CN202498547U - Autonomous navigation system of cleaning robot - Google Patents
Autonomous navigation system of cleaning robot Download PDFInfo
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- CN202498547U CN202498547U CN2012200359491U CN201220035949U CN202498547U CN 202498547 U CN202498547 U CN 202498547U CN 2012200359491 U CN2012200359491 U CN 2012200359491U CN 201220035949 U CN201220035949 U CN 201220035949U CN 202498547 U CN202498547 U CN 202498547U
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- dust
- autonomous navigation
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Abstract
The utility model discloses an autonomous navigation system of a cleaning robot. The autonomous navigation system comprises a power management module which provides stable power, a controller which carries out centralized processing, a man-machine interface module which carries out state display and interface operation, a travel driving system which moves freely and a task execution system which is related to specific tasks, wherein the man-machine interface module, the travel driving system and the task execution system are connected with the controller. The autonomous navigation system further comprises an obstacle detection system which carries out environment obstacle detection and is connected with the controller, a dual encoder positioning system which carries out small-scale self-positioning and is connected with the controller, an electronic gyroscope which carries out rotation angle calculation and is connected with the controller, and a charging seat identification device which is for docking charging and is connected with the controller.
Description
Technical field
The utility model relates to a kind of autonomous navigation system of dust-collecting robot, belongs to the mobile robot technology field.
Background technology
Dust-collecting robot is a kind of intelligent electric appliance for the household cleaning work load that alleviates the modern, and it is automatically in indoor migration, face cleaning works simultaneously.Freely-movable for ease, dust-collecting robot all are to adopt rechargeable battery as power source.In order to control cost and volume, the capacity of rechargeable battery is limited, so the efficient that rechargeable battery uses is just extremely important.And the independent navigation ability of dust-collecting robot has directly determined the service efficiency of rechargeable battery.
Dust-collecting robot is not because possess perfect independent navigation ability at present, and the cleaning strategy that generally adopts is path at random, and automatic cleaner is random walk on ground, abandons any planing method, and this strategy causes very low sweeping efficiency; Also being employed on the random walk basis increases fixed mode cleaning strategy, wherein fixed mode for from central point to around the helix pattern of scattering gradually, this strategy is to a certain degree increasing sweeping efficiency, but or undesirable.These two kinds of planning modes all can produce a large amount of duplicate paths, cause cleaning overlong time, thus the waste battery electric quantity.
Summary of the invention
In order to overcome the deficiency of prior art; The utility model provides a kind of autonomous navigation system of dust-collecting robot; Comprise obstacle detection system, dual coding device navigation system, electronic gyroscope and cradle recognition device, can guide dust-collecting robot independently to accomplish the cleaning task.
The utility model solves the technical scheme that its technical problem adopted:
The autonomous navigation system of dust-collecting robot comprises the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely, the task execution system relevant with specific tasks, described travel driving system are controlled the direction of rotation and the rotary speed of left drive motors and right drive motors; Left encoder is installed on the described left drive motors; Right encoder is installed on the described right drive motors, described human-computer interface module, travel driving system is connected with described controller with task execution system; Also comprise the obstacle detection system that carries out the environment detection of obstacles, described obstacle detection system is connected with described controller; Carry out self-align among a small circle dual coding device navigation system, described dual coding device navigation system is connected with described controller; Also comprise the electronic gyroscope that is rotated angle calculation, described electronic gyroscope is connected with described controller; Also comprise the cradle recognition device that is used to dock charging, described cradle recognition device is connected with described controller.
Described obstacle detection system is provided with the ultrasonic obstacle quality testing and surveys device.
Described obstacle detection system is provided with infrared obstacle detector.
Described dual coding device navigation system connects described left encoder and right encoder.
Described cradle recognition device is provided with the magnetic induction recognition device, and magnet is adopted in identification, the cradle characteristic that magnet steel and magnetic stripe are provided with.
Described cradle recognition device is provided with infrared recognition device, the cradle that identification adopts infrared ray to be provided with
Characteristic.
The beneficial effect of the utility model mainly shows: 1, can detect barrier, avoid collision; 2, integrated positioning mode can more stably be located self-position; 3, can discern the cradle position, autonomous completion is docked and charging with cradle.
Description of drawings
Fig. 1 is the system block diagram of the autonomous navigation system of dust-collecting robot.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1, the autonomous navigation system of dust-collecting robot comprises the power management module 2 that stabilized power source is provided; The controller 1 that focuses on; Carry out the human-computer interface module 3 of state demonstration and interface operation, the travel driving system 4 that moves freely, the task execution system 5 relevant with specific tasks; Described human-computer interface module 3, travel driving system 4 is connected with described controller 1 with task execution system 5.
Described power management module 2 also is responsible for carrying out Charge Management for system provides voltage-stabilized source, promptly detects cell voltage in real time, if undertension charges immediately; In the charging process, the control of charging of described power management module 2 is responsible for the control charging current and is finished to judge with charging.
Described human-computer interface module 3 is responsible for carrying out the input of state demonstration and user instruction.
Described travel driving system 4 is used to control the direction of rotation and the rotary speed of left drive motors and right drive motors.Described left drive motors and right drive motors drive two driving wheel rotations, thereby the drive machines people moves with any track.Left encoder is installed on the described left drive motors, right encoder is installed on the described right drive motors.
Described task execution system 5 is provided with the corresponding device of executing the task with dust-collecting robot.Comprise vacuum cleaning chamber and dust sucting motor, round brush and round brush motor.Round brush and round brush motor are that the dust on ground and rubbish are kicked up, and vacuum cleaning chamber and dust sucting motor are in the certain vacuum of the inner formation of dust-collecting robot, and dust of kicking up and rubbish are drawn onto in the dust bag.
