CN108814423A - From walking dust catcher and the method for establishing grating map - Google Patents
From walking dust catcher and the method for establishing grating map Download PDFInfo
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- CN108814423A CN108814423A CN201810673375.2A CN201810673375A CN108814423A CN 108814423 A CN108814423 A CN 108814423A CN 201810673375 A CN201810673375 A CN 201810673375A CN 108814423 A CN108814423 A CN 108814423A
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- dust catcher
- crossbeam
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- 239000000428 dust Substances 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims description 11
- 230000009885 systemic effect Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 22
- 238000011160 research Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
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- 238000004364 calculation method Methods 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 125000001400 nonyl group Chemical group [H]C([*])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])C([H])([H])[H] 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of from walking dust catcher comprising a buffer unit.Buffer unit is mainly made of baffle, swing arm, crossbeam.The inside of baffle is equipped with multiple support rods, and the thickness of support rod is equal to the thickness of mounting groove, and support rod is equipped with flaring slot, and flaring slot covers on guide post, and flaring groove width is greater than the diameter of guide post.Crossbeam is fixed on mounting groove, and the lower end surface of crossbeam is at least part of to be pressed on support rod, and the two sides of crossbeam are equipped with the sensor of at least one.Swing arm is hinged on crossbeam through a shaft, and a spring pocket is in shaft, and one end of spring is fixed in swing arm, and the other end is connected to crossbeam.Baffle is connected to lower cover through a support rod, reduces the pressure to spring leaf.The invention also discloses this methods for establishing grating map from walking dust catcher.
Description
Technical field
The present invention relates to a kind of walking dust catcher certainly and the methods for establishing grating map, belong to smart home device.
Background technique
As described in 201220403740.6, lower shell component and baffle, lower shell component front side are generally comprised from dust catcher of walking
Middle part be provided with reseting spring leaf, baffle is mounted on lower shell component by reseting spring leaf.The left and right of lower casing forward portion
Side is separately installed with infrared switch, touches infrared switch when stop collision foreign object.The intensity of spring leaf is lower, lifts entire gear
There may be deformations for plate.
Summary of the invention
The invention proposes a kind of to be arranged support rod from walking dust catcher, baffle, for bearing power in baffle.
The technical proposal of the invention is realized in this way：
A kind of walking dust catcher certainly, it is characterised in that including：
Body, the body include the upper cover body and lower cover of mutual snapping, which has multiple mounting grooves, the installation
Guide post is equipped in slot,
And a buffer unit, the buffer unit include：
Baffle, the inside of the baffle are equipped with multiple support rods, and the thickness of the support rod is equal to the thickness of the mounting groove, should
Support rod is equipped with flaring slot, which covers on the guide post, which is greater than the diameter of the guide post,
Crossbeam, the crossbeam are fixed on the mounting groove, and the lower end surface of the crossbeam is at least part of to be pressed in the support rod
On, the two sides of the crossbeam are equipped with the sensor of at least one,
Swing arm, the swing arm are hinged on the crossbeam through a shaft, and a spring pocket is in the shaft, one end of the spring
It is fixed in the swing arm, the other end is connected to the crossbeam, which has compression zone and service portion, which withstands on institute
It states on the inside of baffle, which protrudes into the sensor.
In this dust catcher of walking certainly of the invention, the inside of the baffle is equipped with track, sets in the middle part of the crossbeam
There is spring leaf, the end of the spring leaf slideably covers in the crossbeam.
It should further include cleaning device from walking dust catcher in this dust catcher of walking certainly of the invention, the cleaning device
It is fixed in the lower cover including cleaning motor, hairbrush and retarder, the cleaning motor, subtracts described in cleaning motor warp
Fast device is connected to hairbrush, which stretches out from the lower cover.
Of the invention this from walking dust catcher, the driving wheel assembly include actuating arm, driving wheel, driving source,
Deceleration component and outer outlet body, the lower cover have mounting groove, fix an annular ledge on the mounting groove, which fixes
Top on the lower cover and positioned at the mounting groove, one articulated shaft of one end of the actuating arm are connected to the outer cover
In vivo, the driving source is fixed on actuating arm, which is connected to the driving wheel through the deceleration component.
In this dust catcher of walking certainly of the invention, the lower cover is connected to a screw rod through a threaded portion, the screw rod
End protrude into the outer outlet body, the top of the screw rod is equipped with a thimble, and the annular ledge stretches out the limit of at least one
Portion, the limiting section support lean against the side of the thimble, which limits the thimble and deviate outward, set on the articulated shaft
There is a torsional spring, one end of the torsional spring is pressed on the actuating arm, and the other end is pressed on the thimble, and the torsional spring is through the actuating arm
Driving wheel is driven to stretch out out of mounting groove.
A method of grating map is established from walking dust catcher, which is characterized in that include the following steps, systemic presupposition,
It establishes maximum functional region, interior searching loop and establishes work grid network.
Implement this walking dust catcher certainly of the invention, has the advantages that：Baffle is connected to down through a support rod
Lid reduces the pressure to spring leaf.Spring leaf guide baffle plate moves back and forth, and improves the response accuracy of sensor.
Detailed description of the invention
Fig. 1 is the schematic diagram from dust catcher of walking of the invention；
Fig. 2 is the schematic diagram of the other direction of Fig. 1；
Fig. 3 is the partial view of Fig. 1, the main presentation structure of lower mounting portion and rear mounting portion；
The schematic diagram for the part that Fig. 4 is Fig. 3；
Fig. 5 is the schematic diagram of dirt box of the invention；
Fig. 6 is the schematic diagram of the other direction of Fig. 5；
Fig. 7 is the cross-sectional view of Fig. 5；
Fig. 8 is the schematic diagram of driving wheel assembly of the invention；
Fig. 9 is the cross-sectional view of Fig. 8；
Figure 10 is the schematic diagram of buffer unit of the invention；
Figure 11 is the schematic diagram of baffle of the invention；
Figure 12 is the schematic diagram of Figure 11；
Figure 13 is the schematic diagram of foundation of the invention from dust catcher grating map of walking；
Figure 14 is that the cleaner system of walking certainly of the invention presets schematic diagram；
Figure 15 is the schematic diagram from dust catcher detour barrier of walking of the invention；
Figure 16 is the track schematic diagram that working region is traversed from walking dust catcher of the invention；
Figure 17 is the schematic diagram of rasterizing working region of the invention；
Figure 18 is of the invention from walking two sub-slot map of dust catcher, and main presentation establishes next rail according to upper subslot
Mark；
Figure 19 is the schematic diagram from dust catcher detour barrier of walking of the invention；
Figure 20 is the schematic diagram that initial point is found from walking dust catcher close to wall of the invention；
Figure 21 is that the right-hand bend from walking dust catcher of the invention is detoured a kind of barrier schematic diagram；
Figure 22 is another barrier schematic diagram of right-hand bend detour from walking dust catcher of the invention；
Figure 23 is that the right-hand bend from walking dust catcher of the invention is detoured another barrier schematic diagram；
Figure 24 is that the left-hand bend from walking dust catcher of the invention is detoured a kind of barrier schematic diagram；
Figure 25 is another barrier schematic diagram of left-hand bend detour from walking dust catcher of the invention；
Figure 26 is that the left-hand bend from walking dust catcher of the invention is detoured another barrier schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
It is of the invention from walking dust catcher as shown in Fig. 1 to 12, including body 100, blower fan apparatus 200, dirt box 300,
Buffer unit 400, cleaning device 600, brush device 700 and at least two groups driving wheel assembly 500.The body 100 includes
The upper cover body 110 and lower cover 120 of mutual snapping, upper cover body 110 and lower cover 120 form a cavity, which is equipped with
Directive wheel 121.Cleaning device 600 includes cleaning motor 610, hairbrush 620 and retarder 630, and cleaning motor 610 is fixed on institute
It states in lower cover 120, which is connected to hairbrush 620 through the retarder 630, and the hairbrush 620 is from the lower cover
120 stretch out.
