CN106272331A - The method for path navigation that robot travels in rectangular slope - Google Patents
The method for path navigation that robot travels in rectangular slope Download PDFInfo
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- CN106272331A CN106272331A CN201610836021.6A CN201610836021A CN106272331A CN 106272331 A CN106272331 A CN 106272331A CN 201610836021 A CN201610836021 A CN 201610836021A CN 106272331 A CN106272331 A CN 106272331A
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- 238000005183 dynamical system Methods 0.000 description 22
- 230000000694 effects Effects 0.000 description 19
- 238000004140 cleaning Methods 0.000 description 13
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The method for path navigation that a kind of robot of the present invention travels in rectangular slope, with solve traditional sweeping robot on the slope can not according to the rules route running, advance in area coverage technical problem little, that easily fall at slope edge.
Description
Technical field
The present invention relates to robot application field, the path navigation travelled in rectangular slope particularly to a kind of robot
Method.
Background technology
In the case of Fossil fuel reduces increasingly, the solar energy as a kind of emerging regenerative resource has become the mankind
Using the important component part of the energy, nearly ten years, Application of Solar Energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) utilizing semi-conducting material to occur under illumination condition is straight by solar energy
Switch through the device being changed to electric energy.The place having sunlight just can generate electricity, therefore solar panel be applicable to from power large-scale electric generating station to
The multiple occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem affecting its work is not wind and rain thunder and lightning, and
It it is the dust of accumulation throughout the year.It is attached with dust or other attachment on solar panel, the light transmittance of panel plate can be affected, hinder
Photoelectric efficiency, thus panel can be had a strong impact on and directly obtain the efficiency of sunlight, reduce energy absorption and the conversion efficiency of panel, fall
Low generating efficiency.The solar panel of prior art in use can only rely on human at periodic intervals to complete cleaning work, due to the sun
Energy panel area is more compared with the panel that big, large-scale power station use simultaneously, and dust can be accumulated repeatedly, needs repeatedly to clean；Therefore
Human cost is the highest, cleaning efficiency is low, cleaning effect is poor.In a lot of occasions, in order to improve space availability ratio, solar panel
Being all to utilize support to be arranged on eminence, this just brings bigger difficulty and risk to cleaning work.The use of a lot of solar panels
Family can only select not clear up to reduce disposal costs, so can only be forced to undertake the electric energy loss that dust causes.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
The sweeping robot of prior art the most all can be only applied on level ground, it is impossible to be applicable to solar panel this
The slope plane of sample.If be used directly on solar panel by existing sweeping robot, problems with can be caused.
(1) sweeping robot is short of power, can not freely advance, cleans weak effect；Inclination angle due to solar panel
Degree is general, and between 10 degree ~ 40 degree, existing sweeping robot can not freely be advanced in the plane of slope, i.e. enables and advances reluctantly,
Electricity will soon be exhausted.
(2) sweeping robot can landing from solar panel；Due to solar panel smoother, existing sweeping machine
People's weight and wheel coefficient of friction are smaller, and frictional force is smaller, difficulty of advancing, it is easy to landing.
(3) sweeping robot can not route running according to the rules, in traveling, area coverage is little, can be from solar panel edge
Place falls；Existing sweeping robot is usually set to run into barrier auto-steering, due to the most any on solar panel
Barrier, the sweeping robot of automatic running can only advance on single-pathway, and the area coverage in its traveling process is little, inevitable
Can fall from solar panel edge.Even if having planned path in advance, existing sweeping robot is easily subject in traveling
Gravity and the impact of panel attachment, also can be easy to deflection path, it is difficult to ensure that straight-line travelling；And sweeping robot self
Cannot discover, it is impossible to go over whole panel, can stay a large amount of clean less than space.
(4) sweeping robot charging difficulty；Owing to solar panel aspect ratio is higher, area is relatively big, once by scavenging machine
After device people serves, being taken off can be relatively difficult, and prior art needs sweeping robot is manually moved away from scene or artificial
Take out battery, then it is charged, thus can not be long lasting for carrying out field operation, and due to a lot of solar energy faces
Plate is all to be arranged on eminence with support, and therefore its charging operations bothers very much, wastes a large amount of manpower.
(5) sweeping robot Working Status Monitoring difficulty, owing to solar panel may be arranged on eminence, ground
Its work process cannot be accomplished complete monitoring by staff, even if sweeping robot breaks down, and out of service or route
Wandering off, staff also cannot learn in time.
Summary of the invention
It is an object of the invention to, it is provided that the method for path navigation that a kind of robot travels in rectangular slope, to solve
Traditional sweeping robot on the slope can not according to the rules route running, advance in area coverage little, easily from slope edge
The technical problem that place falls.
For solving the problems referred to above, the present invention provides the method for path navigation that a kind of robot travels in rectangular slope, bag
Include following steps: step S101) set the lower left corner of described rectangular slope as navigation starting point；Step S102) control described machine
People from described navigation starting point to the upper left corner straight-line travelling of described rectangular slope；Step S103) detect whether described robot goes
Proceed to the first corner of described rectangular slope；If described robot does not arrives described first corner, return step S102)；If institute
State robot and arrive described first corner, control described robot and turn to the right 90 degree；Step S104) to control described robot straight
Line travels；Step S105) detect whether described robot marches to the second corner of described rectangular slope；If described robot is not
Arrive described second corner, return step S104)；If described robot arrive described second corner, control described robot to
The right side carries out U-shaped revolution；Step S106) detect described robot and whether march to the third angle of described rectangular slope and fall；If it is described
Robot does not arrives described the third angle and falls, and controls described robot straight-line travelling；Fall if described robot arrives described the third angle,
Detect whether described robot marches to the fourth corner of described rectangular slope；If described robot does not arrives described fourth angle
Fall, control described robot straight-line travelling；If described robot arrives described fourth corner, control described robot and stop row
Sail；Step S107) detect whether described robot marches to the edge of described rectangular slope, if described robot arrives described
One edge of rectangular slope；Control described robot and carry out U-shaped revolution to the left；Step S108) whether detect described robot
The third angle marching to described rectangular slope falls；Fall if described robot does not arrives described the third angle, control described robot straight
Line travels；If described robot arrives described the third angle and falls, detect whether described robot marches to the of described rectangular slope
Four corners；If described robot does not arrives described fourth corner, control described robot straight-line travelling；If described robot arrives
Described fourth corner, controls described robot and stops travelling；Step S109) detect whether described robot marches to described rectangle
The edge on slope, if described robot arrives an edge of described rectangular slope；Control described robot and carry out to the right U-shaped
Revolution；Return step S106).
