CN111973067B

CN111973067B - A sweeping robot with intelligent anti-collision and low-power infrared capture charging source

Info

Publication number: CN111973067B
Application number: CN202010750925.3A
Authority: CN
Inventors: 周洪强; 陈小元; 陈超; 蒋伟丽
Original assignee: Lishui University
Current assignee: Lishui University
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2021-08-03
Anticipated expiration: 2040-07-30
Also published as: CN111973067A

Abstract

A sweeping robot with intelligent anti-collision and low-power infrared capture charging source, the infrared receiving device includes a left infrared receiving head, a right infrared receiving head and a rear infrared receiving head, and the bottom of the sweeping robot is provided with a first side brush, a second The two side brushes and the suction port, the front end of the sweeping robot is elastically connected with an anti-collision buffer plate, and the anti-collision buffer plate is elastically connected by springs distributed on the left front, right front and positive front of the sweeping robot, and the left end of the sweeping robot is located at the A left contact switch is arranged behind the anti-collision buffer plate, a right contact switch is arranged at the right end of the sweeping robot behind the anti-collision buffer plate, a left infrared receiving head is arranged outside the left end of the sweeping robot, and a right Infrared receiving head, a rear infrared receiving head is provided on the outside of the rear end of the sweeping robot, and the left and right ends of the sweeping robot are respectively connected to a left driving wheel and a right driving wheel controlled by two independent driving motors.

Description

Robot of sweeping floor of intelligence anticollision and infrared capture charging source of low-power

Technical Field

The invention relates to a sweeping robot, in particular to a sweeping robot only capable of preventing collision and having an infrared capturing function.

Background

At present, the development of economy and society changes the life style of people. The intelligent household electrical appliance product is rapidly developed in industry competition, user requirements, technical development and market and commercial opportunities, and is more and more intelligent. Intelligent products have begun to enter society and home, and in the home appliance industry, intelligence is a necessary trend of development. Moreover, at present, the trend is at first glance, the interest of consumers in intelligent household appliances is increasing day by day, and meanwhile, higher requirements are put forward for household appliance enterprises, the consumption trend of intelligent household appliances and wearable equipment is suddenly attacked, and the sweeping robot is the handicapped in the intelligent household appliances and the wearable equipment.

The floor sweeping robot is often used for sharing housework, and is often shuttled back and forth in complex environments such as various furniture, walls and the like in a house when sweeping floor sundries, so that only an anti-collision system is important, but the anti-collision floor sweeping robot on the market at present is mainly characterized in that a mechanical structure is changed, an anti-collision device such as an anti-collision cover is added, the physical anti-collision performance of the floor sweeping robot is simply improved, and a user of the floor sweeping robot without an intelligent avoidance and anti-collision function can damage a barrier if the user continues to operate for a long time in an illegal way when the robot touches the barrier. Under the general condition, electrical equipment, especially the intelligent household appliance of the floor sweeping robot generally provides electric energy in a mode of a built-in rechargeable battery, the floor sweeping robot is not always used frequently, and as is well known, if the rechargeable battery is in low electric quantity for a long time, the performance of the battery can be influenced, the performance of the floor sweeping robot is influenced, so that the rechargeable battery needs to be charged in time when the battery is in low electric quantity to ensure healthy electric quantity.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an intelligent anti-collision and low-power infrared capturing and charging floor sweeping robot, wherein anti-collision contact switches are arranged on the left side and the right side of the front part of the robot, arc-shaped anti-collision buffer plates are arranged on the outer sides of the anti-collision contact switches on the two sides, if the anti-collision switches are triggered, a single chip microcomputer in the robot is controlled to turn left and right or move backwards, and when the robot is in low power, the robot can automatically capture a charger through infrared rays and move and charge the charger.