Upper cover body 110 has a liquid crystal display 111, and lower cover 120 has an interconnected lower mounting portion 122 with after
Mounting portion 123, rear mounting portion 123 have a sliding slot 124 and the first conductive sheet 125.Brush device 700 is mounted on described from below
In lower mounting portion 122, which has inlet portion 710 and outlet portion 720, and the inlet portion 710 is from the lower cover
120 are pierced by.Dirt box 300 includes suction inlet 310, outlet 320 and the mistake between the suction inlet 310 and outlet 320
Strainer 330.Dirt box 300 is inserted into sliding slot 124 along a guide part.The side wall of dirt box 300 is equipped with the second conductive sheet 340, suction inlet 310
When being resisted against in outlet portion 720, the second conductive sheet 340 is connect with the first conductive sheet 125, and blower fan apparatus 200 is fixed on dirt box 300
Interior, which blows out air from outlet 320.The dirt box 300 is divided into dust-collecting cavity 331 and air draft chamber by filter screen 330
332, suction inlet 310 is located at the side of dust-collecting cavity 331, and air draft chamber 332 is located at the side of outlet 320.Dirt box 300 is filled from rear
Enter body 100, uses fixed structure at the top of body 100, cost caused by reverse turning bed structure is avoided to improve.Dirt box 300 is in dust-collecting cavity
331 are equipped with the first cover board 333, which is equipped with the second cover board 334 in air draft chamber 332.Mounting portion 123 has one afterwards
Locking component 126, the locking component 126 are connected to dirt box 300.
Driving wheel assembly 500 includes actuating arm 510, driving wheel 520, driving source 530 and outer outlet body 550.Lower cover 120
With mounting groove 130, an annular ledge 131 is fixed on the mounting groove 130, which is fixed on lower cover 120 and position
In the top of mounting groove 130.One articulated shaft 511 of one end of actuating arm 510 is connected in outer outlet body 550, and driving source 530 is fixed
On actuating arm 510, which is connected to driving wheel 520 through deceleration component.Lower cover 120 is connected through a threaded portion 132
To a screw rod 133, the end of the screw rod 133 is protruded into outer outlet body 550.The top of screw rod 133 is equipped with a thimble 134, annular branch
Seat 131 has a branch of mouthful of limiting section 135, and the minimum diameter of the limiting section 135 is greater than the maximum gauge of thimble 134.Limiting section
The maximum moving displacement of 135 limitation thimble 134.Articulated shaft 511 is equipped with a torsional spring 512, and one end of the torsional spring 512 is pressed in actuating arm
On 510, the other end is pressed on thimble 134, and torsional spring 512 drives driving wheel 520 to stretch out out of mounting groove 130 through actuating arm 510.Turn
Dynamic screw rod 133 can drive thimble 134 to move up and down, and adjust the active force that torsional spring 512 is applied to actuating arm 510, thus under changing
The terrain clearance of lid 120.Screw rod 133 is through 134 transmitting forces of thimble.Lower cover 120 limits the lateral shift of thimble 134,
To guaranteeing that thimble 134 moves vertically downward always, avoids thimble 134 from rotating or traversing to cause 512 active force of torsional spring to generate pre-
Variation except phase.Actuating arm 510 has a wall extension 514, and outer outlet body 550 has a sensor 552, the adjutage 514
It is acted on when rotation on sensor 552, for detecting the corner of actuating arm 510.
Buffer unit 400 includes baffle 410, crossbeam 420, swing arm 430.Lower cover 120 has multiple slots 140, this is inserted
Guide post 141 is equipped in slot 140.The inside of baffle 410 is equipped with multiple support rods 411, and the thickness of the support rod 411 is equal to slot
140 thickness, the support rod 411 are equipped with flaring slot 412, and for 412 sets of the flaring slot on guide post 141,412 width of flaring slot is big
In the diameter of guide post 141, so as to 411 obstacle-free movable of support rod.Crossbeam 420 is fixed on slot 140, under the crossbeam 420
End face is at least part of to be pressed on support rod 411, and the two sides of the crossbeam 420 are equipped with sensor 421.Baffle 410 is through support rod 411
It is connected to lower cover 120, the gravity of baffle 410 is born by crossbeam 420, reduces the pressure to spring leaf.Swing arm 430 is through a shaft
431 are hinged on the crossbeam 420, and 432 sets of a spring is in shaft, and one end of the spring 432 is fixed in swing arm 430, separately
One end is connected to the crossbeam 420, which has compression zone 433 and service portion 434, which withstands on baffle
410 insides, the service portion 434 protrude into sensor 421.When robot is squeezed, baffle 410 is moved along the opposite direction of stress.
Multiple swing arms 430 rotate, and sensor 421 adjusts robot pose and speed according to shift length.The inside of baffle 410 is equipped with rail
The middle part in road 402, crossbeam 420 is equipped with spring leaf 422, and the end of the spring leaf 422 slideably covers in the crossbeam 420.
422 guide baffle plate 410 of spring leaf moves back and forth, and improves the response accuracy of sensor.