Described obstacle detection system 6 is responsible for the barrier situation of testing environment, is used for the path planning of dust-collecting robot and keeps away barrier.Described obstacle detection system 6 is connected with described controller 1, is controlled by described controller 1.Can adopt group of ultrasonic sensors to become the ultrasonic obstacle quality testing to survey device, also can adopt infrared distance sensor to form infrared obstacle detector, perhaps adopt two kinds of sensors to make up.
Also comprise and carry out self-align among a small circle dual coding device navigation system 7, described dual coding device navigation system 7 is connected with described controller 1.Described dual coding device navigation system 7 connects described left encoder and right encoder, and signal input constantly adds up the rotating cycle of left drive motors and right drive motors, thereby calculates the travel distance and the anglec of rotation of dust-collecting robot.But the continuous accumulated roundoff error of this mode meeting, and position error can worsen rapidly when the driving wheel of dust-collecting robot skids, causes serious location mistake.In order to remedy the cumulative errors and the error of skidding and causing of described dual coding device navigation system 7 self, also comprise the electronic gyroscope 8 that is rotated angle calculation, described electronic gyroscope 8 is connected with described controller 1.The anglec of rotation of described electronic gyroscope 8 cumulative calculation dust-collecting robots, the error of the described dual coding device of recoverable navigation system 7.
Also comprise the cradle recognition device 9 that is used to dock charging, described cradle recognition device 9 is connected with described controller 1.Cradle is the critical facility that dust-collecting robot replenishes power, when the electric weight of rechargeable battery will exhaust, need find cradle to charge as early as possible.Described cradle recognition device 9 is provided with the magnetic induction recognition device, and magnet is adopted in identification, and the cradle characteristic that magnet steel and magnetic stripe are provided with after described cradle recognition device 9 detects magnetic signal, has just been confirmed the position of cradle.Infrared recognition device also is set, the cradle characteristic that identification adopts infrared ray to be provided with, the perhaps combination of two kinds of signals.
Claims (6)
1. the autonomous navigation system of dust-collecting robot comprises the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely, the task execution system relevant with specific tasks, described travel driving system are controlled the direction of rotation and the rotary speed of left drive motors and right drive motors; Left encoder is installed on the described left drive motors; Right encoder is installed on the described right drive motors, described human-computer interface module, travel driving system is connected with described controller with task execution system; It is characterized in that: also comprise the obstacle detection system that carries out the environment detection of obstacles, described obstacle detection system is connected with described controller; Carry out self-align among a small circle dual coding device navigation system, described dual coding device navigation system is connected with described controller; Also comprise the electronic gyroscope that is rotated angle calculation, described electronic gyroscope is connected with described controller; Also comprise the cradle recognition device that is used to dock charging, described cradle recognition device is connected with described controller.
2. the autonomous navigation system of dust-collecting robot as claimed in claim 1 is characterized in that: described obstacle detection system is provided with the ultrasonic obstacle quality testing and surveys device.
3. the autonomous navigation system of dust-collecting robot as claimed in claim 1, it is characterized in that: described obstacle detection system is provided with infrared obstacle detector.
4. the autonomous navigation system of dust-collecting robot as claimed in claim 1, it is characterized in that: described dual coding device navigation system connects described left encoder and right encoder.
5. the autonomous navigation system of dust-collecting robot as claimed in claim 1 is characterized in that: described cradle recognition device, the magnetic induction recognition device is set, and magnet is adopted in identification, the cradle characteristic of magnet steel and magnetic stripe setting.
6. the autonomous navigation system of dust-collecting robot as claimed in claim 1 is characterized in that: described cradle recognition device is provided with infrared recognition device, the cradle characteristic that identification adopts infrared ray to be provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200359491U CN202498547U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system of cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200359491U CN202498547U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system of cleaning robot |
Publications (1)
| Publication Number | Publication Date |
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| CN202498547U true CN202498547U (en) | 2012-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200359491U Expired - Fee Related CN202498547U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system of cleaning robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765379A (en) * | 2014-11-11 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Method for robot to look for recharge base in enclosed work area and robot system |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN106514626A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Body structure and robot with same |
| CN108469264A (en) * | 2018-03-20 | 2018-08-31 | 杭州晶智能科技有限公司 | A kind of automatic dust absorption machine people's optimum path planning method based on angle analysis |
| WO2020207164A1 (en) * | 2019-04-10 | 2020-10-15 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, apparatus and system, electronic device and storage medium |
-
2012
- 2012-01-12 CN CN2012200359491U patent/CN202498547U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104765379A (en) * | 2014-11-11 | 2015-07-08 | 深圳市银星智能科技股份有限公司 | Method for robot to look for recharge base in enclosed work area and robot system |
| CN104765379B (en) * | 2014-11-11 | 2018-01-09 | 深圳市银星智能科技股份有限公司 | Robot finds the method and robot system for recharging seat in closing working region |
| CN104858871A (en) * | 2015-05-15 | 2015-08-26 | 珠海市一微半导体有限公司 | Robot system and map self-building and navigation method thereof |
| CN106514626A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Body structure and robot with same |
| CN108469264A (en) * | 2018-03-20 | 2018-08-31 | 杭州晶智能科技有限公司 | A kind of automatic dust absorption machine people's optimum path planning method based on angle analysis |
| CN108469264B (en) * | 2018-03-20 | 2020-04-24 | 杭州晶一智能科技有限公司 | Automatic dust collection robot optimal path planning method based on angle analysis |
| WO2020207164A1 (en) * | 2019-04-10 | 2020-10-15 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, apparatus and system, electronic device and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121024 Termination date: 20130112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |