CN218651639U - Intelligent floor sweeping machine control system - Google Patents
Intelligent floor sweeping machine control system Download PDFInfo
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- CN218651639U CN218651639U CN202222945165.9U CN202222945165U CN218651639U CN 218651639 U CN218651639 U CN 218651639U CN 202222945165 U CN202222945165 U CN 202222945165U CN 218651639 U CN218651639 U CN 218651639U
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Abstract
The utility model mainly relates to an intelligence house field. In order to solve the problems that most of sweeping robots in the market can only sweep according to an established fixed path diagram, the mode is single, and the obstacle avoidance is inflexible, the utility model provides an intelligent sweeper control system, which comprises a singlechip control module, a dust detection module, a sand and stone recognition module, a motor drive module, a key control module, a fan module, a display module and an ultrasonic detection obstacle avoidance module; the system can switch the cleaning mode according to the dirty condition on the ground, and can avoid obstacles more flexibly according to the ultrasonic obstacle avoidance module, thereby improving the working efficiency of the sweeper.
Description
Technical Field
The utility model belongs to the technical field of the intelligence house and specifically relates to an intelligence machine control system that sweeps floor is related to.
Background
With the rapid development and maturity of science and technology, human life is also gradually intelligentized and technologized. The intelligent sweeper becomes a new hot industry in the field of intelligent service robots and is used for improving office areas and home environments. However, the intelligent sweeper in the market at present has the problems of complex path planning, incapability of flexibly avoiding obstacles, non-uniform paths in various working states, high noise, floor scraping and the like. In addition, the problems of poor cleaning effect, overlong unilateral operation time, high manufacturing price and the like exist.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem who solves:
the problem of the intelligent sweeper on the market at present can only clean according to fixed path picture, clean the comparatively single problem of mode and sweeper obstacle avoidance inflexibility is solved.
The utility model provides a technical scheme that above-mentioned technical problem adopted:
an intelligent sweeper control system comprises a main control chip, a motor driving module, a fan dust collection module, a dust detection module and a steering wheel;
the dust detection module, the motor driving module and the fan dust collection module are all connected with the main control chip;
the steering wheel is used for driving the sweeper to move under the driving of the motor driving module;
the dust detection module is used for detecting the dust accumulation condition on the ground;
the main control chip selects a corresponding cleaning mode according to the ground dust accumulation condition detected by the dust detection module, and controls the motor driving module to drive and adjust the direction of the steering wheel according to the corresponding cleaning mode;
the fan dust collection module is used for cleaning garbage on the ground in the advancing process of the sweeper.
Furthermore, the motor driving module comprises a driving chip and two motors, and three steering wheels are provided; the driving chip is connected with two motors, the two motors are respectively connected with a steering wheel, and the other steering wheel is connected with two steering wheels connected with the motors; the three steering wheels are all provided with one ends of the sweeper, which are contacted with the ground, the two steering wheels connected with the motor are used as front wheels, and the other steering wheel is used as a rear wheel.
Furthermore, the dust detection module is arranged at one end of the sweeper, which is in contact with the ground.
Furthermore, the system also comprises an ultrasonic detection obstacle avoidance module, wherein the ultrasonic detection obstacle avoidance module comprises an ultrasonic transmitter, a receiver and a control circuit; the ultrasonic transmitter transmits ultrasonic waves, the ultrasonic waves are returned to the receiver when encountering the obstacle, and the main control chip calculates the distance between the sweeper and the obstacle in real time according to the transmitting and returning time of the ultrasonic waves.
Further, the system still includes grit identification module, grit identification module sets up in the one end of sweeping the floor machine with ground contact, works as behind the grit identification module through image recognition stone gravel, to main control chip signals, main control chip control directive wheel stall to send out the police dispatch newspaper.
Furthermore, the system also comprises a key control module, wherein the key control module comprises an autonomous cleaning mode control key, a fixed point cleaning mode key and a reciprocating cleaning mode key, and is used for manually and autonomously selecting a cleaning mode.
