CN206594525U - A kind of intelligent environment clean robot based on multi-sensor cooperation - Google Patents
A kind of intelligent environment clean robot based on multi-sensor cooperation Download PDFInfo
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- CN206594525U CN206594525U CN201720179963.1U CN201720179963U CN206594525U CN 206594525 U CN206594525 U CN 206594525U CN 201720179963 U CN201720179963 U CN 201720179963U CN 206594525 U CN206594525 U CN 206594525U
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- intelligent environment
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- clean robot
- environment clean
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Abstract
The utility model is related to a kind of intelligent environment clean robot based on multi-sensor cooperation, including visual identity module, inertial navigation module, sensor fusion treatment module, motor control module, master controller electrical connection visual identity module, sensor fusion treatment module, visual identity module, inertial navigation module, touch-screen, motor control module, motor control module electrical connection or wireless connection steering motor drive circuit, straight trip motor-drive circuit.Visual identity module, inertial navigation module are electrically connected or wireless connection with sensor fusion treatment module.The utility model gathers visual information, carries out rubbish identification not capable of washing；The information such as intelligent environment clean robot fusion device speed calculate the time used in gained rubbish not capable of washing；When intelligent environment clean robot is near rubbish not capable of washing, stop cleaning；Run over after rubbish not capable of washing, recover cleaning.
Description
Technical field
The utility model is related to a kind of intelligent environment clean robot, and in particular to one kind collection visual information, carries out not
The intelligent environment clean robot based on multi-sensor cooperation of rubbish identification capable of washing.
Background technology
The intelligence degree of clean robot in the market is generally relatively low, and function is relatively simple.It is most of clear
Clean robot is all to detect whether to collide barrier according to some simple touch-switch, somewhat adjustment angle after colliding
Advance again afterwards, so cyclically cleaned, the cleaning mode of this randomness can cause some cleanings in most cases
Region can be cleaned repeatedly, and the situation that some corner or spot as yet untouched by a clean-up campaign can not then be reached, and the effect in the case where the personnel of walking about are more
Can be more serious.For some cleaning ambients it is complex under conditions of, because clean robot can not predict current environment feelings
Condition, so that the effect and efficiency of cleaning all can not be satisfactory.The Function Extension of these practicality clean robots
Space is very big, but is all often to be confined to clean on this simple function at present.Existing unmanned floor-cleaning machine needs place not have
Carry out washing ground in the case of more than sewage caliber rubbish.Scraping article, which is encountered, can be adsorbed onto on scraping article after correspondence rubbish, it is necessary to artificial clear
Wash ground again after reason scraping article.
The cleaning effect of the current clean robot of summary is poor, function is single, None- identified whether there is and rubbish, is
The no rubbish that can be cleaned for intelligent environment clean robot.
Utility model content
In view of the above-mentioned problems, main purpose of the present utility model is to provide a kind of collection visual information, progress can not be clear
The intelligent environment clean robot based on multi-sensor cooperation for the rubbish identification washed.
The utility model is to solve above-mentioned technical problem by following technical proposals：One kind is based on multi-sensor cooperation
Intelligent environment clean robot, the intelligent environment clean robot based on multi-sensor cooperation include with lower module and electricity
Road：
Visual identity module：The visual identity module check rubbish whether there is and whether rubbish is intelligent environment cleaning
The rubbish that robot can be cleaned；
Inertial navigation module：The inertial navigation module is used for angular speed and the acceleration for detecting intelligent environment clean robot
Rate；
Sensor fusion treatment module：The sensor fusion treatment module is used for the position for detecting robot；
Motor control module：The motor control module control steering motor driver and straight trip motor driver,
Master controller：The operating of the whole intelligent environment clean robot of main controller controls；
Master controller is electrically connected or wireless connection sensor fusion treatment module, motor control module, motor control module
Electrically connect motor-drive circuit；Visual identity module, inertial navigation module are electrically connected or nothing with sensor fusion treatment module
Line is connected.
In specific embodiment of the utility model, the motor control module electrical connection steering motor drive circuit,
Straight trip motor-drive circuit；Steering motor drive circuit drives steering motor, straight trip motor-drive circuit driving straight trip motor.
In specific embodiment of the utility model, the intelligent environment clean robot based on multi-sensor cooperation
Also include touch-screen, the touch-screen is located at the surface of the shell of intelligent environment clean robot.
In specific embodiment of the utility model, the inertial navigation module includes sonac and angle sensor
Device.
In specific embodiment of the utility model, the intelligent environment clean robot also includes washing ground brush and suction
Water scraping article.
