CN207020536U - Sweeper path planning control system based on angular transducer - Google Patents
Sweeper path planning control system based on angular transducer Download PDFInfo
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- CN207020536U CN207020536U CN201720870510.3U CN201720870510U CN207020536U CN 207020536 U CN207020536 U CN 207020536U CN 201720870510 U CN201720870510 U CN 201720870510U CN 207020536 U CN207020536 U CN 207020536U
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- sweeper
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- angular transducer
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Abstract
The utility model is the sweeper path planning control system based on angular transducer, including control subsystem, monitor terminal and communication module；Control subsystem includes MCU master controllers, and be connected respectively with MCU master controllers revolver velocity sensor, right wheel velocity sensor, recharge infrared sensor, laser radar sensor, angular transducer, man-machine interactive system and communication module；Communication module includes 2.4G wireless modules and WiFi module, and MCU master controllers are connected by WiFi module with monitor terminal, is connected by 2.4G wireless modules with air purifier.The utility model can control sweeper by specified path automatic cleaning, avoidance, prevent falling and recharging, so as to keep floor-cleaning；The planning of sweeper automated path, the automatic tracking velocity of energy and corner can be realized, realizes the cleaning of energy-conservation efficient to indoor environment.
Description
Technical field
It the utility model is related to intelligent appliance, the control system specially planned sweeper path.
Background technology
Scientific research personnel, which tests, finds various poisonous and harmful substances be present in house dust, such as heavy metal, desinsection
Agent, these materials are mainly derived from family product, toy, electrical equipment etc., and people are exposed to by modes such as breathing and skin contacts
In dust containing poisonous and harmful substance, they can seriously affect the health of people.
To reduce influence of the house dust to health, people design and develop to become a Buddhist monk or nun cleans all-in-one with Intelligent purifying,
It has a purification of air and the function of ground dedusting simultaneously, and the sweeper in all-in-one can clean to floor-dust, effectively
Reduce the pollution of flooring.But existing sweeper does not possess path planning function mostly, the blind phenomenon swept be present, its
Operating efficiency is low, high energy consumption.
Utility model content
To solve the technical problem present in prior art, the utility model provides the sweeper road based on angular transducer
Footpath planning control system, sweeper can be controlled by specified path automatic cleaning, avoidance, prevent falling and recharging, so as to keep floor
Cleaning；The planning of sweeper automated path, the automatic tracking velocity of energy and corner can be realized, realizes, energy-conservation efficient to indoor environment
Cleaning.
The utility model is realized using following technical scheme：Sweeper path planning control system based on angular transducer
System, including control subsystem, monitor terminal and communication module；Control subsystem includes MCU master controllers, and respectively with MCU
The revolver velocity sensor of master controller connection, right wheel velocity sensor, recharge infrared sensor, laser radar sensor, angle
Spend sensor, man-machine interactive system and communication module；Communication module includes 2.4G wireless modules and WiFi module, MCU main controls
Device is connected by WiFi module with monitor terminal, is connected by 2.4G wireless modules with air purifier；MCU master controllers utilize
The obstacle information of laser radar sensor collection constructs electronic map, and then the walking path of sweeper is planned,
And the data that receiving angle sensor transmits, the left and right movable motor that sweeper is constantly adjusted according to the angle-data collected are defeated
The PWM value gone out, makes sweeper be walked according to specified path.
The control subsystem also include be connected respectively by power amplifier with MCU master controllers left movable motor,
Right movable motor, side brush motor, dust sucting motor, cleaning motor.
The control subsystem also includes infrared fall preventing sensor, the infrared obstacle avoidance biography being connected respectively with MCU master controllers
Sensor, contact/pressure sensor.
The angular transducer selects GY-25 modules.
The man-machine interactive system includes display screen, touch key-press, the buzzer being connected respectively with MCU master controllers.
The utility model compared with prior art, has the following advantages that and beneficial effect：
1st, there is the cleaning function such as indoor refuse and dust, can effectively reduce indoor pollution, reduce floor laying dust, realize clear
Intellectuality and real-time monitoring and control during sweeping.