Furthermore, the system also comprises a display module, wherein the display module is composed of four common anode nixie tubes, one of the four common anode nixie tubes is used for displaying the on-off state of the sweeper, the other two common anode nixie tubes are used for displaying the sweeping mode of the sweeper, and the other two common anode nixie tubes are used for displaying the distance value and the distance unit of the sweeper from the obstacle.
Furthermore, the fan dust collection module comprises a fan and a storage box.
The utility model has the advantages that:
the utility model discloses an intelligent sweeper sets up action wheel and driven wheel for the sweeper, makes the singlechip control the direction of rotation of action wheel and driven wheel through detecting the ground dust condition, makes the sweeper work with different cleaning modes, improves the sensitivity and the reliability of sweeper operation, has still set up the button control module, also can think to select the cleaning mode; meanwhile, the intelligent sweeper control system is also provided with an ultrasonic distance measurement obstacle avoidance module, so that obstacles can be detected in all directions, the distance of the obstacles is displayed in real time, and the sweeper can take effective obstacle avoidance measures;
drawings
Figure 1 is the utility model discloses an intelligence machine control system module connection sketch map of sweeping floor
Detailed Description
The main control chip controls the motor driving module to adjust the rotating directions of two front wheels connected with the motor according to the ground dust accumulation condition detected by the dust detection module, and the two front wheels drive the rear wheels to rotate, so that the sweeper works in an autonomous cleaning mode, a fixed point cleaning mode or a reciprocating cleaning mode; the ultrasonic detection obstacle avoidance module calculates the distance between the sweeper and the obstacle according to the sending and receiving time of the ultrasonic wave.
Example (b):
as shown in fig. 1, the control system of the intelligent sweeper of the present invention comprises a main control chip, a motor driving module, a fan dust collection module, a display module, a dust detection module, an ultrasonic detection obstacle avoidance module, a sand identification module, and a key control module; the motor driving module, the fan dust collection module, the display module, the dust detection module, the ultrasonic detection obstacle avoidance module, the sand identification module and the key control module are connected with the main control chip;
in the embodiment, the number of the steering wheels is set to be 3;
the main control chip adopted in the embodiment is an STC89C52 single chip microcomputer.
The ultrasonic detection obstacle avoidance module in the embodiment is of a type HC-SR04, and comprises an ultrasonic transmitter, a receiver and a control circuit.
In this embodiment, the motor driving chip in the motor driving module is an L293N chip.
In this embodiment, the fan module is an L9110 integrated module.
In this embodiment, the display module is composed of four common anode nixie tubes.
The motor driving module is connected with P12-P15 pins of the singlechip main control chip and is used for regulating and controlling the rotating speed and the rotating direction of the motor through PWM.
The key control module adopts three independent keys to be respectively connected with pins P35, P36 and P37 of the single chip microcomputer, and a user can select to adjust the sweeper to switch among a free sweeping mode, a reciprocating sweeping mode and a fixed point sweeping mode through the keys.
The display module adopts 4 common anode nixie tubes to be connected with pins P24, P25, P26 and P27 of the singlechip.
The fan module is connected with a pin P20 of the single chip microcomputer, the chip is used for driving and controlling the motor to rotate forward and backward to control the fan to rotate, and external garbage is sucked into the garbage storage box through the rotation of the fan.
The ultrasonic detection obstacle avoidance module is connected with pins P26 and P27 of a singlechip main control chip module, an ultrasonic ranging obstacle avoidance sensor is installed on the sweeper to detect peripheral obstacles, when the obstacles are detected, information is returned to the singlechip main control chip, and the singlechip main control chip controls the machine to steer to avoid the obstacles; judging the distance between the barrier and the sweeper; the ultrasonic ranging module selected in the embodiment has the remote sensing capacity of 2-400 cm, and the measurement precision can reach 3mm level; the module comprises an ultrasonic transmitter, a receiver and a control circuit, the distance of obstacles around the sweeper is detected in real time through the module, the measured distance and the set distance threshold value are judged in real time, when the actual measured distance is larger than the threshold value, the front of the sweeper is safe and can continuously travel, when the actual measured distance is smaller than the threshold value, the obstacle is arranged in the front of the sweeper, and the motor is controlled to turn through a main control chip of a single chip microcomputer to achieve the autonomous obstacle avoidance function.