Further, detect whether described robot marches to a corner or an edge of described rectangular slope, specifically
Comprise the steps: step S1011) the left front portion of described robot, right front portion, left back portion and left back portion do not arrange one away from
From sensor, described range sensor extends to the outside of described robot, and described range sensor is towards described solar energy face
Plate；Step S1012) it is followed successively by four range sensor numberings, by the left front portion of described robot, right front portion, left back portion and a left side
The range sensor that rear portion is arranged is respectively defined as sensor N1, sensor N2, sensor N3 and sensor N4；Step S1013)
Described robot judges the position of described robot according to the sensor signal that any instant obtains simultaneously；When described robot is same
Time obtain sensor N3 signal and during sensor N4 signal, it is determined that described robot arrives an edge of described rectangular slope；
When described robot can only obtain sensor N4 signal, it is determined that described robot arrive described rectangular slope the first corner or
Second corner；When described robot can only obtain sensor N3 signal, it is determined that described robot arrives described rectangular slope
The third angle falls or fourth corner.
Further, control described robot straight-line travelling, specifically include following steps: step S1021) judge a machine
Whether people travels along default straight line path；If the straight line path that the deviation of described robot is preset, perform step S1022)；Step
Rapid S1022) control described robot in the process of moving to the deflection of described Tm direction；Step S1023) control described robot and exist
Along Tm direction straight-line travelling in the plane of described slope；Return step S1021).
The invention has the advantages that, the present invention provides a kind of method for path navigation for the robot travelled in rectangular slope,
Robot can be made to cover each corner of rectangular slope within the shortest time, it is achieved driving path entirely covering rectangular slope
Lid, both will not landing from the edge of rectangular slope or corner, path deviations also will not occur, omitted.Solar panel
Sweeping robot uses the method for path navigation of the present invention, can travel according to the path optimizing of preferred plan, can not repeat
Whole spaces of ground cover plate, work efficiency is high, cleans effective.
Accompanying drawing explanation
Fig. 1 is the overall appearance schematic diagram of sweeping robot in the embodiment of the present invention；
Fig. 2 is the structural representation in the embodiment of the present invention within sweeping robot；
Fig. 3 is the decomposition texture schematic diagram of sweeping robot in the embodiment of the present invention；
Fig. 4 is embodiment of the present invention medium power overall system architecture schematic diagram；
Fig. 5 is the structural representation after embodiment of the present invention medium power system removes crawler belt shell；
Fig. 6 is the structural representation of the first track takeup in the embodiment of the present invention；
Fig. 7 is the structural representation in the embodiment of the present invention after the first track takeup removal crawler belt side plate；
Fig. 8 is the structural representation in the embodiment of the present invention after the first track takeup removal crawler belt；
Fig. 9 is the structural representation in the embodiment of the present invention after the second track takeup removal crawler belt side plate；
Figure 10 is the structural representation in the embodiment of the present invention after the third track takeup removal crawler belt side plate；
Figure 11 is the structured flowchart of control system in the embodiment of the present invention；
Figure 12 is the schematic diagram setting up three-dimensional system of coordinate in the embodiment of the present invention in robot；
Figure 13 is a kind of driving path schematic diagram that the first method for path navigation of robot travels in rectangular slope；
Figure 14 is the another kind of driving path schematic diagram that the first method for path navigation of robot travels in rectangular slope；
Figure 15 is a kind of driving path schematic diagram that robot the second method for path navigation travels in rectangular slope；
Figure 16 is the another kind of driving path schematic diagram that robot the second method for path navigation travels in rectangular slope；
Figure 17 is a kind of driving path schematic diagram that the third method for path navigation of robot travels in rectangular slope；
Figure 18 is the another kind of driving path schematic diagram that the third method for path navigation of robot travels in rectangular slope；
Figure 19 is a kind of driving path schematic diagram that robot travels in rectangular slope by the 4th kind of method for path navigation；
Figure 20 is the another kind of driving path schematic diagram that robot travels in rectangular slope by the 4th kind of method for path navigation.
Figure Detail number is as follows:
100 solar panel sweeping robots/sweeping robot/robot, 300 slope planes, 400 servers；
1 car body, 2 clearing apparatus, 3 dynamical systems, 4 control systems, 5 power systems；11 vehicle bodies；
31 the near front wheels, 32 off-front wheels, 33 left rear wheels, 34 off hind wheels, 35, left driving motor, 36 right driving motors, 37 crawler belts, 38
The wheel hub gear teeth, 39 track takeups；
41 data acquisition units, 42 processors, 43 memory element, 44 alarm units, 45 wireless communication units；51 battery cases；
311 left front wheel hubs, 312 left front wheel shafts, 321 off-front wheel hubs, 322 front right axle, 331 left back wheel hubs, 341 off hind wheel hubs；
371 crawler belt shells, 372 crawler belt internal tooths, 373 non-slipping blocks, transmission band on 374,375 lower drive belts；
Tensioned portion on 391,392 times compressed part, 393 resilient support portions, 394 crawler belt side plates, 395 crawler belt top boards, 396 waist-shaped holes,
397 install axle, 398 gear stands；
411 acceleration transducers, 412 Magnetic Sensors, 413 range sensors, 414 enumerators, 415 image sensors；
3911 " V " shape framves, 3912 tensioning drives, 3913 Tension gear, 3914 " V " shape flat boards, 3915 crossbeams, 3916 cylinders
Gear, 3917 cylinder linkage portion；
3921 tensioning pressing plates, 3931 " ∧ " shape elastic component；
3971 gear mounting shaft, 3972 drives install axle.
Detailed description of the invention
A preferred embodiment of the present invention is introduced, it was demonstrated that the present invention can implement, described below with reference to Figure of description
Embodiment can be to the those of skill in the art complete description present invention so that it is technology contents is more clear and readily appreciates.
The present invention can be emerged from by the embodiment of many multi-forms, and protection scope of the present invention is not limited only in literary composition carry
The embodiment arrived.
In the accompanying drawings, the parts that structure is identical represent with same numbers label, everywhere structure or intimate assembly with
Like numeral label represents.Size and the thickness of each parts shown in the drawings arbitrarily illustrate, the present invention does not limit
The size of each assembly and thickness.In order to make diagram apparent, in accompanying drawing, some place suitably exaggerates the thickness of parts.