Referring to Fig.1 3 to 26, the invention also discloses a kind of methods for establishing this from dust catcher grating map of walking, including
Systemic presupposition, establish maximum functional region, it is interior loop through, establish work grid network, while in maximum functional region, interior follow
Barrier-avoiding method is embedded in the walking process of ring traversal.Each this method can be embedded in existing on the basis of installing the sensor of predetermined quantity
Some from walking dust catcher hardware system.Hardware system may include microprocessor unit, and sensor unit drives and executes list
Member.Sensor unit is primarily referred to as being mounted on five ultrasonic sensors and collision sensing from surrounding on front side of walking dust catcher
Device and Hall sensor.Driving execution unit includes step motor control module and left and right sides stepper motor.Microprocessor unit
Including master control, display and communication module etc..Specific structure can refer to《The research from dust catcher of walking based on ARM controller》
Described in (Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) etc..
Systemic presupposition refers to the bulk of setting robot and in the designated position placement sensor from dust catcher of walking.
It generally comprises following steps.step11：Absolute reference the point O1, O2 of setting at least two in the side of purging zone.Absolutely
Reference point is set to the side of wall, and two absolute reference points can determine the current absolute location from dust catcher of walking.Place of working
After figure is established, the location information that can determine its locating working map from walking dust catcher of anywhere booting.step12：?
Setting walking sensor C1, C2, C3, C4, C5 on the outside of car body, adjacent walking sensor angle is 45 ° and C3 arrangement dust suctions
Device advances front, and C1 and C5 are located on wheel axis, each sensor at a distance from entity with the definition of the sum of car body radius
For s1, s2, s3, s4, s5.Car body and wall and other barriers are determined according to the position of each sensor from walking dust catcher
Distance.The sum of the distance and car body radius indicate at a distance from car body geometric circular and barrier (s1, s2, s3, s4, s5).Sensing
Device is, for example,《The autonomous walking dust catcher development certainly of Driven by Ultrasonic Motors》(Nanjing Aero-Space University, Wang Hongjian),《Based on super
The Autonomous mobile robot navigation system research of sound ranging technology》Surpass used by (Wuhan University of Technology, Hu Jingcao) etc.
Sound ranging sensor.step13：Define dust catcher diameter B, dust catcher wheel distance D, C1 side vehicle wheel rotational speed ω1, the side C2 vehicle
Wheel speed ω2.Wheel rated speed ωP.In general, the driving motor from walking dust catcher is encoded using angular speed, angular speed is defined
It is more advantageous to and measures car body state.
step14：C1 is car body reference point O3, and C5 is car body reference point O4, systemic presupposition safe distance d.O3 is used for O4
Record the position in outside in car body.D is greater thanAbout 50mm.The distance can prevent any position of car body
Collision obstacle.Step15 and step16 is used to find initial point close to wall.step15：Work as front direction from walking dust catcher edge
Straight line runs to s1, s2, s3, s4, s5 any one equal to d.After the completion of avoidance, coordinate is established as origin using the position of O3 at this time
It is (xoy) that x is car body direction of travel.step16：The origin and O1 are detected, the distance (a, b) of O2 reference point simultaneously stores.This hair
It is bright not limit the method for voluntarily walking dust catcher coordinate setting, wheel pulse positioning mode can be used, such as《It is non-structural from walking dust catcher
The research of autonomous paths planning method under environment》(Zhejiang University's master thesis, Feng Shenkun) is described.From walking dust catcher control
The distance apart from edge is made, welt walking changes fine tuning direction of travel according to wall.To avoid the improper transformation of barrier from drawing
Software for jitters elimination filtering can be used in the measurement error (accidental error) risen, the present invention, and such mode is mainly writing in program
It is detected, is detected again after delay 30 to 50ms after detecting the ultrasonic signal met the requirements, such as using time delays in journey
Data in fruit error range are still detected, then it is assumed that the data-signal is correct believable.Karr can be used in simultaneity factor
Graceful filtering reduces the error (systematic error) on measurement method.Kalman filtering mode with for as it is known to those skilled in the art that
This will not be repeated here, and specific structure principle can refer to《Intelligent sweeping machine device people design and its research of path planning》(Ha Er
Shore polytechnical university, Zhang Chao) it is described.
