CN111880528A - Method for detecting walking resistance of mobile robot, chip and robot - Google Patents
Method for detecting walking resistance of mobile robot, chip and robot Download PDFInfo
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- CN111880528A CN111880528A CN202010569607.7A CN202010569607A CN111880528A CN 111880528 A CN111880528 A CN 111880528A CN 202010569607 A CN202010569607 A CN 202010569607A CN 111880528 A CN111880528 A CN 111880528A
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- 238000001514 detection method Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000004140 cleaning Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
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Abstract
The invention discloses a method for detecting walking resistance of a mobile robot, a chip and the robot, wherein the method comprises the following steps: s1: the robot starts a fan and performs action calibration; s2: the robot acquires the current of a mobile motor during action calibration; s3: the robot determines the current walking resistance based on the action motor current. The method realizes universal rapid detection of different types of robots and measurement of the current walking resistance of the surface of the material, and has the advantages of low cost and wide applicability.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method for detecting walking resistance of a mobile robot, a chip and the robot.
Background
In the prior art, full-automatic planning cleaning robots are mainly divided into window cleaning robots and floor sweeping robots, fans of the robots need to change suction according to the current walking resistance of a walking surface, and if the current walking resistance of the walking surface is large and the suction of the fans is also large, wheels cannot move and the cleaning robots cannot move; if the current walking resistance of the walking surface is small and the suction force of the fan is small, sundries cannot be completely sucked by the floor sweeping robot or stubborn stains cannot be completely wiped by the window wiping robot. If the fan configuration is unreasonable, the wheel can slip, the path planning of the robot is seriously affected, and the cleaning leakage is caused.
Disclosure of Invention
In order to solve the above problems, the present invention provides a method for detecting walking resistance of a mobile robot, which greatly improves the accuracy of detecting the current walking resistance of a walking surface of the mobile robot. The specific technical scheme of the invention is as follows:
a method of detecting walking resistance of a mobile robot, the method comprising the steps of: s1: the robot starts a fan and performs action calibration; s2: the robot acquires the current of a mobile motor during action calibration; s3: the robot determines the current walking resistance based on the action motor current. The method realizes universal rapid detection of different types of robots and measurement of the current walking resistance of the surface of the material, and has the advantages of low cost and wide applicability.
In one or more embodiments of the present invention, the specific steps of S1 are: the robot sets a PWM value of the fan; the left wheel of the robot is fixed, the right wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time; and the right wheel of the robot is fixed, the left wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time. The robot can obtain the accurate relative current walking resistance value of the current area only by rotating for 4 times according to a specific mode, and the method is quick and convenient.
In one or more embodiments of the present invention, the specific steps of S2 are: the robot sets sampling time, when the left wheel or the right wheel of the robot positively rotates or reversely rotates within fixed time, the robot samples and sums current within the sampling time according to interruption of a timer, and then determines the average value of the current according to the sampling times. The robot obtains a relative current walking resistance value by calculation based on a method of current statistical analysis of the mobile motor, and the data accuracy is high.
In one or more aspects of the invention, the sampling time is in the second half of the fixed time.
In one or more aspects of the invention, when the robot samples the current, the current is sampled once when the timer interrupts the robot.
In one or more aspects of the present invention, the specific step of S3 is that the robot samples 4 current values according to the forward rotation and the reverse rotation of the left wheel and the right wheel, and the robot obtains the optimized current from the 4 current values, and the optimized current is divided by the PWM value of the fan to obtain the current walking resistance.
In one or more aspects of the present invention, the method for acquiring an optimized current from 4 current values by a robot specifically includes the following steps: the robot compares the 4 current values, determines the second largest current value, and multiplies the second largest current value by 4 to obtain the optimized current.
In one or more aspects of the present invention, the robot calculates the optimized current by using 4 current values, and specifically includes the following steps: the robot compares the 4 current values to obtain the average value of the second largest current and the third largest current, and the average value is multiplied by 4 to obtain the optimized current.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for detecting the walking resistance of the mobile robot. Various types of robots can use the detection method by loading the chip, and the chip has a wide range of applications.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot can quickly detect the current walking resistance of the current walking surface by the method.
Drawings
FIG. 1 is a flow chart of the detection method of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a method for detecting walking resistance of a mobile robot includes the following steps: s1: the robot starts a fan and performs action calibration; s2: the robot acquires the current of a mobile motor during action calibration; s3: the robot determines the current walking resistance based on the action motor current. The method realizes universal rapid detection of different types of robots and measurement of the current walking resistance of the surface of the material, and has the advantages of low cost and wide applicability.
As one example, when the robot performs action calibration, the robot turns on the fan to a fixed PWM value PIThe Pulse Width Modulation (PWM) is an abbreviation of English Pulse Width Modulation, which is called Pulse Width Modulation for short, a PWM value is an average value of the sum of the conduction time of a switching tube in a period, the longer the conduction time is, the larger the average value of direct current output is, the PWM frequency is a ratio of the conduction time to the period time in the period, generally called a duty ratio, the larger the conduction frequency is, the difference between the two is that under the condition that the output is not changed, the former is reflected on the conduction time, and the latter is reflected on the conduction frequency, and the machine is kept still. The left wheel of the robot is set to be in a locking brake mode, when the right wheel alone drives forward rotation and reverse rotation, the motion center of the robot is at the left wheel in a locking brake state, the right wheel fixes PWM forward rotation for 360ms of fixed time, then the brake stops, and the right wheel fixes PWM and then reverses rotation for 360ms of fixed time. The right wheel of the robot is set to be in a locking brake mode, when the left wheel drives forward rotation and reverse rotation independently, the motion center of the robot is at the right wheel in a locking brake state, the left wheel fixes PWM forward rotation for 360ms of fixed time, then the brake stops, and the left wheel fixes PWM and then reverses rotation for 360ms of fixed time. Each wheel of the robot needs to be subjected to action calibration, the range of data which can be acquired by the robot is large, the data acquired by the robot is more, and the accuracy of the calculation result of the robot is improved. PIIs one-half of the duty cycle PWM of the fan and is linear with the fan suction, including but not limited to typical values that are mostly rotatable and suctableThe suction force is just needed. Typical values for the left and right wheel fixed PWM are three-quarters of the duty cycle PWM of the wheel, and are linear with wheel torque, including but not limited to typical values for which most PWM can be turned with the fan fixed PWM. PWM of the fan and the robot is set according to actual conditions, so that the method is wider in applicability.
In one embodiment, when the left wheel or the right wheel of the robot performs forward rotation or reverse rotation for a fixed time of 360ms, in order to reduce the unstable current when the motor starts to rotate, the sampling of the current is located in the second half of the fixed time of 360ms, and the stable current is adopted, so that the error is reduced, for example, the sampling is started from 210ms and is continued until 310ms is stopped, and the sampling time lasts for 100ms in total. The robot can finish action calibration and current sampling in a short time, so that the method has stronger practicability. The robot samples current according to the interrupt time of the timer, when data acquisition is allowed, the current is sampled once when the timer interrupts the robot once, the interrupt time of the timer is the reciprocal of the frequency of the timer, when the frequency of the timer is 1KHz, the interrupt time is 1ms, and the sampling time of 100ms samples 100 times of current. And continuously summing the sampled action motor current values of the wheel with fixed PWM motion, stopping summing when the sampling is not allowed, and dividing the summing result by the summing times to obtain the current value I. After the left wheel and the right wheel are respectively positively transmitted and reversely rotated, 4 current values I are obtained0、I1、I2And I3. Comparing the 4 current values to find the second largest current, and multiplying the second largest current by 4 to obtain the optimized current IX. The first large current may be that the machine hits the rim and the maximum current cannot be used. The machine needs to take account of the difference of two walking motors, so as to prevent the situation of walking unmovable, the second largest current is selected, and the situation that the wheel is unmovable after the machine is calibrated is prevented. The average value, median and other numerical values of the 4 current values can also be adopted according to actual conditions. Will IXDivided by the fixed PWM value P of the fanIThe result is the current relative current walking resistance value α. The current walking resistance is obtained according to more comprehensive data, and the accuracy is high.
A chip is internally provided with a control program, and the control program is used for controlling a robot to execute the method for detecting the walking resistance of the mobile robot. Various types of robots can use the detection method by loading the chip, and the chip has a wide range of applications.
A robot is equipped with a main control chip, and the main control chip is the chip. The robot can quickly detect the current walking resistance of the current walking surface by the method.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (10)
1. A method for detecting walking resistance of a mobile robot is characterized by comprising the following steps:
s1: the robot starts a fan and performs action calibration;
s2: the robot acquires the current of a mobile motor during action calibration;
s3: the robot determines the current walking resistance based on the action motor current.
2. The method for detecting walking resistance of a mobile robot according to claim 1, wherein the specific steps of S1 are as follows:
the robot sets a PWM value of the fan;
the left wheel of the robot is fixed, the right wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time; and
the right wheel of the robot is stationary, the left wheel of the robot fixes PWM, and then the forward rotation and the reverse rotation are respectively carried out for fixed time.
3. The method for detecting walking resistance of a mobile robot according to claim 1, wherein the specific steps of S2 are as follows: the robot sets sampling time, when the left wheel or the right wheel of the robot positively rotates or reversely rotates within fixed time, the robot samples and sums current within the sampling time by using the interruption of a timer, and then determines the average value of the current according to the sampling times.
4. The method of detecting walking resistance of a mobile robot according to claim 3, wherein the sampling time is in the second half of a fixed time.
5. The method of claim 3, wherein the current is sampled once when the robot samples the current, and the current is sampled once when the timer is interrupted.
6. The method for detecting the walking resistance of the mobile robot according to claim 1 or 3, wherein the specific step of S3 is that the robot samples 4 current values according to the forward rotation and the reverse rotation of the left wheel and the right wheel, the robot obtains the optimized current from the 4 current values, and the optimized current is divided by the PWM value of the fan to obtain the current walking resistance.
7. The method for detecting walking resistance of a mobile robot according to claim 6, wherein the robot obtains the optimized current from 4 current values, comprising the following steps: the robot compares the 4 current values, determines the second largest current value, and multiplies the second largest current value by 4 to obtain the optimized current.
8. The method for detecting the walking resistance of the mobile robot according to claim 6, wherein the robot calculates the optimized current by using 4 current values, and the method comprises the following steps: the robot compares the 4 current values to obtain the average value of the second largest current and the third largest current, and the average value is multiplied by 4 to obtain the optimized current.
9. A chip having a built-in control program for controlling a robot to execute the method of detecting walking resistance of the mobile robot according to any one of claims 1 to 8.
10. A robot equipped with a master control chip, characterized in that the master control chip is the chip of claim 9.
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| CN202010569607.7A CN111880528A (en) | 2020-06-20 | 2020-06-20 | Method for detecting walking resistance of mobile robot, chip and robot |
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| CN202010569607.7A CN111880528A (en) | 2020-06-20 | 2020-06-20 | Method for detecting walking resistance of mobile robot, chip and robot |
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| JPH08322763A (en) * | 1995-06-01 | 1996-12-10 | Ishikawajima Inspection & Instrumentation Co | Glass window cleaning apparatus |
| JP2002233487A (en) * | 2001-02-08 | 2002-08-20 | Amano Corp | Sewage suction force adjusting device for floor surface washer |
| CN1614871A (en) * | 2004-12-14 | 2005-05-11 | 张建华 | Direct measuring and controlling method with DC motor |
| CN106264357A (en) * | 2016-08-30 | 2017-01-04 | 宁波菜鸟智能科技有限公司 | The carpet decision method of sweeping robot and system |
| CN207855634U (en) * | 2017-07-27 | 2018-09-14 | 深圳悉罗机器人有限公司 | Sweeping robot |
| CN108594692A (en) * | 2017-12-18 | 2018-09-28 | 深圳市奇虎智能科技有限公司 | A kind of cleaning equipment control method, device, computer equipment and storage medium |
| CN109917488A (en) * | 2019-03-07 | 2019-06-21 | 上海岚豹智能科技有限公司 | Sweeping robot carpet detection method and equipment |
| CN110522353A (en) * | 2018-05-24 | 2019-12-03 | 科沃斯机器人股份有限公司 | Robot cleaning method, sweeping robot and storage medium |
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2020
- 2020-06-20 CN CN202010569607.7A patent/CN111880528A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08322763A (en) * | 1995-06-01 | 1996-12-10 | Ishikawajima Inspection & Instrumentation Co | Glass window cleaning apparatus |
| JP2002233487A (en) * | 2001-02-08 | 2002-08-20 | Amano Corp | Sewage suction force adjusting device for floor surface washer |
| CN1614871A (en) * | 2004-12-14 | 2005-05-11 | 张建华 | Direct measuring and controlling method with DC motor |
| CN106264357A (en) * | 2016-08-30 | 2017-01-04 | 宁波菜鸟智能科技有限公司 | The carpet decision method of sweeping robot and system |
| CN207855634U (en) * | 2017-07-27 | 2018-09-14 | 深圳悉罗机器人有限公司 | Sweeping robot |
| CN108594692A (en) * | 2017-12-18 | 2018-09-28 | 深圳市奇虎智能科技有限公司 | A kind of cleaning equipment control method, device, computer equipment and storage medium |
| CN110522353A (en) * | 2018-05-24 | 2019-12-03 | 科沃斯机器人股份有限公司 | Robot cleaning method, sweeping robot and storage medium |
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Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
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