The invention adopts the technical scheme for solving the technical problems that: the intelligent anti-collision and low-power infrared capturing and charging robot comprises a sweeping robot, an anti-collision device and an internal system which are positioned at the front end of the sweeping robot, and a sweeping robot low-power infrared capturing device and an internal system, wherein the low-power infrared capturing device comprises a left infrared receiving head, a right infrared receiving head and a rear infrared receiving head;

for further improvement, the front end of the sweeping robot is elastically connected with an anti-collision buffer plate, the anti-collision buffer plate is elastically connected through springs distributed at the left front end, the right front end and the front end of the sweeping robot, a left contact switch is arranged at the left end of the sweeping robot behind the anti-collision buffer plate, a right contact switch is arranged at the right end of the sweeping robot behind the anti-collision buffer plate, and an internal circuit of the anti-collision system comprises;

the anti-collision system is further improved, in the response process of the anti-collision system, when a left side touches an obstacle, a left spring is extruded and contracted to trigger a left contact switch to close a trigger signal to the single chip microcomputer, the single chip microcomputer sends a right turn signal, a left driving wheel is controlled by the independent motor to keep the original running direction to rotate, a right driving wheel is controlled by the independent motor to rotate in the opposite direction, the sweeping robot moves to the right, similarly, when the right side of the anti-collision buffer plate touches the obstacle, the sweeping robot turns to the left, when the front side of the anti-collision buffer plate touches the obstacle, the left contact switch and the right contact switch are simultaneously closed, the single chip microcomputer sends a retreat signal, and the left driving wheel and the right driving wheel reversely rotate;

further perfection, a left infrared receiving head is arranged on the outer side of the left end of the sweeping robot, a right infrared receiving head is arranged on the outer side of the right end of the sweeping robot, a rear infrared receiving head is arranged on the outer side of the rear end of the sweeping robot, a 12V lithium battery is arranged in the rear end of the sweeping robot, two charging heads extend out of the 12V lithium battery from inside to outside at the rear end of the sweeping robot, an independent charging dock is arranged outside the sweeping robot, an infrared signal transmitting port is arranged at the top of the charging dock, a charging base is arranged at the bottom of the charging dock, and a charging contact head matched with the charging head is arranged at the upper end of the charging base, which is positioned on the outer side of the charging dock;

further perfection, the low-power infrared capturing system is provided with an AD sampling circuit for detecting the voltage of a 12V lithium battery, when the AD sampling circuit detects that the voltage of the 12V lithium battery is lower than 10.5V, the infrared receiving device starts to capture infrared signals, the sweeping robot moves to the charging dock after the signals transmitted by the infrared signal transmitting port are captured by the infrared receiving device, and the charging head is in butt joint with the charging contact head;

further perfecting, the system control steps of the intelligent anti-collision and low-power infrared capturing charging source mainly comprise:

step 1, the robot controls the rotating speed and the direction of a driving motor under the PWM pulse width modulation of a driving chip, so that the sweeping robot runs normally;

step 2, under normal conditions, the single chip microcomputer is connected with the left and right anti-collision contact switches and the 3.3V external power supply in parallel, the I/O port is at a high level, when the left or right anti-collision contact switches are in short circuit with the 3.3V power supply closed due to external collision, the I/O port is pulled down to be at a low level, and the single chip microcomputer transmits a left or right collision signal back to the driving chip in the step 1;

step 3, when the I/O ports of the left anti-collision contact switch and the right anti-collision contact switch simultaneously detect low levels, the single chip microcomputer transmits a front collision signal back to the driving chip in the step 1;

step 4, a Hall signal number matching method is adopted, the circumference S1 of a circle with the diameter between two driving wheels of the sweeping robot and the number N1 of Hall signals generated when the robot walks S1 are measured in advance

N＝(θ/360°)×N1

When the number of Hall signals captured by the single chip microcomputer is (60 degrees/360 degrees) N1, the single chip microcomputer sends a straight-going signal, and the robot stops steering;

step 5, when the singlechip captures that the I/O ports of the left and right anti-collision contact switches are at low level at the same time, a backward signal is sent to the driving chip, and the two driving motors are simultaneously reversed for 2s and then step 4 is executed to be turned right for 180 degrees and then to be moved straight;

step 6, PI closed-loop control is carried out, under the condition of normal running, the rotating speed and the frequency of the two driving motors are consistent by adopting a PI closed-loop control principle, and the stable running of the sweeping robot is ensured;

and 7, detecting the voltage of the 12V lithium battery by the AD conditioning circuit, driving the sweeping robot at a normal speed under the PI closed-loop control of the step 6 when the power supply voltage is more than 10.5V, and driving the sweeping robot at a low speed when the power supply voltage is detected to be less than 10.5V, wherein the infrared receiving module starts to capture infrared signals

And 8, capturing the Hall signals, sending the captured Hall signals to the single chip microcomputer, and enabling the single chip microcomputer to calculate the rotating speed of the driving motor to move to the charging dock, so that the sweeping robot is in butt joint with a charging contact on the charging dock.