It establishes maximum functional region and refers to and take a round along indoor lateral wallflow, record room maximum coordinates position, be subsequent
It traverses working region and outer non-economic is provided.The step is also referred to as walked along side, and feasible realization has been disclosed in the prior art
Algorithm, such as《Intelligent sweeping machine device people design and its research of path planning》(Harbin Institute of Technology, Zhang Chao),《From walking
The research of autonomous paths planning method under dust catcher non-structure environment》Described in (Zhejiang University's master thesis, Feng Shenkun) etc..
step21：WithAnd s1=d walking, avoidance, it records the track O3 (x, y) and the track O4 (x ', y ').step22：If
(x, y)=(0,0), generates maximum functional region y=F (x) according to O3 trajectory line, generates virtual boundary line y ' according to O4 trajectory line
=gi(x '), t=0.Virtual boundary line is the expected trajectory of O3 next time.
There are many interior searching loops of operation interval, and the prior art is concentrated mainly on region segmentation, dressing traversal and spiral shell
In rotation three kinds of methods of traversal.Dressing traversal is prior art one of the most common type, and system operations are simple, but if working region
There are barrier, system is that the working region at covering barrier rear can generate many duplicate paths at middle part.Region segmentation can solve
Certainly there are path planning when barrier, this method references for operation interval《From walking dust catcher complete coverage path planning research》
(University Of Chongqing's master thesis, Zhang Yue).For having the wall and barrier on long inclined-plane, region segmentation efficiency is lower.《It is based on
The research from dust catcher of walking of ARM controller》(Institutes Of Technology Of Jiangxi's master thesis, Wang Zhongfeng) is in selection path planning
The mode that the broken line of Shi Caiyong approaches walking can detour oblique barrier, also as the reference of the application.Spiral traversal can be coped with
Oblique wall, but how to select prior art when reference still unsolved after being detached from wall when internal circulation.
Interior searching loop, which refers to, traverses entire working region in maximum functional region inside spin, and unapproachable space is remembered
Barrier is recorded into, the whole region that can be walked is determined with this.In the prior art, interior searching loop mostly uses reciprocal row of turning back
Mode is walked, which is easy to produce blind area.The application reduces the presence of blind area by the way of spiral traversal.step31：T=t
+ 1, according to y '=gt-1(x ') establishes the t times O3 default route (xt, yt, θt), xt, ytFor coordinate value, θtFor corner, yt=gt-1
(xt), θt=gt-1′(xt), gt-1' it is gt-1In xtThe derivative at place.The coordinate from walking dust catcher state is limited in addition to calibration point
It can also include direction coordinate outside coordinate.To keep body movement smooth, the application determines walking side by the derivative of default route
To.step32：Demarcate O3 starting point (xmin, ymin), which is generally in default route near last time final on trajectory
Position.From walking dust catcher along default route walking, avoidance, record O3 trajectory line (x, y) and the track O4 (x ', y ').In reality
In walking process, due to the presence of barrier, O3 trajectory line (x, y) and default route (xt, yt, θt) not quite identical.
step33：If current track (x, y)=(xt, yt), show from dust catcher cut-through object of walking, again along default route
Traveling.step34：(if x, y)=(xmin, ymin), it indicates to have been returned to the initial of this track route from walking dust catcher
Point.System generates t subslot line y=f according to the track O3t(x), the t times virtual boundary line y '=g is generated according to the track O4t
(x′).step35：If this time trajectory line is overlapped with the trajectory line of any previous storage, shows to come into from dust catcher of walking and follow
Loop wire, traversal are completed.Otherwise it is back to step31, it is interior again to loop through.Exist from the running center of walking dust catcher
When minimum irregular barrier, the efficiency of the interior searching loop is lower.It is contemplated that indoor environment is mostly the space of rule,
Barrier is just at a possibility that recycling center from walking dust catcher and lower, the side of this interior searching loop of the application
Method has feasibility.