It is described to wash the intelligent ring that ground brush is based on multi-sensor cooperation in specific embodiment of the utility model
The front end of border clean robot or the bottom of centre, the water suction scraping article are based on the intelligent environment cleaning of multi-sensor cooperation
The rear end bottom of robot.
In specific embodiment of the utility model, the master controller is arm processor.
In specific embodiment of the utility model, the arm processor is Cortex A8 processors.
In specific embodiment of the utility model, between the master controller and visual identity module by Usb or
Serial ports carries out data interaction；The master controller and sensor fusion treatment module, visual identity module, inertial navigation module it
Between data interaction is carried out by serial ports.
In specific embodiment of the utility model, CAN, net are passed through between the master controller and motor control module
Mouth or serial ports carry out data interaction；Data interaction is carried out by HMI between the master controller and touch-screen.
Positive effect of the present utility model is：The intelligent ring based on multi-sensor cooperation that the utility model is provided
Border clean robot, the utility model collection visual information carries out rubbish identification not capable of washing（Based on color segmentation, profile
Detection, outline diameter regards as rubbish not capable of washing more than a thresholding）；Intelligent environment clean robot fusion device speed etc.
Information calculates the time used in gained rubbish not capable of washing；When intelligent environment clean robot is near rubbish not capable of washing,
Stop cleaning；Intelligent environment clean robot is run over after rubbish not capable of washing, recovers cleaning.
The utility model can make in the large area indoor and outdoor environment such as square, airport, station, factory, large-scale museum
With, the utility model when carrying out floor cleaning task during large area needs clean environment, can effectively liberate human resources,
Reduce the labor intensity of street cleaner；In use, floor cleaning can be carried out with one man operation Duo Tai robots under spacious environment
Task, greatly promotes the efficiency of floor cleaning.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model.
Embodiment
The utility model preferred embodiment is provided below in conjunction with the accompanying drawings, to describe the technical solution of the utility model in detail.
Fig. 1 is general structure schematic diagram of the present utility model, as shown in figure 1, the utility model provide based on many sensings
The intelligent environment clean robot of device collaboration, including with lower module and circuit：Master controller 1, motor control module 2, sensor
Fusion treatment module 3, inertial navigation module 4, visual identity module 5, touch-screen 6, steering motor drive circuit 7, straight trip motor
Drive circuit 8, steering motor 9.
Visual identity module 5 checks that rubbish whether there is and whether rubbish is that intelligent environment clean robot can be cleaned
Rubbish；Inertial navigation module 4 is used for the angular speed and rate of acceleration for detecting intelligent environment clean robot；Sensor fusion treatment
Module 3 is used for the position for detecting robot；The control steering motor of motor control module 2 driver 7 and straight trip motor driver 8；
Touch-screen 6 is located at the surface of the shell of intelligent environment clean robot；Master controller 1 controls whole intelligent environment clean robot
Operating；The electrical connection visual identity of master controller 1 module 5, sensor fusion treatment module 3, visual identity module 5, inertia are led
Model plane block 4, touch-screen 6, motor control module 2, motor control module 2 is electrically connected or wireless connection steering motor drive circuit 7,
Straight trip motor-drive circuit 8；Steering motor drive circuit 7 drives steering motor 9, the straight trip driving straight trip electricity of motor-drive circuit 8
Machine 10；Visual identity module 5, inertial navigation module 4 with the electricity of sensor fusion treatment module 3 or wireless connection.
Wherein, sensor fusion treatment module can be an independent board, can also be with the common board of master controller.
Inertial navigation module 4 includes sonac and angular transducer in the utility model.
Intelligent environment clean robot also includes washing ground brush and water suction scraping article in the utility model.
Washed in the utility model ground brush be based on multi-sensor cooperation intelligent environment clean robot front end or
Middle bottom, the water suction scraping article is based on the rear end bottom of the intelligent environment clean robot of multi-sensor cooperation.
Master controller 1 can be arm processor such as Cortex A8 processors in the utility model.
Master controller 1 and visual identity module 5, sensor fusion treatment module 3, visual identity module in the utility model
5th, data interaction is carried out by serial ports between inertial navigation module 4, touch-screen 6, motor control module 2.
Data interaction is carried out by Usb or serial ports between master controller and visual identity module in the utility model；It is described
Data friendship is carried out by serial ports between master controller and sensor fusion treatment module, visual identity module, inertial navigation module
Mutually；Data interaction is carried out by CAN, network interface or serial ports between master controller and motor control module；The master controller with
Data interaction is carried out by HMI between touch-screen.