Further perfection, the left side of the bottom of the front end of the sweeping robot is provided with a second side brush which is independently controlled by one side brush motor, and the right side of the second side brush is provided with a first side brush which is independently controlled by the other side brush motor.

Further perfect, it is equipped with the dust absorption mouth to lie in the robot bottom of sweeping the floor between first limit brush and the second limit brush, the inside fan that is equipped with of dust absorption mouth.

Further perfection, the bottom end in the middle of the floor sweeping robot is rotatably connected with a driven wheel, the driven wheel is not provided with a driving motor, and the driven wheel is driven by two driving wheels in the rear row to rotate.

Further perfection, the driving motor adopts a permanent magnet synchronous motor of a space voltage vector pulse width modulation technology, the permanent magnet synchronous motor can adopt the space voltage vector pulse width modulation technology, the degree of optimizing harmonic waves is high, the dynamic response speed is improved, and the motor is more suitable for a digital control system.

The invention has the beneficial effects that: the invention provides an intelligent floor sweeping robot which can capture a charging dock through an infrared receiving and sending device and can intelligently prevent collision and monitor low electric quantity, most of the collision and floor sweeping robots in the prior art mainly have the main beneficial effects that the structure is changed, for example, a buffer cover or a protective cover is arranged at the front end of the robot to prevent the interior of the floor sweeping robot from receiving too large impact, and an active avoidance system of the floor sweeping robot is used for protecting the floor sweeping robot and a collided obstacle, the invention provides two touch switches, the collision and touch switches can transmit signals to a single chip microcomputer according to the self state, the single chip microcomputer can correspondingly adjust the avoidance obstacle according to the state, the collision and buffer board can buffer and timely avoid the obstacle under the connection of a spring to prevent damage to furniture, and in order to prevent the power supply from being damaged under the low electric quantity state for a long time, an infrared emitting device of the charging dock continuously releases infrared signals, triggering the infrared receiving device to catch the infrared signal when the robot of sweeping the floor is low-power to remove to the signal source, can in time find the dock of charging for the robot of sweeping the floor of low-power, in time charge.

Drawings

Fig. 1 is a system structure diagram of a sweeping robot of the invention;

fig. 2 is a top view of the sweeping robot of the present invention;

fig. 3 is a bottom view of the sweeping robot of the present invention;

fig. 4 is a top view of the charging dock of the present invention.

Description of reference numerals: 1. the robot of sweeping the floor, 2, crashproof buffer board, 3, left contact switch, 4, right contact switch, 5, spring, 6, left infrared receiving head, 7, right infrared receiving head, 8, back infrared receiving head, 9, left drive wheel, 10, right drive wheel, 11, 12V lithium cell, 12, the head that charges, 13, first side brush, 14, second side brush, 15, dust absorption mouth, 16, follow driving wheel, 17, the dock that charges, 171, the base that charges, 172, infrared signal emission mouth, 173, the contact that charges.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

with reference to the accompanying drawings: the sweeping robot comprises a sweeping robot 1, an anti-collision device and an internal system which are positioned at the front end of the sweeping robot 1, and a sweeping robot 1 low-power infrared capturing device and an internal system, wherein the low-power infrared capturing device comprises a left infrared receiving head 6, a right infrared receiving head 7 and a rear infrared receiving head 8, the anti-collision device comprises an anti-collision buffer plate 2, a spring 5, a left contact switch 3 and a right contact switch 4, a first side brush 13, a second side brush 14 and a dust suction port 15 are arranged at the bottom of the sweeping robot 1, and a left driving wheel 9 and a right driving wheel 10 which are controlled by two independent driving motors are respectively and rotatably connected to the left end and the right end of the sweeping robot 1;