The direction term that the present invention is previously mentioned, such as " on ", D score, "front", "rear", "left", "right", " interior ", " outward ", "
Side " etc., it is only the direction in accompanying drawing, is used only to explain and illustrate the present invention rather than for limiting the protection of the present invention
Scope.
When some parts be described as " " another parts " on " time, described parts can be placed directly within another parts described
On；Can also there is an intermediate member, described parts are placed on described intermediate member, and described intermediate member is placed in another parts
On.When parts are described as " install to " or " being connected to " another parts, the two can be understood as directly " installing " or
" connect ", or parts " are installed extremely " or " being connected to " another parts indirectly by an intermediate member.
As shown in Fig. 1 ~ Fig. 3, the present embodiment provides a kind of solar panel sweeping robot 100(hereinafter referred to as scavenging machine
Device people or robot), including a car body 1, car body 1 can travel at least one solar panel；Car body 1 interiorly or exteriorly sets
There is clearing apparatus 2, dynamical system 3, control system 4 and a unified power system 5.
Clearing apparatus 2 is in order to clean solar panel in car body traveling process；Dynamical system 3 exists in order to adjust car body 1
Direct of travel on solar panel and travel speed, control car body 1 and travel, stop or turning to；Control system 4 is respectively connecting to
Dynamical system 3 and clearing apparatus 2, in order to send various control signal to dynamical system 3 and clearing apparatus 2.Power system 5 is respectively
It is connected to dynamical system 3, clearing apparatus 2, control system 4, with thinking that dynamical system 3, clearing apparatus 2, control system 4 provide electricity
Power.
During the present embodiment solar panel sweeping robot 100 normally works on solar panel, when power system 5 is opened
Time dynamic, control system 4 sends at least one traveling control instruction and at least and cleans control instruction, and dynamical system 3 is according to this traveling
Control instruction, controls the car body 1 route along an advance planning；Meanwhile, clearing apparatus 2 opens according to this cleaning control instruction
Dynamic clearing apparatus 2, starts to clean solar panel.In car body 1 driving process, dynamical system 3 is sent multiple by control system 4
Traveling control instruction, as school partially instruct, turn command, tune instruction, etc., thus order car body 1 is sent out in straight line course
Return on former route in the case of raw deflection, namely carry out school and partially process；Or under certain condition or certain position turn or
Person carries out U-shaped revolution (tune) so that car body 1 can travel according to the path optimizing of advance planning.Concrete air navigation aid, school
Folk prescription method, control car body are turned or carry out U-shaped revolution (tune) method, describe in greater detail below.At whole driving process
In, no matter which kind of traveling mode car body 1 is, as kept straight on, deflection, school partially, turn or turn round, clearing apparatus 2 remains work
State.When control system 4 based on some running parameter (as the path of advance planning all cover or power system 5 electricity not
Foot) send stop advance traveling control instruction time, car body 1 stop travel；Simultaneously control system 4 send one cleaning control refer to
Order, closes clearing apparatus 2, stops cleaning.
As shown in Figure 4, Figure 5, in the present embodiment, dynamical system 3 is arranged at bottom car body 1, in order to band motor vehicles bodies 1 row
Enter, drive electricity including a left driving motor 35, of the near front wheel 31, off-front wheel 32, left rear wheel 33, off hind wheel 34, is right
Machine 36 and two crawler belts 37.
The near front wheel 31 is arranged on the left side that described car body bottom surface is anterior, including left front wheel hub 311 and a left front wheel shaft
312, left front wheel shaft 312 is arranged at left front wheel hub 311 center；Off-front wheel 32 is arranged on the right side that described car body bottom surface is anterior,
Including off-front wheel hub 321 and a front right axle 322, front right axle 322 is arranged at off-front wheel hub 321 center；Left rear wheel 33
It is arranged on the left side at rear portion, described car body bottom surface, not shown including a left back wheel hub 331 and a left back wheel shaft 332(), left rear wheel
Hub 331 and left front wheel hub 311 are located on same straight line, and described left back wheel shaft is arranged at left back wheel hub 331 center；Off hind wheel 34
It is arranged on the right side at rear portion, described car body bottom surface, including off hind wheel hub 341 and an off hind wheel axle (not shown), an off hind wheel hub
341 are located on same straight line with off-front wheel hub 321；Described off hind wheel axle is arranged at off hind wheel hub 341 center.Described off hind wheel
Axle is directly connected to or is connected to described left back wheel shaft by an actuating device (not shown).Left driving motor 35, right driving motor
36 are fixedly attached on car body 1 by a fixing device, are connected to power system 5 by least one wire, by least one letter
Number line is connected to control system 4.Left driving motor 35 is directly connected to or is connected to the near front wheel by an actuating device (not shown)
Axle 312, right driving motor 36 is directly connected to or is connected to front right axle 322 by an actuating device (not shown).Two crawler belts
37 are all a flexible chain link, and wherein a crawler belt 37 is coated on outside the annular sidewall of left front wheel hub 311, left back wheel hub 331；Another
Crawler belt 37 is coated on outside the annular sidewall of off-front wheel hub 321, off hind wheel hub 341.Each crawler belt 37 is outside is provided with a crawler belt
Shell 371, in order to protect crawler belt and wheel hub, has prevented foreign material from entering in crawler belt or wheel hub, has affected car body 1 and normally advance.
In the present embodiment, control system 4 drives motor 35, right driving motor 36 to the left according to the path optimizing of advance planning
Send at least one traveling control signal so that left driving motor 35, right driving motor 36 synchronization control the near front wheel 31, off-front wheel 32
Rotating speed and direction of rotation, and then adjust the direct of travel of car body 1 and gait of march, make car body realize keeping straight on, school partially, 90 degree turns
The actions such as curved, U-shaped revolution (tune).
When needs car body straight ahead, control system 4 drives motor 35, right driving motor 36 to send always the most to the left
Line traveling control instruction, control instruction include identical motor speed (the most left driving motor, right driving motor rotating speed all
60 revs/min) and drive machine shaft rotation direction (as left driving motor turn clockwise, right driving motor is counterclockwise
Turn), the near front wheel 31, off-front wheel 32 thus can be driven to synchronize to rotate forward, left rear wheel 33, off hind wheel 34 are driven pulley, are carrying out
With under the drive of 37 also with the near front wheel 31, off-front wheel 32 is synchronize rotates forward so that whole car body 1 advances.
When needs car body 1 deflects to the right, control system 4 drives motor 35, right driving motor 36 to send one the most to the left
Advance control instruction partially in school, the control that the motor speed in the control instruction that left driving motor 35 receives receives than right driving motor 36
Motor speed in system instruction is bigger than normal, and the difference of rotating speed depends on the misalignment angle that needs adjust, and misalignment angle is the least, speed discrepancy
It is worth the least.Similarly, when needs car body 1 deflects to the left, the motor in the control instruction that left driving motor 35 receives turns
Motor speed in the control instruction that speed ratio right driving motor 36 receives is less than normal.When car body 1 returns to the original direct of travel preset
After, control system 4 sends straight line traveling control instruction the most again, and left driving motor 35, the rotating speed of right driving motor 36 become again
For identical so that car body 1 continues straight line and advances.
When needs car body does 90 degree of turnings, control system 4 calculates left driving electricity according to the size of default radius of turn
Machine 35, the rotating speed of right driving motor 36 and rotation direction, if radius of turn is relatively big, the rotation direction of its driving motor can phase
Instead (one clockwise, one counterclockwise), the near front wheel 31, off-front wheel 32 synchronize to rotate forward, or are arranged to a wheel and stop
Rotate, thus the effect turned in realizing advancing；If radius of turn is less or pivot turn, left driving motor 35, the right side are driven
The rotation direction of galvanic electricity machine 36 can be designed as identical, is all clockwise or is all counterclockwise, such the near front wheel 31, off-front wheel 32
Will one rotate forward, one rotate backward, advancing in the side of car body 1, opposite side retreats, thus formed minor-circle turn or
The effect of pivot turn.
When needs car body carries out U-shaped revolution (also referred to as tune), need car body travels after turning through 180 degree extremely with former car
On the track that road is adjacent；The technical scheme that the most once property is turned round or turned round stage by stage.Control system 4 is according to default turning
The size of radius calculates left driving motor 35, the rotating speed of right driving motor 36 and rotation direction.Scheme in disposable revolution
In, radius of turn is equal to the half of width of the carbody, the front-wheel of turning medial stops operating or pole jogging speed rotate forward (if to
A left side carries out U-shaped revolution, then the near front wheel stops operating；If carrying out to the right U-shaped revolution, then off-front wheel stops operating), outside turning
Front-wheel rotates the most forward, it is achieved U-shaped revolution to the left or to the right.In the scheme turned round stage by stage, can be as the case may be
Schemes different at calculating, is preferably as follows scheme in the present embodiment: first control car body 1 and first do 90 degree to the left or to the right in original place and turn
Curved, control car body the most again and move forward the distance of a body width, control car body the most again and do to the left or to the right in original place
90 degree of turnings, both can realize U-shaped revolution to the left or to the right, and just travel adjacent with previous track after U-shaped revolution
Track on so that the space that the robot ride of the present embodiment is crossed can realize not repeating, without the effect at dead angle.
Dynamical system 3 also includes at least one wheel hub gear teeth 38, is uniformly arranged on left front wheel hub 311, left back wheel hub 331, the right side
Front hub 321, the annular sidewall outer surface of off hind wheel hub 341；And at least one crawler belt internal tooth 372, it is uniformly arranged on crawler belt
The interior side-wall surface of 37, crawler belt internal tooth 372 engages with the wheel hub gear teeth 38, it is ensured that when two front-wheels 31,32 rotate, crawler belt 37 can
To match with two wheel hubs, normally used.
Owing to solar panel is the most smooth, and the most certain gradient, therefore sweeping robot car body exists
Easy landing in driving process.For solving this problem, as shown in Figure 4, dynamical system 3 also includes at least one non-slipping block 373, prominent
For the lateral wall of two crawler belts 37, non-slipping block 373 can be arranged in orderly array, is evenly distributed on whole piece crawler belt 37.
The car body 1 of the present embodiment uses track structure, installs non-slipping block 373 additional at crawler belt outer wall, is provided to increase coefficient of friction, increases
Strong earth-grasping force, prevents car body 1 landing in traveling.Similarly, the crawler belt 37 of the present embodiment can also be arranged prevent the most one by one
Sliding decorative pattern (not shown), is recessed in the lateral wall of two crawler belts, is evenly distributed on whole piece crawler belt, its effect and non-slipping block phase
With.
In the present embodiment, having technical effect that of dynamical system 3, use crawler belt and non-slipping block structure to make sweeping robot
Car body can act on one's own without landing on solar panel；Left and right front-wheel bi-motor drives respectively, can be to car
The traveling situation of body realizes accurately controlling, and makes car body can adjust direct of travel the most for greater flexibility and realize pirouette
Curved, the coverage of driving path can be increased as far as possible.
As shown in Figure 4, Figure 5, dynamical system 3 also includes two track takeups 39, each track takeup 39 points
It is not arranged in a crawler belt 37.Crawler belt after mounting, has certain slackness, it is therefore desirable to carry out this flexibility chain link opening
Tight regulation, to ensure that crawler belt can normally advance.Prior art is to install inducer additional in crawler belt front, and on inducer, configuration separates
Mechanism and two scroll bars, realize tensioning by regulation separating mechanism and worm screw.Mode and the structure comparison of this regulation are loaded down with trivial details,
And can only disposably adjust complete, and can not adjust in real time in crawler belt running.
The present embodiment provides following three kinds of track takeups, and as shown in Fig. 6 ~ Fig. 8, the first track takeup 39 wraps
Include tensioned portion 391 on, once compressed part 392 and a resilient support portion 393.
Crawler belt 37 is a flexible chain link, and its medial surface is provided with equally distributed crawler belt internal tooth 372.Crawler belt 37 includes uploading
Dynamic band 374, lower drive belts 375；Upper transmission band 374 is the top of crawler belt 37, and lower drive belts 375 is the bottom of crawler belt 37, on
Transmission band 374 lower surface and lower drive belts 375 upper surface are all provided with at least one crawler belt internal tooth 372.
Upper tensioned portion 391 upper end is tangent with upper transmission band 374 lower surface or engages, and in order to transmission band 374 in tensioning, is carrying out
In tape running, upper tensioned portion 391 is slided with upper transmission band 374 or roller is connected.On lower compressed part lower end and lower drive belts 375
Plane tangent, in order to compress lower drive belts 375；The one end in resilient support portion 393 is connected to tensioned portion 391, and its other end is even
It is connected to lower compressed part 392, in order to support described upper tensioned portion and described lower compressed part.
