CN105700531B - Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor - Google Patents
Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor Download PDFInfo
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- CN105700531B CN105700531B CN201610238613.8A CN201610238613A CN105700531B CN 105700531 B CN105700531 B CN 105700531B CN 201610238613 A CN201610238613 A CN 201610238613A CN 105700531 B CN105700531 B CN 105700531B
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- 238000010408 sweeping Methods 0.000 claims abstract description 91
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 230000002452 interceptive effect Effects 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000004888 barrier function Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 18
- 239000000428 dust Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 6
- 241001417527 Pempheridae Species 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 4
- 230000001788 irregular Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of two layers of work sweeping robots of household based on customized map, it is characterised in that: includes control system, positioning system, mechanical system and man-machine interactive system；Control system is that the core processing of sweeping robot coordinates the work of positioning system, mechanical system and man-machine interactive system；Positioning system is connect with control system, and the acquisition and processing of to map information are realized with positioning function；Mechanical system connect with control system moved in specified region for realizing sweeping robot, avoidance, the function of cleaning and upper and lower floor；Man-machine interactive system connect the information exchange for realizing user and sweeping robot with control system.The present invention may be implemented specified region all standing have difference clean and can autonomous floor up and down, sweeping robot can either be prevented to be stuck, and cleaning efficiency can be improved, make everywhere region all clean.
Description
Technical field
The present invention relates to a kind of sweeping robot and its method of sweeping the floor, especially a kind of household two based on customized map
Layer work sweeping robot and its method of sweeping the floor.
Background technique
In recent years, development in science and technology was further rapid, and some household humanoid robots emerge one after another, sweeping robot conduct
The new lover of domestic robot, the function of independently cleaning are liked having in people's daily life not by housewife deeply
Alternative effect.However there is also some problems to be solved in the prior art, and such as: the autonomous cleaning warp of sweeping robot
Oneself can be often stuck under sofa；Cleaning is time-consuming；It is certain that compared with dirty district domain, there is no completely clean；It independently upper cannot go downstairs
Layer.These problems affect the clean effect of sweeping robot.
Based on the above reasons, needing one kind that specified region all standing may be implemented has difference to clean and can autonomous floor up and down
Sweeping robot be developed, sweeping robot can either be prevented to be stuck, and cleaning efficiency can be improved, allow everywhere area
Domain is all clean.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of two layers of work sweepers of household based on customized map
Device people.
In order to solve the above technical problems, the technical scheme adopted by the invention is that:
Two layers of work sweeping robot of a kind of household based on customized map, it is characterised in that: comprising control system, determine
Position system, mechanical system and man-machine interactive system；Control system is that the core processing of sweeping robot coordinates positioning system, machinery
The work of system and man-machine interactive system；Positioning system is connect with control system, realizes to map information with positioning function
Acquisition and processing；Mechanical system connect with control system moved in specified region for realizing sweeping robot, avoidance, cleaning
And the function of upper and lower floor；Man-machine interactive system is connect for realizing the friendship of the information of user and sweeping robot with control system
Mutually.
Further, the control system uses STM32 single-chip microcontroller.
Further, the positioning system includes infrared sensor and Inertial Measurement Unit, and infrared sensor setting is being swept
Floor-washing robot surrounding in ergodic process for detecting the presence of barrier, and Inertial Measurement Unit is for measuring sweeping robot
Angular speed and acceleration realize the positioning to sweeping robot.
Further, the mechanical system includes mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly,
Mechanically moving unit includes motor and obstacle avoidance module, controls sweeping robot while specified region all standing without impinging on obstacle
Object；Cleaning machine unit includes steam flusher, hairbrush and dust absorption fan；Upper and lower floor machine assembly include charging base,
Rope, pulley, pulley motor and bluetooth module, pulley rotation setting is at stair edge, and rope is arranged on pulley and rope
One end connect with pulley motor and is driven by pulley motor, and the rope other end is fixed on charging base, bluetooth module and sweeper
Device people communication.
Further, the steam flusher is provided with gray-scale sensor, and gray-scale sensor is for detecting floor-dust
Situation.