2nd, intelligence degree is high, and sweeper can be controlled by specified path automatic cleaning, avoidance, prevent falling and recharging, so as to
Keep floor-cleaning；The planning of sweeper automated path can be realized, can be realized from motion tracking command speed and corner to indoor ring
Border is efficient, the cleaning of energy-conservation.
Brief description of the drawings
Fig. 1 is the general frame of the utility model control system；
Fig. 2 is the utility model sweeper dead reckoning schematic diagram；
Fig. 3 is control principle drawing of the present utility model；
Fig. 4 is the utility model sweeper anglec of rotation trace plot；
Fig. 5 is the utility model sweeper speed tracing curve map.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment
The intelligence of the utility model research and development cleans purification integrated machine and is mainly made up of air purifier and sweeper, they it
Between communicated by wireless module and carry out Collaborative Control, sweeper by receive control instruction that air purifier transmits carry out it is clear
Sweep, recharge and path planning function.Such as Fig. 1, the utility model sweeper control system include control subsystem, monitor terminal and
Communication module, control subsystem mainly include MCU master controllers, and be connected respectively with MCU master controllers various kinds of sensors,
Man-machine interactive system, communication module, all kinds of motors etc. five are most of, control subsystem be responsible for whole sweeper operating control and
Data interaction, including sensor data information receives and processing, subscriber control information control, peripheral hardware control etc..Various kinds of sensors
Including be connected respectively with MCU master controllers revolver velocity sensor, right wheel velocity sensor, recharge infrared sensor, infrared
It is anti-to fall sensor, IR evading obstacle sensors, laser radar sensor, contact/pressure sensor, include by UART interface and
The angular transducer of MCU master controllers connection.All kinds of motors, including left movable motor, right movable motor, side brush motor, dust suction
Motor, motor is cleaned, be respectively connected by power amplifier with MCU master controllers.Man-machine interactive system include respectively with MCU
Display screen, touch key-press, the buzzer of master controller connection.Communication module includes 2.4G wireless modules and WiFi module, MCU master
Controller is connected by WiFi module with monitor terminal, is connected by 2.4G wireless modules with air purifier.
Control subsystem is the control core of whole system, and it is responsible for real-time picking rate sensor, infrared sensor, angle
Degree sensor, the data such as contact/pressure sensor control sweeper clean according to specified path, recharges and avoidance, and by work
Parameter is sent to monitor terminal by WiFi module, while can receive the control command of monitor terminal transmission.Control subsystem
Function quality determines the performance of system, and it is needed to control sweeper work, while the running parameter of system is sent into monitoring
Terminal and the related command for receiving monitor terminal transmission, it is easy to carry out remote monitoring to system.Specifically, control subsystem
The function of needing to realize mainly includes：
1) to the real-time collection of sensing data：Such as to left and right wheels velocity sensor, recharge infrared sensor, angle sensor
Device, infrared fall preventing sensor, IR evading obstacle sensors, laser radar sensor etc. carry out data acquisition.
2) control and WiFi remote controls manually are carried out to sweeper, receives the control that monitor terminal is transmitted by WiFi module
Information processed, realize switching on and shutting down control, timing controlled, path planning etc.；Sweeper running status is returned to monitor terminal, is such as switched
The information such as machine, timing, path and alarm.
3) according to the input of touch key-press, response performs corresponding order, as sweeper recharges, switching on and shutting down, automatic cleaning
Unlatching and mandatum cassatorium etc..
4) sweeper remote control, carries out automatic cleaning and stopping, path planning, the orders such as sweeper recharges.