In the prior art, Grid Method is mostly used from the map component of walking dust catcher, Grid Method can reduce system data amount
And easy to maintain and path planning.The premise of Grid Method is the reading of operation interval, and the prior art is mostly used walks along side, this Shen
It is also please such.Along side, walking obtains the premise that maximum functional environment is interior searching loop.《Intelligence based on ultrasonic sensor
From the research of walking dust catcher navigation system》(Zhejiang University's master thesis, Wang Huoliang) discloses what this map was read
Mode.《The design and realization of family's sweeping robot path covering system》(Harbin Institute of Technology's master thesis, Zhou Ya
Nanmu) grid assignment is carried out while looping through, do not pay attention to the amendment of traversal route.Meanwhile in the process of searching loop
In inevitably there is path overlap, the document does not pay attention to eliminating the part computed repeatedly.《Voluntarily based on three-dimensionalreconstruction
Walk the location navigation of dust catcher》(Jilin University's master thesis, Zhang Shuming) discloses the grid read based on camera data
Change method.This method determines the content of grid whether passing through predetermined grid according to route.This route is defined as car body center
Path.In practical map, even if the grid that the path of car body Road passes through, grid itself also not necessarily all may be used
Into.Not enterable grid, which is defined as work grid, can cause robot work chaotic.The document is also disclosed from walking
The location technology of dust catcher can be used as the reference of the application.
It establishes work grid network to refer to from after walking dust catcher traversal working region, working region is divided into grid
The method of network.step41：Define rectangular area (Hwidth, Hlen) and rectangular area is divided into multiple grids (i, j), Hwidth
For maximum x value in y=F (x), HlenFor maximum y value, i=x/B, j=y/B.Relative to absolute reference point O1, O2 to grid (i,
J) coordinate is made definitions, and no matter when is switched on operation from walking dust catcher, as long as measuring it relative to reference point O1, the position of O2
It sets, that is, can determine the position of this grating map, to avoid from dust catcher moment record self-position of walking.step42：It is fixed
Adopted CellValue [i] [j], y=F (x) or y=ft(x) when grid (i, j) for only having one group or zero group of track to pass through in,
CellValue [i] [j]=0, otherwise CellValue [i] [j]=1, stores grating map.Grid is passed through in two groups of tracks simultaneously
Indicate that from walking dust catcher traversal working map be to enter the grid when (i, j), the grid is generally in can enter state.Only
One group of track enters grid or enters grid without track, indicates grid generally in can not enter state.Although the storage
Judgment mode can regard as cell portion domain (being less than from walking dust catcher size) that can not enter grid, but relative to entire
For space to be cleaned, abandon segment space and improve storage efficiency and path planning efficiency to be worth.
The existing dust catcher barrier-avoiding method of walking certainly mainly includes accurate avoidance and fuzzy avoidance.《Mobile robot path
Planning》(Northeast Electric Power University's master thesis, Meng Xiangfu) discloses the method for fuzzy avoidance, is adopted as fuzzy logic calculation
Method, system-computed amount is larger, is not suitable for the walking dust catcher certainly of low cost.And《The autonomous of base nonyl neural network is inhaled from walking
The design of dirt device mixing sensory perceptual system and avoidance planning》(Zhejiang University's master thesis, Xu Yong) is disclosed based on neural network
From walking dust catcher intelligent barrier avoiding algorithm, the algorithm is incomplete, it is difficult to use practical from walking dust catcher.《It is based on
Robot ergodic algorithm under circumstances not known》(Kunming University of Science and Technology's master thesis, Wang Yu) is disclosed from walking dust catcher
Multiple barrier-avoiding method, but as described in the case, barrier-avoiding method is suitable for right angle obstacle more, detour oblique angle obstacle or wall
Obstacle, which can generate, more can not enter space (omitting grid).
Barrier-avoiding method of the invention can be used for avoiding the fixed obstacle of regular shape, be particularly suitable for evading with oblique angle
Wall or cabinet body.This barrier-avoiding method includes the following steps：step01：It walks along track, measures s2, s3, s4, s5 value, according to
Measurement result enters step02 or step03.Measurement result surface faces the barrier of different conditions from walking dust catcher.If s2,
S3, s4, s5 be all larger than d andReferring to Fig.1 1.Enter the working region of increase from walking dust catcher, dust catcher is held
Row is simultaneously flipped outward along preceding barrier.If s2, s3, s4, s5 be all larger than d andReferring to Fig. 8 to 9, right side discovery
Oblique entity.Dust catcher turning is simultaneously kept straight on along new route.If s2, s3, s4, s5 any one are less than or equal to d, referring to Fig.1 0,
Front or left side find oblique entity, and front can not enter, and original place big angle rotary is simultaneously returned along new route.