the front end of the sweeping robot 1 is elastically connected with an anti-collision buffer plate 2, the anti-collision buffer plate 2 is elastically connected through springs 5 distributed at the left front end, the right front end and the front end of the sweeping robot 1, a left contact switch 3 is arranged at the left end of the sweeping robot 1 behind the anti-collision buffer plate 2, a right contact switch 4 is arranged at the right end of the sweeping robot 1 behind the anti-collision buffer plate 2, and an internal circuit of an anti-collision system comprises the anti-collision buffer plate 2;

the response process of the anti-collision system is that when a left side touches an obstacle, a left spring 5 is squeezed to shrink an anti-collision buffer plate 2 to trigger a left contact switch 3 to close a trigger signal to a single chip microcomputer, the single chip microcomputer sends a right turn signal, a left driving wheel 9 is controlled by an independent motor to keep the original running direction to rotate, a right driving wheel 10 is controlled by the independent motor to rotate in the opposite direction, the sweeping robot 1 moves to the right, similarly, when the right side of the anti-collision buffer plate 2 touches the obstacle, the sweeping robot 1 turns to the left, when the front side of the anti-collision buffer plate 2 touches the obstacle, the left contact switch 3 and the right contact switch 4 are simultaneously closed, the single chip microcomputer sends a retreat signal, and the left driving wheel 9 and the right driving wheel 10 rotate reversely;

when the single chip microcomputer receives the collision signal, the hardware anti-collision control program is as follows:

the sweeping robot comprises a sweeping robot 1, and is characterized in that a left infrared receiving head 6 is arranged on the outer side of the left end of the sweeping robot 1, a right infrared receiving head 7 is arranged on the outer side of the right end of the sweeping robot 1, a rear infrared receiving head 8 is arranged on the outer side of the rear end of the sweeping robot 1, a 12V lithium battery 11 is arranged inside the rear end of the sweeping robot 1, two charging heads 12 extend out of the rear end of the sweeping robot 1 from inside to outside from the 12V lithium battery 11, an independent charging dock 17 is arranged outside the sweeping robot 1, an infrared signal transmitting port 172 is arranged at the top of the charging dock 17, a charging base 171 is arranged at the bottom of the charging dock 17, and a charging contact 173 matched with the charging head 12 is arranged at the upper end of the charging base 171 and on the outer side of the charging dock 17;

the low-power infrared capturing system is provided with an AD sampling circuit for detecting the voltage of a 12V lithium battery 11, when the AD sampling circuit detects that the voltage of the 12V lithium battery 11 is lower than 10.5V, the infrared receiving device starts to capture infrared signals, the sweeping robot 1 moves to the charging dock 17 after the signals transmitted by the infrared signal transmitting port 172 are captured by the infrared receiving device, and the charging head 12 is in butt joint with the charging contact 173;

further perfecting, when AD module detects that power bus voltage MV is greater than or equal to the voltage standard value, SPEED _ MODE is 0, when AD module detects that power bus voltage MV is less than or equal to the voltage standard value, SPEED _ MODE is 1, its corresponding procedure is as follows:

the system control steps of the intelligent anti-collision and low-power infrared capturing charging source mainly comprise:

N＝(θ/360°)×N1

The left side of the bottom of the front end of the sweeping robot 1 is provided with a second side brush 14 independently controlled by one side brush motor, and the right side of the second side brush is provided with a first side brush 13 independently controlled by the other side brush motor.

A dust suction opening 15 is formed in the bottom of the sweeping robot 1 between the first side brush 13 and the second side brush 14, and a fan is arranged inside the dust suction opening 15.

The bottom end of the middle part of the sweeping robot 1 is rotatably connected with a driven wheel 16.

The driving motor adopts a permanent magnet synchronous motor adopting a space voltage vector pulse width modulation technology.