Further, the man-machine interactive system includes handheld client end, and handheld client end passes through bluetooth module and sweeps the floor
Robot is communicated, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module.
A kind of two layers of work sweeping robot of household based on customized map is swept the floor method, it is characterised in that including following
Step:
Step 1: sweeping robot carries out traversal cleaning, in ergodic process, record when infrared sensor detects barrier
Current location point combines these location points and constitutes barrier map, while establishing two-dimensional coordinate system and map is resolved into one
A coordinate points, sweeping robot will be shown on position Real-time Feedback to handheld client end and by red dot flashing in map reference
On；
Step 2: it is cleaned according to the cartographic information recorded on handheld client end, handheld client end can modify automatically
Irregular profile in map, and handheld client end can iris out key area in map manually and carry out emphasis cleaning or circle
Out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor of steam flusher detects floor-dust situation, when ground is very dirty
Gray scale exceeds threshold value, and steam flusher increases steam sprinkling auxiliary and cleaned；
Step 4: after having cleaned one layer, sweeping robot is moved to floor machine assembly up and down, controls pulley motor
Work is to realize the vertical movement of floor machine assembly up and down.
Further, signal can be issued to the unit when sweeping robot has swept Stall and be moved to immediately below the unit
Place, the unit release rope to ground by pulley, sweeping robot can independently be found after confirmation sweeping robot reaches
Ferrule at the top of rope simultaneously connect by magnetic with rope, and at this moment the unit understands retraction cables, and sweeping robot is pulled on.
Compared with prior art, the present invention having the following advantages that and effect: specified region all standing, which may be implemented, difference
Cleaning and can autonomous floor up and down, sweeping robot can either be prevented to be stuck, and cleaning efficiency can be improved, allow everywhere region
It is all clean.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of two layers of household work sweeping robot based on customized map of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing and by embodiment, and following embodiment is to this hair
Bright explanation and the invention is not limited to following embodiments.
As shown, two layers of work sweeping robot of a kind of household based on customized map of the invention, includes control
System 1, positioning system 4, mechanical system 3 and man-machine interactive system 2；Control system 1 is that the core processing of sweeping robot is coordinated
The work of positioning system 4, mechanical system 3 and man-machine interactive system 2；Positioning system 4 is connect with control system 1, has positioning function
It is able to achieve the acquisition and processing of to map information；Mechanical system 3 is connect for realizing sweeping robot specified with control system 1
Moved in region, avoidance, cleaning and up and down floor function；Man-machine interactive system 2 connect with control system 1 for realizing with
The information exchange at family and sweeping robot.
Control system uses STM32 single-chip microcontroller.Positioning system includes infrared sensor 6 and Inertial Measurement Unit 7, infrared biography
Sweeping robot surrounding is arranged in for detecting the presence of barrier in ergodic process in sensor, and Inertial Measurement Unit is for measuring
The angular speed and acceleration of sweeping robot realize the positioning to sweeping robot.Mechanical system includes mechanically moving unit 8, clear
Clean machine assembly 9 and upper and lower floor machine assembly 10, mechanically moving unit 8 include motor and obstacle avoidance module, control machine of sweeping the floor
People is while specified region all standing without impinging on barrier；Cleaning machine unit 9 includes steam flusher, hairbrush and dust suction
Fan；Upper and lower floor machine assembly 10 includes charging base, rope, pulley, pulley motor and bluetooth module, pulley rotation setting
At stair edge, rope is arranged on pulley and rope one end connect with pulley motor and driven by pulley motor, and rope is another
End is fixed on charging base, and bluetooth module is communicated with sweeping robot.Steam flusher is provided with gray-scale sensor, gray scale
Sensor is for detecting floor-dust situation.Man-machine interactive system includes handheld client end 5, and handheld client end passes through bluetooth module
It is communicated with sweeping robot, the location point of cartographic information and sweeping robot is passed to handheld client by bluetooth module
End.