The dust detection module comprises a dust sensor, and the dust sensor is arranged at one end of the driving wheel, which is in contact with the ground, and is used for detecting the dust accumulation condition of the ground; the single chip microcomputer selects the driving wheel cleaning mode according to the ground dust accumulation condition detected by the dust sensor.
The driving chip in the motor driving module drives two motors to control two driving wheels to rotate, and the driving wheels drive the driven wheels to rotate; two front wheels (driving wheels) are controlled by a servo motor, and a driven wheel (rear wheel) is driven by the driving wheels to rotate. The L293N chip is controlled by the PMW wave to drive the rotating speeds of the two motors, and the L293N chip can change the output power of an H bridge circuit in the chip only by inputting different voltage values through the PWM wave, so that the rotating speed of the motors is controlled. P12 and P15 are connected with EA and EB to realize the enabling control of the L293N chip, and P13, P14, P16 and P17 are respectively connected with PWM1, PWM2, PWM3 and PWM4 of the L293N chip, so that the rotation direction and the rotation speed of the motor are controlled. In an initial state, the duty ratio of the PMW wave is one hundred percent, the duty ratio is reduced by about ten percent through regulation and control, and the rotating speed of the motor is reduced, so that the speed of the sweeper is slowed down. When the sweeper is in an autonomous sweeping mode, if a barrier is encountered in the front left direction, the motor controls the two driving wheels to rotate reversely to realize retreating, and then controls the right wheel of the sweeper to rotate backwards and the left wheel to rotate forwards so as to enable the sweeper to rotate clockwise with the rear wheel as an axis to avoid the barrier; if the obstacle is detected in the front right direction, the two driving wheels are controlled to rotate reversely to retreat, then the left wheel is controlled to rotate backwards, and the right wheel is controlled to rotate forwards, so that the sweeper can rotate anticlockwise with the rear wheel as an axis to avoid the obstacle. When the dust detection sensor detects that the garbage accumulation area or thickness such as ground dust exceeds the threshold value corresponding to the fixed point cleaning mode, the single chip microcomputer controls the left wheel to rotate backwards through the motor drive when the sweeping machine cleaning mode is switched to the fixed point cleaning mode, the right wheel rotates forwards, the sweeping machine rotates in place anticlockwise, and the fixed point cleaning is achieved. When the dust detection sensor detects that the accumulation area or thickness of garbage such as ground dust exceeds a threshold value corresponding to the set reciprocating cleaning mode, the sweeping machine moves back and forth on a route according to the set distance when the sweeping machine is switched to the reciprocating cleaning mode by the singlechip, and when the left driving wheel and the right driving wheel move forward to the set distance, the two driving wheels rotate in opposite directions to drive the driven wheel to rotate to realize reversing, so that the reciprocating operation is realized to realize the reciprocating cleaning function.
The fan dust absorption module comprises L9110 fan sensor module and storing box, thereby the rotatory clean function of realization of driving motor positive and negative rotation control fan, and the fan is rotatory can be with the interior air escape of storing box, forms pressure difference including outer, inhales in the storing box outside rubbish, can also embed the filter screen in the storing box to avoid rubbish to get into the motor and cause the motor to damage.
The display module is composed of 4 common anode nixie tubes, the first nixie tube displays the switch state of the sweeper, if the switch state is 0, the switch-off state is indicated, and 1, the switch-on state is indicated; the second nixie tube and the third nixie tube display the distance of the barrier in centimeters; the fourth nixie tube shows the working mode of the sweeper, 0 represents a standing mode, 1 represents an autonomous cleaning mode, 2 represents a reciprocating cleaning mode, and 3 represents a fixed point cleaning mode.