As shown in Figure 6, track takeup 39 can include two crawler belt side plates 394, is respectively arranged at the two of crawler belt 37
Side, two crawler belt side plates 394 can be linked together by a crawler belt top board 395, the crawler belt shell 371 of composition integration,
Crawler belt shell 371 is fixedly attached at the wheel shaft of car body 1 by least one bolt.The top of each crawler belt side plate 394 be provided with to
The waist-shaped hole 396 of a few vertical.Track takeup 39 also includes at least one installation axle 397, and its two ends slide up and down formula
Being arranged in two relative waist-shaped holes 396, two waist-shaped holes 396 lay respectively on two crawler belt side plates 394.Axle 397 is installed
And the parts being assemblied on installation axle 397 can move up and down in the range of waist-shaped hole 396 is limited.Track takeup 39
A crawler belt side plate 394 can also be only included, be arranged at the outside of robot crawler belt 37；The top of this crawler belt side plate is provided with vertically
At least one waist-shaped hole of formula, installation axle 397 only one end slides up and down formula and is arranged in a waist-shaped hole 396.In the present embodiment excellent
Being selected in a crawler belt side plate and arrange the scheme of three waist-shaped holes, three waist-shaped holes are triangle disposition arrangement.
Axle 397 is installed and includes that at least one gear mounting shaft 3971 and at least one drive install axle 3972；The present embodiment is excellent
Select a gear mounting shaft 3971 and two drives that axles are installed, gear mounting shaft 3971 and two drive installation axles 3972 in
Triangle disposition arranges.Upper tensioned portion 391 includes " V " shape frame 3911, at least tensioning drive 3912 and at least one tensioning
Gear 3913, preferably one Tension gear 3913 of the present embodiment and two tensioning drives 3912, Tension gear 3913 and two
Tensioning drive 312 arranges in triangle disposition.
The drive that is respectively arranged at two ends with on " V " shape frame 3911 top installs axle 3972；" V " shape frame 3911 includes putting down each other
The two panels " V " shape flat board 3914 of row setting and two crossbeams 3915, each crossbeam 3915 two ends are respectively fixedly connected with to two panels " V "
Shape flat board 3914；Drive is installed axle 3972 and is perpendicular to " V " shape flat board 3914.Gear mounting shaft 3971 is arranged at " V " shape frame
Above in the of 3911, just two drives are installed in the middle of axle 3972.
Tensioning drive 3912 is installed to described drive installation axle 3972 by a rolling bearing (not shown)；Each
Tension gear is installed on a gear mounting shaft 3971 by a rolling bearing (not shown), its upper end and upper transmission band 374 times
Surface is engaged.
Two tensioning drives 3912 are located at the lower section of Tension gear 3913 both sides.Tensioning drive 3912 and described tensioning
Gear 3913 is tangent or engages, and the two can realize transmission；On Tension gear 3913, tensioning drive, 3912 can have face of gear
Can also be with or without face of gear, if there being face of gear, the two engagement, if anodontia wheel face, the two is tangent.
In the present embodiment, Tension gear 3913 is duplex straight spur gear, specifically includes two roller gear 3916 Hes
One cylinder linkage portion 3917.Two roller gears 3916 engage with upper transmission band 374 lower surface；Cylinder linkage portion 3917 is located at two
Between individual roller gear 3916；The diameter of two roller gears 3916 is identical；Linkage portion 3917 diameter is less than roller gear 3916
Diameter, each tensioning drive 3912 is tangent with the linkage portion of Tension gear 3913.
Lower compressed part 392 is at least one tensioning pressing plate 3921, preferably two, tensioning pressing plate 3921 and lower drive belts 375
Upper surface is tangent；Resilient support portion 393 includes one " ∧ " shape elastic component 3931, and the corner on its top is connected to compressed part
391 lower ends, namely the corner of " V " shape frame 3911 bottom；The two ends of its underpart are respectively connecting to a tensioning pressing plate 3921.
There is an arcuate socket corner of " V " shape frame 3911 lower end, and the bent angle on " ∧ " shape elastic component 3931 top is a semicircle
Angle；Upper group with " ∧ " shape elastic component 3931 of half fillet is connected in this arcuate socket." ∧ " shape elastic component 3931 bottom
Two ends are connected to a circular shackle, are respectively connecting to two tensioning pressing plate 3921 upper surfaces；Specifically, each tensioning pressure
Plate 3921 upper surface is provided with a groove, is provided with tensioning pressing plate 3921 connecting shaft in groove, and each circular shackle correspondence connects
To tensioning pressing plate 3921 connecting shaft.
The crawler belt of the present embodiment is in operation, and owing to crawler belt 37 is a flexible chain link, the crawler belt internal tooth of its inner surface is with front
Latter two wheelboss side wall engages, and Tension gear 3913 also engages with upper transmission band 374 lower surface simultaneously, crawler belt 37 rolls forward
Time, drive Tension gear 3913 to rotate.
Before above-mentioned each parts fit together, " ∧ " shape elastic component 3931 in the case of not deforming upon, its subtended angle
Less；After being assembled by above-mentioned each parts, " ∧ " shape elastic component deforms upon, and the angle opened increases so that crawler belt 37 is in
Tensioning state.Now, " ∧ " shape elastic component has the trend recovering original shape (the less state of subtended angle).
When the crawler belt of band wheel hub seesaws, crawler belt 37 acts on Tension gear 3913, drives Tension gear 3913 turns
Dynamic, be i.e. equivalent to the active force by crawler belt 3931, this active force produces a downward component, promotes Tension gear 3913 along waist
Type hole 396 moves down, and now, tensioning drive 3912 is tangent with Tension gear 3913, and by the effect of Tension gear 3913
Moving down, further compression " ∧ " shape elastic component 3931, now, the subtended angle of " ∧ " shape elastic component 3931 continues to increase,
The deformation of " ∧ " shape elastic component 3931 strengthens, and the elastic force of generation increases further.
When crawler belt and Tension gear 3913 from, or Tension gear 3913 and drive from time, " ∧ " shape elastic component
The elastic potential energy that 3931 release parts are compressed, subtended angle diminishes, again by crawler belt 37 tensioning.Circulate and so forth, according to shoe
With the kinestate of 37, resilient support portion 393 can adjust tensile force in real time, decreases the rigidity friction between parts, favorably
Service life in reinforcing member.