Various kinds of sensors mainly gathers environmental information, and wherein infrared sensor mainly realizes sweeper avoidance, prevents falling and returning
Fill function, IR evading obstacle sensors share it is left, left front, left, right in, it is right before and it is right amount to 6 reception/emission lamps, it is left, left
Before, the left progress left side detection of obstacles that is cascaded, in right, it is right before and the right side be cascaded progress right side obstacle quality testing
Survey, it detects the barrier in sweeper working environment with collision free using the reflectivity properties of object.Within the specific limits,
If barrier, infrared ray runs into barrier, is reflected to up to sensor and receives head, when sensor detects obstacle signal
When, transmission has obstacle signal to be handled to single-chip microprocessor MCU master controller, and single-chip microcomputer is handled by serial analysis, and driving is swept
The driving wheel of ground machine carrys out avoiding barrier.Recharge and be provided with 6 reception/emission lamps at the top of infrared sensor, front connects provided with 1
Shot-light is transmitted/received, mainly guides sweeper to recharge.Infrared fall preventing sensor include it is right, right before, left, left front four groups of infrared receivers/
Emission lamp, installed in motor spindle of sweeping the floor, detection and ground distance, think that sweeper part is maked somebody a mere figurehead if ground is not detected,
Departed from according to aerial part opposite direction movement sweeper.Pressure sensor detects contact situation of the sweeper with barrier,
Sweeper is allowed to carry out disengaging processing in time.Angular transducer is connected with single-chip microcomputer UART mouths, and single-chip microcomputer uses serial port
The data that receiving angle sensor transmits, the left and right movable motor output of sweeper is constantly adjusted according to the angle-data collected
PWM value, the function that makes to sweep the floor walks according to desired trajectory.In the process of walking, brushed when brush motor controls clear up rubbish and ash
Dirt, cleans motor and they are swept into dust box by dust sucting motor.The obstacle information that laser radar sensor collects is for structure
Electronic map is used, and man-machine interactive system provides user and interacted with machine information, and touch key-press, which can be realized, to be stopped to sweeper, opens
Or recharge, display screen shows the working condition of sweeper, and buzzer provides warning message, UV sterilizations in sweeper not enough power supply
Lamp can kill bacterium.User can be controlled sweeper operating and be recharged by remote controller key or WiFi wireless telecommunications.Sweeper
Communicated by 2.4G wireless modules ARF2496K and air purifier machine, to carry out Collaborative Control.
Sweeper is blind to be swept in order to reduce, and improves operating efficiency, reduces energy consumption, utilizes the obstacle of laser radar sensor collection
Thing information architecture indoor electronic map, and carry out corresponding intelligent path planning；In cleaning process, MCU master controllers are according to angle
The sweeper walking angle-data that degree sensor collects, with reference to constructed indoor electronic map, carries out the boat position of sweeper
Calculate, control sweeper is cleaned according to specified path.Wherein angular transducer includes gyroscope and accelerometer, can detect
Car body corner.
Such as Fig. 2, sweeper is positioned using dead reckoning principle, dead reckoning obtains sweeper using encoder
Left and right wheel speed, obtain displacement after integration, the angle-data obtained using angular transducer realizes positioning.Dead reckoning is such as
Shown in formula (1), in formula：X, y, θ be sweeper initial point coordinate and course angle, xk、yk、θkThe respectively coordinate and boat of kth point
To angle, vri, vliIt is the speed of i-th left and right wheels walking respectively, Δ θi,ΔθkBe respectively measure i-th point of angular transducer and
Kth point car body course angle increment, Δ T is dead reckoning time interval.Such as Fig. 3, to realize car body walking intended trajectory, car is inputted
The body anglec of rotation, the angle collected with the angular transducer on car body compare to obtain error, after controller 1
Output control amount 1 is obtained, inputs command speed, and the velocity sensor being connected in left and right wheels, i.e. rotary encoder collect
The speed of car body that is obtained of left and right wheel speed average value compare, output control amount 2, control are obtained after controller 2
Amount 1 is added to obtain output quantity 1 with controlled quentity controlled variable 2, is converted into pwm signal and is applied to revolver motor (i.e. left movable motor), is controlled
Amount 1 and controlled quentity controlled variable 2 processed subtract each other to obtain output quantity 2, are converted into pwm signal and are applied to right wheel motor (i.e. right movable motor), so as to
Realize closed-loop control and walked by specified path.
For angular transducer from conventional GY-25 modules, it is a inexpensive three shaft declivities module.Operating voltage 3-
5V, small power consumption, small volume, its operation principle are finally obtained directly by data anastomosing algorithm by gyroscope and accelerometer
Angle-data.Three shaft declivity modules are communicated with serial ports Transistor-Transistor Logic level full duplex mode with host computer.The Product Precision
Height, stability is high, can obtain accurate angle at an arbitrary position, the baud rate of output has 9600bps and 115200bps, had
Continuous output and inquiry output two ways, are suitable for different working environments.8 bytes (hexadecimal) are included per frame：Point
It is not around the three axle anglecs of rotation, frame head is 0xAA, and postamble is 0x55, and and then frame head is course angle most-significant byte, course angle low 8
Position, angle of pitch most-significant byte, angle of pitch least-significant byte, roll angle most-significant byte, roll angle least-significant byte, module is in itself without magnetometer, course angle
Have drift for a long time.Pay attention to during installation using the angle of pitch or roll angle as car body roll angle inspection signal.