A kind of two layers of work sweeping robot of household based on customized map is swept the floor method, comprising the following steps:
Step 1: sweeping robot carries out traversal cleaning, in ergodic process, record when infrared sensor detects barrier
Current location point combines these location points and constitutes barrier map, while establishing two-dimensional coordinate system and map is resolved into one
A coordinate points, sweeping robot will be shown on position Real-time Feedback to handheld client end and by red dot flashing in map reference
On；
Step 2: it is cleaned according to the cartographic information recorded on handheld client end, handheld client end can modify automatically
Irregular profile in map, and handheld client end can iris out key area in map manually and carry out emphasis cleaning or circle
Out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor of steam flusher detects floor-dust situation, when ground is very dirty
Gray scale exceeds threshold value, and steam flusher increases steam sprinkling auxiliary and cleaned；
Step 4: after having cleaned one layer, sweeping robot is moved to floor machine assembly up and down, controls pulley motor
Work is to realize the vertical movement of floor machine assembly up and down.
At signal can be issued to the unit when sweeping robot has swept Stall and be moved to immediately below the unit, the unit
After confirmation sweeping robot reaches, rope is released to ground by pulley, sweeping robot can independently be found at the top of rope
Ferrule and connect with rope by magnetic, at this moment the unit understands retraction cables, and sweeping robot is pulled on.
When acquiring cartographic information, handheld client end is matched by bluetooth and sweeping robot, and user passes through hand-held visitor
Family end manipulates sweeping robot and traverses entire room, and the infrared sensor of positioning system can be detected constantly attached while ergodic process
Closely whether there is barrier, if there is the barriers such as wall sofa just record current location point, all location points finally may be used
It include the barriers such as sofa in map to constitute the complete map of a width.A two-dimensional coordinate system is established simultaneously by map point
Solution is at coordinate points one by one；In sweeping robot utonomous working, positioning system can be by coordinate bit of the sweeping robot on map
It sets and is shown on handheld client end with the red dot of flashing, facilitate the position of user's real-time monitoring sweeping robot.
Handheld client end has the function of modification map lack of standardization, due to being advanced with bluetooth manipulation sweeping robot, obtains
Route must be crooked, so handheld client end can optimize map, become irregular concave-convex curve
It is smooth.
Handheld client end can also iris out one piece of emphasis on map and need the dirtier places such as clean region such as kitchen,
One piece can also be irised out and do not need the barriers such as clean region such as sofa, prevent sweeping robot be stuck under sofa or because
Not need very much clean room completely, or cleaning is eaily local manually.
When autonomous cleaning, sweeping robot can carry out high efficiency cleaning, mechanically moving unit packet according to the requirement in map
Motor and obstacle avoidance module, its running track of the mobile control of motor driven sweeping robot are included, obstacle avoidance module prevents machine of sweeping the floor
People knocks object；Cleaning machine unit includes steam flusher, hairbrush and dust absorption fan, and steam flusher includes gray scale
Sensor, the fountain height of steam is seldom under the normal condition of default, but when the very dirty gray-scale sensor in ground has exceeded threshold value,
Steam flusher will increase the sprinkling of steam.
Upper and lower floor machine assembly and charging base are combined into one and save space, upper and lower floor machine assembly and charging bottom
Seat, being built-in with bluetooth module can be communicated with sweeping robot, and upper and lower floor machine assembly includes pulley and rope, work as sweeper
At device people can issue signal to the unit and be moved to immediately below the unit when having swept Stall, the unit is in confirmation sweeping robot
After arrival, rope is released to ground by pulley, sweeping robot can independently find the ferrule at the top of rope and pass through magnetic
Suction is connected with rope, and at this moment unit meeting retraction cables pull on sweeping robot；Similarly sweeping robot can also be first clear
Clean second floor, then sweeping robot release is gone down by rope.
Above content is only illustrations made for the present invention described in this specification.Technology belonging to the present invention
The technical staff in field can do various modifications or supplement or is substituted in a similar manner to described specific embodiment, only
It should belong to guarantor of the invention without departing from the content or beyond the scope defined by this claim of description of the invention
Protect range.