Grit identification module sets up in the one end of sweeping floor machine and ground contact, works as grit identification module passes through image recognition function and discerns behind common hard things such as stone gravel, to accuse singlechip signals, three directive wheel stall of singlechip piece control to send out the police dispatch newspaper, can prevent that the machine of sweeping floor from continuing to drag the grit operation, wearing and tearing floor.
Claims (8)
1. An intelligent sweeper control system comprises a main control chip, a motor driving module and a fan dust collection module, and is characterized by further comprising a dust detection module and a steering wheel;
the dust detection module, the motor driving module and the fan dust collection module are all connected with the main control chip;
the steering wheel is used for driving the sweeper to move under the driving of the motor driving module;
the dust detection module is used for detecting the accumulation condition of dust on the ground;
the main control chip selects a corresponding cleaning mode according to the ground dust accumulation condition detected by the dust detection module, and controls the motor driving module to drive and adjust the direction of the steering wheel according to the corresponding cleaning mode;
the fan dust collection module is used for cleaning garbage on the ground in the advancing process of the sweeper.
2. The intelligent sweeper control system of claim 1, wherein the motor drive module comprises a drive chip and two motors, and the number of the steering wheels is three; the driving chip is connected with two motors, the two motors are respectively connected with a steering wheel, and the other steering wheel is connected with two steering wheels connected with the motors; the three steering wheels are all provided with one ends of the sweeper, which are contacted with the ground, the two steering wheels connected with the motor are used as front wheels, and the other steering wheel is used as a rear wheel.
3. The intelligent sweeper control system of claim 2, wherein the dust detection module is disposed at an end of the sweeper that contacts the floor.
4. The intelligent sweeper control system of claim 3, further comprising an ultrasonic detection obstacle avoidance module, wherein the ultrasonic detection obstacle avoidance module comprises an ultrasonic transmitter, a receiver and a control circuit; the ultrasonic transmitter transmits ultrasonic waves, the ultrasonic waves are returned to the receiver when encountering the obstacle, and the main control chip calculates the distance between the sweeper and the obstacle in real time according to the transmitting and returning time of the ultrasonic waves.
5. The intelligent sweeper control system of claim 4, further comprising a sand recognition module, wherein the sand recognition module is arranged at one end of the sweeper, which is in contact with the ground, and when the sand recognition module recognizes the gravel through an image, a signal is sent to the main control chip, and the main control chip controls the steering wheel to stop rotating and sends an alarm.
6. The intelligent sweeper control system of claim 5, further comprising a key control module including an autonomous cleaning mode control key, a fixed point cleaning mode key, and a round trip cleaning mode key for manually and autonomously selecting a cleaning mode.
7. The intelligent sweeper control system of claim 6, further comprising a display module, wherein the display module is composed of four common anode nixie tubes, one of the four common anode nixie tubes is used for displaying the on-off state of the sweeper, one of the four common anode nixie tubes is used for displaying the sweeping mode of the sweeper, and the other two common anode nixie tubes are used for displaying the distance value and the distance unit of the sweeper from the obstacle.
8. The intelligent sweeper control system of any one of claims 1-7, wherein the fan dust collection module comprises a fan and a storage box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222945165.9U CN218651639U (en) | 2022-11-04 | 2022-11-04 | Intelligent floor sweeping machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222945165.9U CN218651639U (en) | 2022-11-04 | 2022-11-04 | Intelligent floor sweeping machine control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218651639U true CN218651639U (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222945165.9U Active CN218651639U (en) | 2022-11-04 | 2022-11-04 | Intelligent floor sweeping machine control system |
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| Country | Link |
|---|---|
| CN (1) | CN218651639U (en) |
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- 2022-11-04 CN CN202222945165.9U patent/CN218651639U/en active Active
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