The invention adopts a 12V lithium battery for power supply, and controls each module circuit based on a main control board of an STM32F103RCT6 singlechip, the main control board controls a drive motor control circuit to control independent drive motors on two sides to stably operate so as to ensure that the drive wheels on the two sides can operate linearly when rotating speed, the main control board controls a side brush motor control circuit to ensure that a left brush rotates clockwise and a right brush rotates anticlockwise to sweep dust into the middle part, and the two control circuits ensure the basic functions of the sweeping robot. The invention provides an anti-collision control system and a control system of a low-power capture charging source, the anti-collision control system mainly comprises the steps that an anti-collision contact switch transmits a collision signal into a main control board, the main control board makes a left-turn, right-turn or backward signal according to the signal and sends the left-turn, right-turn or backward signal to a driving motor control circuit, a sweeping robot makes corresponding obstacle avoidance processing, the control system of the low-power capture charging source mainly comprises the steps that an AD sampling circuit samples power supply voltage as a standard to calculate the electric quantity of a battery, when the electric quantity is low, the standard of the invention is that the voltage is lower than 10.5V, the infrared capture signal starts to work, the infrared emission signal on the charging dock continuously emits the infrared signal, the Hall signal capture circuit and the infrared signal capture circuit of the sweeping robot capture the direction of the infrared signal, and the driving system of the sweeping robot drives the sweeping robot to move to the charging dock, so that the purpose of charging in time is achieved.

While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.

Claims

1. A sweeping robot with intelligent anti-collision and low-power infrared capture charging source, comprising a sweeping robot (1), an anti-collision device located at the front end of the sweeping robot (1), an anti-collision system, and the sweeping robot (1) with low-power infrared capture A device and a low-power infrared capture system, characterized in that: the low-power infrared capture device comprises a left infrared receiving head (6), a right infrared receiving head (7) and a rear infrared receiving head (8), and the anti-collision device comprises An anti-collision buffer plate (2), a spring (5), a left contact switch (3) and a right contact switch (4), the bottom of the sweeping robot (1) is provided with a first side brush (13) and a second side brush ( 14) and a dust suction port (15), the left and right ends of the sweeping robot (1) are respectively connected with a left drive wheel (9) and a right drive wheel (10) controlled by two independent drive motors;

The anti-collision device includes an anti-collision buffer plate (2) elastically connected to the front end of the sweeping robot (1), and the anti-collision buffer plate (2) passes through springs distributed on the left front end, the right front end and the positive front end of the sweeping robot (1). (5) Elastic connection, the left end of the sweeping robot (1) is located behind the anti-collision buffer plate (2) and is provided with a left contact switch (3), and the right end of the sweeping robot (1) is located behind the anti-collision buffer plate (2). There is a right contact switch (4);

The anti-collision system includes: the response process of the anti-collision system is that when the left side touches an obstacle, the left spring (5) is squeezed and contracted by the anti-collision buffer plate (2) to trigger the left contact switch (3) to close the trigger signal. To the single-chip microcomputer, the single-chip microcomputer sends a right turn signal, the left driving wheel (9) is controlled by an independent motor to keep the original running direction and rotates, and the right driving wheel (10) is controlled by an independent motor to rotate in the opposite direction, and the sweeping robot (1) is to the right In the same way, when the right side of the anti-collision buffer plate (2) touches an obstacle, the sweeping robot (1) turns left. When the anti-collision buffer plate (2) touches the obstacle on the front, the left contact switch (3) and the right The switch (4) is closed at the same time, the single-chip microcomputer sends a backward signal, and the left driving wheel (9) and the right driving wheel (10) are reversed;

The low-power infrared capture device includes a left infrared receiving head (6) disposed outside the left end of the sweeping robot (1), a right infrared receiving head (7) is disposed outside the right end of the sweeping robot (1), and the sweeping robot ( 1) A rear infrared receiving head (8) is arranged on the outside of the rear end, and a 12V lithium battery (11) is arranged inside the rear end of the sweeping robot (1), and the 12V lithium battery (11) is located at the rear end of the sweeping robot (1). Two charging heads (12) extend from the inside to the outside, an independent charging dock (17) is provided outside the cleaning robot (1), and an infrared signal emission port (172) is provided on the top of the charging dock (17), A charging base (171) is provided at the bottom of the charging dock (17), and a charging contact head (173) matching the charging head (12) is provided at the upper end of the charging base (171) at the outer side of the charging dock (17);