The present invention realizes the turning of different angle using vehicle wheel rotational speed difference, from the motion state reference for dust catcher of walking《Room
Interior region-wide path planning and avoidance research from walking dust catcher》(Southern Yangtze University, Zeng Cen) is described.Specifically, step02：
If s2, s3, s4, s5 are all larger than d, step04, step05 or step06 are entered according to the value of s2.step03：If s2, s3, s4, s5
Any one be less than or equal to d, discovery can not enter boundary, the value after rotating in place to s1=d according to s2 enter step04,
Step05 or step06.step04：If s2 is less thanIt was found that entity boundary, executes the first cornering mode, untilReturn to step01.step05：If s2 is greater thanIt was found that working region, executes the second cornering mode, untilReturn to step01.step06：IfReturn to step01.In the present invention, from walking dust catcher
Rotating manner is divided into three kinds：There is the right-hand bend of working region in right side, right side occur the left-hand bend of physical obstacles and just before
There is rotating in place for barrier in side or left side.The rotation referred to substantially about the rotation center from walking dust catcher is rotated in place,
ω1=ωp, ω2=-ωp.To improve the travel region from dust catcher of walking, the region that can not be traversed is reduced as far as possible, it is necessary to
So that keeping to the side to walk from walking dust catcher, one of feasible method is exactly the turning radius that limitation turns right and turns left.It turns right
Using the first cornering mode：
Turn left to use the second cornering mode：
ω1=ωp；
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of from walking dust catcher, it is characterised in that including：
Body, the body include the upper cover body and lower cover of mutual snapping, which has multiple mounting grooves, in the mounting groove
Equipped with guide post,
And a buffer unit, the buffer unit include：
Baffle, the inside of the baffle are equipped with multiple support rods, and the thickness of the support rod is equal to the thickness of the mounting groove, the support
Bar is equipped with flaring slot, which covers on the guide post, which is greater than the diameter of the guide post,
Crossbeam, the crossbeam are fixed on the mounting groove, and the lower end surface of the crossbeam is at least part of to be pressed on the support rod, should
The two sides of crossbeam are equipped with the sensor of at least one,
Swing arm, the swing arm are hinged on the crossbeam through a shaft, and a spring pocket in the shaft, fix by one end of the spring
In the swing arm, the other end is connected to the crossbeam, which has compression zone and service portion, which withstands on the gear
On the inside of plate, which protrudes into the sensor.
2. according to claim 1 from walking dust catcher, which is characterized in that the inside of the baffle is equipped with track, described
The middle part of crossbeam is equipped with spring leaf, and the end of the spring leaf slideably covers in the crossbeam.
3. according to claim 1 from walking dust catcher, which is characterized in that should further include sanitizer cartridge from walking dust catcher
It sets, which includes that cleaning motor, hairbrush and retarder, the cleaning motor are fixed in the lower cover, this is clear
Clean motor is connected to hairbrush through the retarder, which stretches out from the lower cover.
4. according to claim 1 from walking dust catcher, which is characterized in that the driving wheel assembly includes actuating arm, drives
Driving wheel, driving source, deceleration component and outer outlet body, the lower cover have mounting groove, fix an annular ledge on the mounting groove,
The outer outlet body is fixed on the top on the lower cover and being located at the mounting groove, and one articulated shaft of one end of the actuating arm connects
It connects in the outer outlet body, the driving source is fixed on actuating arm, which is connected to the drive through the deceleration component
Driving wheel.
5. according to claim 1 from walking dust catcher, which is characterized in that the lower cover is connected to one through a threaded portion
Screw rod, the end of the screw rod are protruded into the outer outlet body, and the top of the screw rod is equipped with a thimble, and the annular ledge stretches out at least
One limiting section, the limiting section support lean against the side of the thimble, which limits the thimble and deviate outward, described
Articulated shaft is equipped with a torsional spring, and one end of the torsional spring is pressed on the actuating arm, and the other end is pressed on the thimble, torsional spring warp
The actuating arm drives driving wheel to stretch out out of mounting groove.
6. a kind of method that claim 1 to 5 any one establishes grating map from walking dust catcher, which is characterized in that including
Following steps, systemic presupposition establish maximum functional region, interior searching loop and establish work grid network.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810673375.2A CN108814423A (en) | 2018-06-27 | 2018-06-27 | From walking dust catcher and the method for establishing grating map |
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|---|---|---|---|
| CN201810673375.2A CN108814423A (en) | 2018-06-27 | 2018-06-27 | From walking dust catcher and the method for establishing grating map |
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