As it is shown in figure 9, the present embodiment also provides for the second track takeup, its major part technical scheme is carried out with the first
Belting is identical, and its distinguishing feature is, in the second track takeup, installs axle and only includes at least one gear installation
Axle 3971, and do not include that drive installs axle 3972, preferably two gear mounting shaft 3971 arranged in parallel.Upper tensioned portion 391
Including a " V " shape frame and at least one Tension gear 3913, preferably two Tension gear 3913 of the present embodiment, two Tension gear
3913 in product word arrangement." V " shape frame 3911 top be respectively arranged at two ends with a gear mounting shaft 3971, gear mounting shaft 3971 hangs down
Straight in " V " shape flat board 3914.Lower compressed part 392 is at least one tensioning pressing plate 3921, tangent with lower drive belts 375 upper surface.Bullet
Property supporting part 393 be a spring or multiple spring composition spring support, it is also possible to for rubber blanket, its one end is connected to " V "
The corner of shape frame 3911 bottom, its other end is connected to tensioning pressing plate 3921.The letter of the second track takeup structure comparison
Single, cost is relatively low, but tension effects is slightly worse, requires higher to the material in resilient support portion 393；Its operation principle is carried out with the first
Band tensioner is similar to, and therefore not to repeat here.
As shown in Figure 10, the present embodiment also provides for the third track takeup, its major part technical scheme and the second
Crawler attachment is identical, and its distinguishing feature is, upper tensioned portion 391 includes at least one Tension gear 3913, preferably one, often
One Tension gear 3913 is installed to a gear mounting shaft 3971 by a rolling bearing；The third track takeup also includes
One gear stand 398, in order to replace " V " shape frame, its upper end is provided with gear mounting shaft 3971, and its lower end is connected to resilient support
Portion 393.Lower compressed part 392 is at least one tensioning pressing plate 3921, and resilient support portion 393 is a spring or multiple spring composition
Spring support, it is also possible to for rubber blanket, its one end is connected to gear stand 398 lower end, and its other end is connected to tensioning pressing plate
3921.The third track takeup is relatively simple for structure, and cost is relatively low, but tension effects is slightly worse, to resilient support portion 393 and
The material of gear stand 398 requires higher；Its operation principle is similar with the second track takeup, and therefore not to repeat here.
In the present embodiment, having technical effect that of track takeup, use a kind of " slidable fit design ", i.e. at upper
Tightly install a resilient support portion 393 between portion 391 and lower compressed part 392 additional, realized the upper downslide of this tensioner by waist-shaped hole
Dynamic, reach the purpose adjusted in real time；This flexibility that is adjusted to adjusts, and is the real-time tune realized according to crawler belt self-operating
Whole, it is possible to improve the component wear that rigidity adjusts, reduce the frictional force between parts, increase the service life of crawler belt；After adjustment
Crawler belt, it is possible to adapt to road surface in time, there is the robot of this track takeup, it is possible to reach the purpose of power saving；And tie
Structure is simple, easy to assembly.
As shown in figure 11, in the present embodiment, control system 4 includes data acquisition unit 41, processor 42 and at least
One memory element 43.Data acquisition unit 41 includes multiple sensors, in order to gather at least one work in car body 1 traveling process
Parameter；Processor 42 is connected to data acquisition unit 41, sends at least one traveling control according to described running parameter to dynamical system 3
System instruction, sends at least one cleaning control instruction according to described running parameter to clearing apparatus 2.Memory element 43 is connected to process
Device 42, in order to the running parameter stored during car body 1 travels across and other parameters precalculating or arranging.Described running parameter bag
Include the real time acceleration data of car body 1, real-time direct of travel data, liquid distributing container real-time level data, each distance biography
The parameters such as distance between sensor and solar panel, the image in car body front.Other parameters precalculating or arranging include
The various operational datas that staff presets, such as the sweeping robot driving path (path optimizing) precalculating and planning,
Liquid level data alarm threshold value (when reaching this threshold value, alarm unit is reported to the police) in liquid distributing container 25, liquid level data shut-down threshold
Value (when reaching this threshold value, suction pump 28 is out of service), etc..
Staff by the path optimizing typing planned to control system 4, provides road for sweeping robot car body in advance
Navigating in footpath, control system 4 carries out computing and planning according to described path optimizing, and when will start, when stop, when straight line
Travel, 90 degree of turnings the most to the left or to the right, the most to the left or to the right 90 degree carry out the control information such as U-shaped revolution, with various controls
The mode of system instruction is sent to dynamical system, to control car body action in traveling.
In car body control technology, how to judge car body in the plane of slope whether straight-line travelling, how to control car body and exist
In the plane of slope, straight-line travelling is most basic problem, if car body lacks supervision during straight-line travelling, once car body because of
Deflect for some factor (having barrier etc. on local, road surface injustice, road surface), the phenomenon walking more inclined and more inclined will occur,
In the present invention, the guidance path that robot deviation is existing can be caused, it is impossible within the shortest time, go over whole slope plane.At this
In embodiment, after sweeping robot operation can be caused to complete, solar panel also have a lot of places clean out the most in time.
In order to solve how to judge the technical problem of the robot straight-line travelling the most on the slope of the present embodiment, this enforcement
Example provides following technical scheme.
In control system 4, data acquisition unit 41 includes at least one acceleration transducer 411, in order to Real-time Collection machine
Device people 100(or car body 1) acceleration information；Acceleration transducer 411 is connected to processor 42, by the acceleration number of degrees of car body 1
According to sending processor 42 to, dynamic acceleration data analyzed by processor 42, can analyze car body in car body driving process
Impact direction and direct of travel etc..The acceleration information of robot 100 is set up three-dimensional system of coordinate decomposition computation by processor 42,
Definition robot 100 direct of travel is Y-axis positive direction, and it is Z-direction that definition is perpendicular to the direction of described slope plane；Described X
Plane residing for axle and described Y-axis is parallel with described slope plane.According to acceleration information at the vector of X-direction, it is judged that car body 1
Whether have to the left or be deviated to the right, if deviateing, described processor sends at least one party to dynamical system 3 and instructs to adjustment,
Car body 1 is returned on its direct route originally；If without departing from, processor 42 judges that car body 1 is as straight-line travelling.
Further, in order to ensure the accuracy that straight-line travelling judges, in addition to judging with acceleration transducer, also may be used
To use magnetic sensor technologies that acceleration transducer judges to find the situation of deviation route, again judge, namely magnetic
Sensor secondary judges.To this end, in control system 4, data acquisition unit 41 can also include a Magnetic Sensor 412, connect
To processor 42, Magnetic Sensor 412 measures the physical parameters such as electric current, position, direction with induced field intensity.The present embodiment
In, Magnetic Sensor 412 is in order to Real-time Collection direct of travel data, and according to path optimizing data standard set in advance traveling side
Judge, to confirm that whether car body is as straight-line travelling after contrast so that the judgement of car body whether straight-line travelling is more accurate.