The low-power infrared capture system includes: an AD sampling circuit for detecting the voltage of the 12V lithium battery (11), the AD sampling circuit detects that the voltage of the 12V lithium battery (11) is lower than 10.5V, the infrared receiving device starts The infrared signal is captured, the signal emitted by the infrared signal emission port (172) is captured by the infrared receiving device, and the cleaning robot (1) moves to the charging dock (17), and the charging head (12) is docked with the charging contact head (173) ; The control steps of the intelligent anti-collision and low-power infrared capture charging source sweeping robot mainly include:

Step 1. The robot controls the speed and direction of the drive motor under the PWM pulse width modulation of the drive chip, so that the sweeping robot can drive normally;

Step 2. Under normal circumstances, the MCU is connected to the left and right anti-collision contact switches in parallel with the 3.3V external power supply, and the I/O port is at a high level. When an external collision occurs, the left or right anti-collision contact switches are closed and short-circuit the 3.3V power supply. The I/O port is pulled down to a low level, and the single-chip microcomputer transmits the left or right impact signal back to the driver chip in step 1;

Step 3. When the I/O ports of the left and right anti-collision contact switches detect a low level at the same time, the single-chip microcomputer transmits the front impact signal back to the driver chip in step 1;

Step 4. When an external collision occurs, the left or right anti-collision contact switch is closed to short-circuit the 3.3V power supply, the I/O port is pulled down to a low level, and the single-chip microcomputer transmits the left or right collision signal back to the driver chip in step 1; Hall signal number matching method, the circle with the diameter between the two driving wheels of the sweeping robot measured in advance is the circumference S1 and the number of Hall signals generated when the robot walks S1 is N1, when the microcontroller captures the number of Hall signals When it is (60°/360°)*N1, the single-chip microcomputer sends a straight signal, and the robot stops turning;

Step 5. When the single-chip microcomputer captures that the I/O ports of the left and right anti-collision contact switches are low at the same time, it sends a back signal to the drive chip. The two drive motors reverse at the same time for 2s and then perform step 4. Turn right 180° and then go straight. ;

Step 6. PI closed-loop control. Under normal driving conditions, the PI closed-loop control principle is adopted to make the speed and frequency of the two drive motors consistent to ensure stable operation of the sweeping robot;

Step 7. The AD conditioning circuit is used to detect the voltage of the 12V lithium battery. When the power supply voltage is greater than 10.5V, the sweeping robot runs at a normal speed under the PI closed-loop control in step 6. When the power supply voltage is detected to be less than 10.5V, the sweeping robot runs at a low speed. Driving, the infrared receiving module starts to capture infrared signals;

Step 8: Capture the Hall signal, send the captured Hall signal to the single-chip microcomputer, and let the single-chip microcomputer calculate the rotational speed of the driving motor and move it to the charging dock, so that the cleaning robot is docked with the charging contacts on the charging dock.

2. a kind of intelligent anti-collision and low-power infrared capture charging source cleaning robot according to claim 1, it is characterized in that: described cleaning robot (1) front bottom left side is provided with a side brush motor independently controlled The second side brush (14) is provided with a first side brush (13) on the right which is independently controlled by another side brush motor.

3. The robot vacuum cleaner with intelligent anti-collision and low-power infrared capture charging source according to claim 2, wherein the first side brush (13) and the second side brush (14) are located between the first side brush (13) and the second side brush (14). The bottom of the robot (1) is provided with a dust suction port (15), and a fan is provided inside the dust suction port (15).

4 . The cleaning robot with intelligent anti-collision and low-power infrared capture charging source according to claim 1 , wherein a driven wheel ( 16 ) is rotatably connected to the bottom end of the middle of the cleaning robot ( 1 ). 5 .

5 . The sweeping robot with intelligent anti-collision and low-power infrared capture charging source according to claim 1 , wherein the drive motor adopts a permanent magnet synchronous motor with space voltage vector pulse width modulation technology. 6 .