the left and right rollers through a transmission system to control the rotating speeds of the left and right rollers, so that the distance between the circular outer wall of the sweeper and the wall surface is kept within a fixed range.
When the sweeper cleans along the left wall and the sweeper is far away from the left wall, the rotating speed of the right roller is increased, the rotating speed of the left roller is reduced, and the sweeper is close to the left wall; when the sweeper is close to the left wall, the rotating speed of the left roller is increased, the rotating speed of the right roller is decreased, and the sweeper is far away from the left wall.
When the sweeper cleans along the right wall and the sweeper is far away from the right wall, the rotating speed of the left roller is increased, the rotating speed of the right roller is reduced, and the sweeper is close to the right wall; when the sweeper is close to the right wall, the rotating speed of the right roller is increased, the rotating speed of the left roller is reduced, and the sweeper is far away from the right wall.
As shown in fig. 2, in an embodiment of the present invention, there may be a sweeper, and the sweeper body is provided with the control system for controlling the sweeper to travel along the wall according to any of the above embodiments.
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. The machine of sweeping the floor is along wall walking control system, its characterized in that includes:
the TOF along-wall distance sensor module is used for measuring the minimum distance between the circular outer wall of the sweeper and the wall surface and sending the distance signal to the micro-processing unit;
the roller speed measuring coded disc is used for measuring the current rotating speeds of the left and right rollers of the sweeper and sending the current rotating speed signal to the micro-processing unit;
the micro-processing unit is used for receiving the distance signal and the current rotating speed signal, calculating the expected rotating speeds of the left and right rollers and sending rotating speed control signals to the left and right roller modules; and
the left and right roller modules comprise left and right rollers, a roller control unit and a roller control motor;
the roller control unit receives a rotating speed control signal sent by the microprocessor, adjusts the rotating speed of the roller control motor, the roller control motor is connected with the left roller and the right roller through a transmission system, controls the rotating speeds of the left roller and the right roller, and keeps the distance between the circular outer wall of the sweeper and the wall surface within a certain range.
2. The sweeper wall-following travel control system according to claim 1, wherein the TOF wall-following distance sensor module is arranged on the circular outer wall of the sweeper and forms an angle of 70-80 ° with the advancing direction of the sweeper.
3. The sweeper wall-following walking control system according to claim 2, wherein the TOF wall-following distance sensor module is embedded in the circular outer wall of the sweeper, and the distance between a signal transmitting end and a signal receiving end of the TOF sensor and the circular outer wall of the sweeper is 10-20 mm.
4. The system for controlling the walking of the sweeper along the wall according to claim 3, wherein the TOF sensor signal transmitting end and the signal receiving end are vertically arranged in a vertical position.
5. The utility model provides a machine of sweeping floor is along wall walking control algorithm which characterized in that includes:
1) the TOF along-wall distance sensor module measures the distance between the circular outer wall of the sweeper and the wall surface and sends a distance signal to the micro-processing unit; meanwhile, the roller speed measuring code disc measures the current rotating speed of the left and right rollers of the sweeper and sends the current rotating speed signal to the micro-processing unit;
2) the micro-processing unit receives the distance signal and the current rotating speed signal, calculates the expected rotating speeds of the left and right rollers and sends rotating speed control signals to the left and right roller modules;
3) the roller control units on the left and right roller modules receive rotating speed control signals sent by the microprocessor, and adjust the rotating speeds of the left and right roller control motors, the left and right roller control motors are connected with the left and right rollers through a transmission system to control the rotating speeds of the left and right rollers, so that the distance between the circular outer wall of the sweeper and the wall surface is kept within a fixed range.
6. The sweeper walking along the wall control algorithm according to claim 5, wherein when the sweeper is sweeping along the left wall, the right roller is rotating faster and the left roller is rotating slower when the sweeper is farther from the left wall, and the sweeper is close to the left wall; when the sweeper is close to the left wall, the rotating speed of the left roller is increased, the rotating speed of the right roller is decreased, and the sweeper is far away from the left wall.
7. The sweeper walking along the wall control algorithm according to claim 5, wherein when the sweeper is sweeping along the right wall, and the sweeper is far away from the right wall, the left roller is faster in speed, the right roller is slower in speed, and the sweeper is close to the right wall; when the sweeper is close to the right wall, the rotating speed of the right roller is increased, the rotating speed of the left roller is reduced, and the sweeper is far away from the right wall.
8. The sweeper walk along wall control algorithm of claim 5,
a first distance threshold and a second distance threshold are arranged in the micro-processing unit;
when the distance between the circular outer wall of the sweeper and the wall surface is smaller than a first distance threshold, the sweeper deviates to the direction far away from the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is larger than the first distance threshold;
when the distance between the circular outer wall of the sweeper and the wall surface is larger than a first distance threshold value and smaller than a second threshold value, the sweeper moves linearly in a direction parallel to the wall surface; and
when the distance between the circular outer wall of the sweeper and the wall surface is larger than the second distance threshold, the sweeper deviates towards the direction close to the wall surface until the distance between the circular outer wall of the sweeper and the wall surface is smaller than the second distance threshold.
9. The sweeper walking along the wall control algorithm of claim 8, wherein the first distance threshold is in a range of 5-15mm and the second distance threshold is in a range of 25-35 mm.
10. A sweeper comprises a sweeper body, and is characterized in that the sweeper body is provided with the sweeper walking control system according to any one of claims 1-4 along a wall.
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| CN202010116490.7A CN111297266A (en) | 2020-02-25 | 2020-02-25 | Wall-following walking control system and method for sweeper and sweeper |
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| CN202010116490.7A CN111297266A (en) | 2020-02-25 | 2020-02-25 | Wall-following walking control system and method for sweeper and sweeper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115251765A (en) * | 2022-07-04 | 2022-11-01 | 麦岩智能科技(北京)有限公司 | Cleaning robot edge sweeping control method based on multiple sensors |
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| CN110680243A (en) * | 2019-09-30 | 2020-01-14 | 湖南格兰博智能科技有限责任公司 | Wall-following cleaning control algorithm for floor-sweeping robot |
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| CN115251765A (en) * | 2022-07-04 | 2022-11-01 | 麦岩智能科技(北京)有限公司 | Cleaning robot edge sweeping control method based on multiple sensors |
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