In order to solve how to judge that the solar panel sweeping robot (hereinafter referred to as robot) described in the present embodiment is
The no technical problem for straight-line travelling, present embodiments provides a kind of sweeping robot 100 straight-line travelling in slope plane 300
Decision method, owing to solar panel is a slope plane, therefore this decision method may be used for judging that solar panel cleans
Whether robot is straight-line travelling.
Step S1) as shown in figure 12, described robot sets up three-dimensional system of coordinate, define described robot direct of travel
For Y-axis positive direction, it is Z-direction that definition is perpendicular to the direction of described slope plane；Plane residing for described X-axis and described Y-axis with
Described slope plane is parallel.
Step S2) define described robot direct of travel when being Ts, gravity acceleration g is in three sides of described three-dimensional system of coordinate
Standard scores vector g upwardsxs0、gys0、gzs0。
Step S3) generate a reference direction parameter library；Specifically include following steps: step S31) control described robot and exist
Doing uniform circular motion along a default circular path in the plane of described slope, the angular velocity of described uniform circular motion is
0.1 ~ 1.0 degrees second；Step S32) during described robot moves in a circle, it is spaced t at regular intervals0Real-time Collection
And record least one set reference direction parameter, described time interval t0For the 0.1-5.0 second；Each group of reference direction parameter includes institute
State a direct of travel Ts of robot and to should the standard scores vector g of direct of travelxs0、gys0、gzs0；And step S33) root
A reference direction parameter library is generated according to least one set reference direction parameter.With angular velocity 0.1 degrees second, acquisition time interval t0=1
As a example by Miao, robot 100 completes a uniform circular motion in slope plane 300, general needs 3600 seconds, adopts every 1 second
The direct of travel Ts and corresponding acceleration standard scores vector g of robot of collectionxs0、gys0、gzs0, so can be obtained by
The parameter of 3600 groups of different directions, is recorded as 3600 groups of reference direction parameters.
Step S4) control described robot in the plane of described slope along a default straight line path to either direction Tm
Straight-line travelling.
Step S5) transfer should the standard scores vector g of direct of travel Tm from described reference direction parameter libraryxm0、gym0、
gzm0Data.
Step S6) it is spaced one group of real-time directioin parameter of t Real-time Collection at regular intervals, described real-time directioin parameter includes
The gravity acceleration g point vector g in real time on three directions of described three-dimensional system of coordinatexm1、gym1、gzm1, described time interval t is
The 0.1-1.0 second.
Step S7) calculate the gravity acceleration g point vector in real time in described X-direction and point vector of standard scores vector
Difference gxd=gxm1 -gxm0 。
Step S8) judge whether described robot travels along default straight line path；Work as gxdDuring equal to 0, it is determined that described
Robot travels along default straight line path, returns step S6)；Work as gxdWhen being not equal to 0, it is determined that the deviation of described robot is preset
Straight line path.
Owing to the robot 100 gravity acceleration g in slope plane 300 is a definite value, when robot 100 is on slope
When running in plane 300, direct of travel Ts and direction acceleration divide vector data gxs、gys、gzsShould be and standard database
In reference direction parameter be consistent.In the present embodiment, it is judged that robot whether straight-line travelling, machine is judged the most exactly
Whether device people there is small deviation to the left or to the right relative to straight line course, therefore has only to judge gravity acceleration g
In real time point vector in described X-direction is vectorial with standard scores and the most identical, identical just without departing from, different with regard to
Raw deviation, it is possible to further according to a point vector differentials gxd=gxm1 -gxm0It is positive number or negative judges to be deviated to the left also
It is to be deviated to the right.
Further, the present embodiment additionally provides another kind of robot straight-line travelling decision method in the plane of slope,
Above-mentioned steps S8) judge that described robot can also comprise the steps: step S9 after deviateing the straight line path preset) utilize
One Magnetic Sensor obtains real-time direct of travel Tn；Step S10) direct of travel Tn and described direct of travel Tm in real time described in comparison,
If the two is consistent, it is determined that described robot travels along default straight line path, return step S6)；If the two is inconsistent,
Judge the straight line path that the deviation of described robot is preset.In the case of previous judgement robot offset straight thread path, it is entered
Row secondary judges, to avoid the occurrence of accident so that judged result is more accurate.
After control system 4 finds that robot ride route offsets, it is necessary to the very first time corrects it so that machine
Device people can return to there is route as early as possible, and this process is properly termed as school and partially processes.In order to solve how to control described robot
The technical problem of straight-line travelling in the plane of slope, present embodiments provides the straight-line travelling control in the plane of slope of a kind of robot
Method processed, may include steps of.
Step S11) according to hereinbefore step S1)-S8) or step S1)-S10) described in robot in the plane of slope
Straight-line travelling decision method judges whether a robot travels along default straight line path；If the deviation of described robot is preset
Straight line path, perform step S12).
Step S12) control described robot in the process of moving to the deflection of described Tm direction；Specifically include following steps:
Step S121) transfer actual direction of travel Tn corresponding with described real-time directioin parameter at reference direction parameter library；Step S122)
Calculate yawing moment and deflection angle that described robot needs to adjust；Described deflection angle be described actual direction of travel Tn with
Preset the angle angle of direct of travel Tm；Step S123) according to described robot need adjust yawing moment and deflection angle,
Send a direction to dynamical system 3 and adjust instruction, control described robot and deflect to the left or to the right.
Step S13) control described robot in the plane of described slope along Tm direction straight-line travelling；Return step
S11).
Wherein, described robot is the decision method of straight-line travelling in the plane of slope, such as step S1)-S8), or step
S1)-S10), in very short time, can quickly judge that car body is tiltedly according to one group of acceleration information (and magnetic sensor data)
Whether straight-line travelling on slope；Owing to acceleration transducer can will gather one group of number at set intervals with real-time data collection
According to；Therefore, above-mentioned decision process is also will periodically to judge once at set intervals.No matter when find robot (car
Body) in the plane of slope during, deviate from direct route, can judge that now robot deviates.
Wherein, described robot is the control method of straight-line travelling in the plane of slope, such as step S11) ~ step S13), it is
Based on aforesaid robot straight-line travelling decision technology in the plane of slope, after confirming that robot deviates, when first
Between adjust the direct of travel of robot so that it is be returned on former directive path.