Claims (6)
1. a kind of two layers of work sweeping robot of household based on customized map, it is characterised in that: include control system, positioning
System, mechanical system and man-machine interactive system；Control system is the core of sweeping robot, and positioning system, machinery are coordinated in processing
The work of system and man-machine interactive system；Positioning system is connect with control system, realizes to map information with positioning function
Acquisition and processing；Mechanical system connect with control system moved in specified region for realizing sweeping robot, avoidance, cleaning
And the function of upper and lower floor；Man-machine interactive system is connect for realizing the friendship of the information of user and sweeping robot with control system
Mutually；
The mechanical system includes mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly, mechanically moving unit
Comprising motor and obstacle avoidance module, sweeping robot is controlled while specified region all standing without impinging on barrier；Cleaning machine
Unit includes steam flusher, hairbrush and dust absorption fan；Upper and lower floor machine assembly includes charging base, rope, pulley, cunning
Turbin generator and bluetooth module, pulley rotation setting is arranged on pulley at stair edge, rope and rope one end and pulley are electric
Machine connection is driven by pulley motor, and the rope other end is fixed on charging base, and bluetooth module is communicated with sweeping robot；
The control system uses STM32 single-chip microcontroller.
2. two layers of work sweeping robot of a kind of household based on customized map described in accordance with the claim 1, feature exist
In: the positioning system includes infrared sensor and Inertial Measurement Unit, and infrared sensor setting is used in sweeping robot surrounding
In the presence for detecting barrier in ergodic process, Inertial Measurement Unit is used to measure the angular speed and acceleration of sweeping robot
Realize the positioning to sweeping robot.
3. two layers of work sweeping robot of a kind of household based on customized map described in accordance with the claim 1, feature exist
In: the steam flusher is provided with gray-scale sensor, and gray-scale sensor is for detecting floor-dust situation.
4. two layers of work sweeping robot of a kind of household based on customized map described in accordance with the claim 1, feature exist
In: the man-machine interactive system includes handheld client end, and handheld client end is communicated by bluetooth module with sweeping robot,
The location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module.
5. a kind of described in any item two layers of the household work sweeping robot based on customized map of claim 1-4 is swept the floor
Method, it is characterised in that the following steps are included:
Step 1: sweeping robot carries out traversal cleaning, and in ergodic process, record is current when infrared sensor detects barrier
Location point combines these location points and constitutes barrier map, while establishing two-dimensional coordinate system and resolve into map and sitting one by one
Punctuate, sweeping robot will be shown on map reference on position Real-time Feedback to handheld client end and by red dot flashing；
Step 2: it is cleaned according to the cartographic information recorded on handheld client end, handheld client end can modify map automatically
In irregular profile, and handheld client end can iris out key area in map manually and carry out emphasis cleaning or iris out big
Type barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor of steam flusher detects floor-dust situation, when the very dirty gray scale in ground
Beyond threshold value, steam flusher increases steam sprinkling auxiliary and is cleaned；
Step 4: after having cleaned one layer, sweeping robot is moved to floor machine assembly up and down, control pulley motor work
To realize the vertical movement of floor machine assembly up and down.
6. a kind of two layers of work sweeping robot of household based on customized map is swept the floor method according to claim 5,
It is characterized by: signal can be issued to the unit when sweeping robot has swept Stall and is moved to upper and lower floor machine assembly just
At lower section, upper and lower floor machine assembly releases rope to ground, sweeper by pulley after confirmation sweeping robot reaches
Device people can independently find the ferrule at the top of rope and be connected by magnetic with rope, and at this moment floor machine assembly can be shunk up and down
Rope pulls on sweeping robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610238613.8A CN105700531B (en) | 2016-04-18 | 2016-04-18 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
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| CN201610238613.8A CN105700531B (en) | 2016-04-18 | 2016-04-18 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
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| CN105700531A CN105700531A (en) | 2016-06-22 |
| CN105700531B true CN105700531B (en) | 2019-03-01 |
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| CN201610238613.8A Active CN105700531B (en) | 2016-04-18 | 2016-04-18 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
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| CN105700531A (en) | 2016-06-22 |
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Application publication date: 20160622 Assignee: Jiangsu source hi tech Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980001827 Denomination of invention: Home two-layer work sweeping robot based on custom map and its sweeping method Granted publication date: 20190301 License type: Common License Record date: 20240204 |
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