The utility model gathers visual information, carries out rubbish identification not capable of washing（Based on Software of Computer Vision of increasing income
OpenCV is developed：Color segmentation is based on for the picture that camera is gathered, the colors different with ground are identified；Based on pair
Colour recognition is answered to go out a profile；Can by way of polygon approach the approximate calculation outline diameter, outline diameter is more than
One thresholding pipe diameter that such as absorbs water regards as rubbish not capable of washing）；Intelligent environment clean robot fusion device speed etc. is believed
Breath calculates the time used in gained rubbish not capable of washing；When intelligent environment clean robot is near rubbish not capable of washing, stop
Only clean；Intelligent environment clean robot is run over after rubbish not capable of washing, recovers cleaning.
General principle of the present utility model and principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the utility model spirit and scope are not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within the range of claimed the utility model, the utility model
Claimed scope is by appended claims and its equivalent thereof.
Claims (10)
1. a kind of intelligent environment clean robot based on multi-sensor cooperation, it is characterised in that：It is described to be assisted based on multisensor
Same intelligent environment clean robot is included with lower module and circuit：
Visual identity module：The visual identity module check rubbish whether there is and whether rubbish is intelligent environment cleaning machine
The rubbish that people can clean；
Inertial navigation module：The inertial navigation module is used for the angular speed and rate of acceleration for detecting intelligent environment clean robot；
Sensor fusion treatment module：The sensor fusion treatment module is used for the position for detecting robot；
Motor control module：The motor control module control steering motor driver and straight trip motor driver,
Master controller：The operating of the whole intelligent environment clean robot of main controller controls；
Master controller is electrically connected or wireless connection sensor fusion treatment module, motor control module, and motor control module is electrically connected
Connect motor-drive circuit；Visual identity module, inertial navigation module are electrically connected with sensor fusion treatment module or wirelessly connected
Connect.
2. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Motor control module electrical connection steering motor drive circuit, straight trip motor-drive circuit；The driving of steering motor drive circuit is turned to
Motor, straight trip motor-drive circuit driving straight trip motor.
3. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Intelligent environment clean robot based on multi-sensor cooperation also includes touch-screen, and the touch-screen is located at intelligent environment cleaner
The surface of the shell of device people.
4. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Inertial navigation module includes sonac and angular transducer.
5. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Intelligent environment clean robot also includes washing ground brush and water suction scraping article.
6. the intelligent environment clean robot according to claim 5 based on multi-sensor cooperation, it is characterised in that：It is described
Wash front end or the bottom of centre that ground brush is based on the intelligent environment clean robot of multi-sensor cooperation, the water absorption scraper
Bar is based on the rear end bottom of the intelligent environment clean robot of multi-sensor cooperation.
7. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Master controller is arm processor.
8. the intelligent environment clean robot according to claim 7 based on multi-sensor cooperation, it is characterised in that：It is described
Arm processor is Cortex A8 processors.
9. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：It is described
Data interaction is carried out by Usb or serial ports between master controller and visual identity module；The master controller is merged with sensor
Data interaction is carried out by serial ports between processing module, visual identity module, inertial navigation module.
10. the intelligent environment clean robot according to claim 1 based on multi-sensor cooperation, it is characterised in that：Institute
State between master controller and motor control module by the progress data interaction of CAN, network interface or serial ports；The master controller is with touching
Touch and data interaction is carried out by HMI between shielding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720179963.1U CN206594525U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent environment clean robot based on multi-sensor cooperation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720179963.1U CN206594525U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent environment clean robot based on multi-sensor cooperation |
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|---|---|
| CN206594525U true CN206594525U (en) | 2017-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720179963.1U Expired - Fee Related CN206594525U (en) | 2017-02-27 | 2017-02-27 | A kind of intelligent environment clean robot based on multi-sensor cooperation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762271A (en) * | 2018-06-04 | 2018-11-06 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN110258418A (en) * | 2019-07-25 | 2019-09-20 | 李伯宸 | Automatic cleaning robot |
| CN114212724A (en) * | 2021-11-10 | 2022-03-22 | 国信智能系统(广东)有限公司 | Inspection robot lifting platform device with mouse baffle |
-
2017
- 2017-02-27 CN CN201720179963.1U patent/CN206594525U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762271A (en) * | 2018-06-04 | 2018-11-06 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN110258418A (en) * | 2019-07-25 | 2019-09-20 | 李伯宸 | Automatic cleaning robot |
| CN114212724A (en) * | 2021-11-10 | 2022-03-22 | 国信智能系统(广东)有限公司 | Inspection robot lifting platform device with mouse baffle |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20200227 |