Single-chip microcomputer carries out baud rate initialization, and using interrogation mode, 0xA5+0x51 lives are sent to module by UART mouths
Order, receives a frame sensor data, and reading angular data are simultaneously fed back in control system, and it is left to export corresponding PWM value control
Right wheel motor, so as to control body speed of vehicle and corner.
Emulated by MATLAB/SIMULINK, to specifying the square-wave variations anglec of rotation to be tracked, speed control exists
0.2m/s, as shown in Figure 4, it is known that sweeper can track designated parties wave angle degree, and by 0.3s, angle reaches specified control value.Such as
Shown in Fig. 5, it is known that by 10s or so, the speed of sweeper reaches designated value.
Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned
The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace
Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (5)
1. the sweeper path planning control system based on angular transducer, it is characterised in that including control subsystem, monitoring eventually
End and communication module；Control subsystem includes MCU master controllers, and the revolver speed being connected respectively with MCU master controllers passes
Sensor, right wheel velocity sensor, recharge infrared sensor, laser radar sensor, angular transducer, man-machine interactive system and lead to
Believe module；Communication module includes 2.4G wireless modules and WiFi module, and MCU master controllers are connected by WiFi module and monitor terminal
Connect, be connected by 2.4G wireless modules with air purifier；MCU master controllers utilize the barrier of laser radar sensor collection
Information architecture goes out electronic map, and the walking path of sweeper is planned on this basis, while receiving angle sensor
The data transmitted, the PWM value of the left and right movable motor output of sweeper is constantly adjusted according to the angle-data collected, makes to sweep the floor
Machine is walked according to specified path.
2. the sweeper path planning control system according to claim 1 based on angular transducer, it is characterised in that institute
State control subsystem also include be connected respectively by power amplifier with MCU master controllers left movable motor, right movable motor,
Side brush motor, dust sucting motor, clean motor.
3. the sweeper path planning control system according to claim 1 based on angular transducer, it is characterised in that institute
State control subsystem also include be connected respectively with MCU master controllers infrared fall preventing sensor, IR evading obstacle sensors, contact/
Pressure sensor.
4. the sweeper path planning control system according to claim 1 based on angular transducer, it is characterised in that institute
State angular transducer and select GY-25 modules.
5. the sweeper path planning control system according to claim 1 based on angular transducer, it is characterised in that institute
State display screen, touch key-press, buzzer that man-machine interactive system includes being connected with MCU master controllers respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720870510.3U CN207020536U (en) | 2017-07-18 | 2017-07-18 | Sweeper path planning control system based on angular transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720870510.3U CN207020536U (en) | 2017-07-18 | 2017-07-18 | Sweeper path planning control system based on angular transducer |
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| Publication Number | Publication Date |
|---|---|
| CN207020536U true CN207020536U (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720870510.3U Active CN207020536U (en) | 2017-07-18 | 2017-07-18 | Sweeper path planning control system based on angular transducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857106A (en) * | 2019-01-30 | 2019-06-07 | 南通明诺电动科技股份有限公司 | Washing based on ROS sweeps integrated intelligent cleaning vehicle |
| CN113768417A (en) * | 2021-08-20 | 2021-12-10 | 深圳市踩点智慧科技有限公司 | Sweeper system with control circuit |
-
2017
- 2017-07-18 CN CN201720870510.3U patent/CN207020536U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857106A (en) * | 2019-01-30 | 2019-06-07 | 南通明诺电动科技股份有限公司 | Washing based on ROS sweeps integrated intelligent cleaning vehicle |
| CN113768417A (en) * | 2021-08-20 | 2021-12-10 | 深圳市踩点智慧科技有限公司 | Sweeper system with control circuit |
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