In the present invention, described robot in the plane of slope the decision method of straight-line travelling and described robot on slope
In plane the control method of straight-line travelling with the use of, it can be ensured that sweeping robot will not occur during straight-line travelling partially
From, such that it is able to guarantee that sweeping robot can be gone over whole along optimization guidance path set in advance within the shortest time
Solar panel, cleans up whole solar panel faster and betterly.
According to the principle that shortest time, driving path are the shortest, robot optimization guidance path in a rectangular slope is very
Easily just can plan and calculate, how to make robot can travel along optimization guidance path set in advance, this reality
Executing example and provide a series of control program and air navigation aid, air navigation aid refers to the control travelled so that robot along guidance path
Method processed.
In the present embodiment, data acquisition unit 41 can also include at least one range sensor 413, includes but not limited to
Ultrasonic sensor and light pulse sensor.Range sensor 413 is arranged at robot 100(car body 1) at external margin, specifically
Ground says, car body 1(vehicle body 11 can be arranged on) four angles on, as in figure 2 it is shown, work as robot 100 up in a rectangular slope
When sailing, range sensor 413 front end is towards rectangular slope direction.Range sensor 413 is connected to processor 42；In order to adopt in real time
Collection range sensor 413 and the range data of rectangular slope；Processor 42 is according to range sensor 413 and described rectangular slope
Range data, it is judged that whether car body 1 is positioned at edge or the corner of described rectangular slope.
In the present embodiment, range sensor 413 number is four, is respectively arranged at four corners of robot (car body)
Place；When only two range sensors 413 can collect described range data, processor 42 judges that robot (car body) is positioned at
The edge of rectangular slope 300, sends at least one steering order (U-shaped revolution) to dynamical system 3；When only one of which Distance-sensing
When device collects described range data, described processor judges that robot (car body) is positioned at a certain corner of rectangular slope 300,
At least one steering order (turning or U-shaped revolution for 90 degree) is sent to dynamical system 3.Four range sensors 413 can also be distinguished
Being arranged at the middle part of each side of car body 1, processor finds that the range sensor 413 on a certain side cannot collect distance number
According to time, it is possible to judge that this side is positioned at the edge of rectangular slope；If there have two adjacent sides to be all positioned at rectangle to be oblique
Slope edge, it is possible to judge that car body 1 is positioned at a certain corner of solar panel.Range sensor 413 number can also be
Eight, it is respectively arranged at four corners or the middle part of car body 1 four direction side of car body 1.
Control system 4 can also include an enumerator 414, in order to calculate car body 1 angle of process in slope plane travels
Fall, in the one action of robot, when processor 42 judges that car body arrives a certain corner, just add on enumerator
One.Technical result that processor 42 is fed back by enumerator 414 is it is apparent that the order (the in the corner that arrives of car body 1
Several corners).
Staff is in advance by the memorizer of the path optimizing typing planned to control system 4, described processor root
Send control instruction according to the real time position of described guidance path and robot (car body) to dynamical system 3, including start, stop,
Keep straight on, 90 degree turnings to the left or to the right, to the left or to the right U-shaped turn round (forwarding turning through 180 degree on adjacent lane to), to control car
Body travels according to guidance path in traveling.
The method for path navigation that disclosed in the present embodiment, four kinds of robots travel in rectangular slope, its detailed content refers to
Hereafter.Solar panel is also a kind of rectangular slope, and sweeping robot driving path air navigation aid on solar panel is also
It is applicable to the method for path navigation that robot hereinafter described travels in rectangular slope.
The method for path navigation that the first robot disclosed in the present embodiment travels in rectangular slope, including walking as follows
Rapid: step S101) set the lower left corner of described rectangular slope as navigation starting point；Step S102) control described robot from described
The navigation starting point upper left corner straight-line travelling to described rectangular slope；Step S103) detect whether described robot marches in real time
First corner of described rectangular slope；If described robot does not arrives described first corner, return step S102)；If described machine
Device people arrives described first corner, controls described robot and turns to the right 90 degree；Step S104) control described robot linear rows
Sail；Step S105) detect whether described robot marches to the second corner of described rectangular slope in real time；If described robot is not
Arrive described second corner, return step S104)；If described robot arrive described second corner, control described robot to
The right side carries out U-shaped revolution；Step S106) detect in real time described robot and whether march to the third angle of described rectangular slope and fall；If
Described robot does not arrives described the third angle and falls, and controls described robot straight-line travelling；If described robot arrives the described 3rd
Corner, controls described robot straight-line travelling, and detects whether described robot marches to the 4th of described rectangular slope the in real time
Corner；If described robot does not arrives described fourth corner, control described robot straight-line travelling；If described robot arrives institute
State fourth corner, control described robot and stop travelling；Step S107) detect whether described robot marches to described square in real time
The edge on shape slope, if described robot arrives an edge of described rectangular slope；Control described robot and carry out U to the left
Word turns round；Step S108) detect in real time described robot and whether march to the third angle of described rectangular slope and fall；If described machine
People does not arrives described the third angle and falls, and controls described robot straight-line travelling；Fall, in real time if described robot arrives described the third angle
Detect whether described robot marches to the fourth corner of described rectangular slope；If described robot does not arrives described fourth angle
Fall, control described robot straight-line travelling；If described robot arrives described fourth corner, control described robot and stop row
Sail；Step S109) detect whether described robot marches to the edge of described rectangular slope in real time, if described robot arrives
One edge of described rectangular slope；Control described robot and carry out to the right U-shaped revolution；Return step S106).
Use the robot of the first method for path navigation driving path in rectangular slope can have a variety of, due to
The length of rectangular slope, width are different, so the length in robot ride path is also with the ratio of robot length, width
Different, robot stops the position the most different (being parked in the lower left corner or the lower right corner) travelled.As Figure 13, Figure 14 show
Robot 100 uses two kinds of possible driving paths that the first method for path navigation travels in rectangular slope 300.
The second robot disclosed in the present embodiment travels method for path navigation in rectangular slope, including walking as follows
Rapid: step S201) set the lower right corner of described rectangular slope as navigation starting point；Step S202) control described robot from described
The navigation starting point upper right corner straight-line travelling to described rectangular slope；Step S203) detect whether described robot marches in real time
First corner of described rectangular slope；If described robot does not arrives described first corner, return step S202)；If described machine
Device people arrives described first corner, controls described robot and turns to 90 degree to the left；Step S204) control described robot linear rows
Sail；Step S205) detect whether described robot marches to the second corner of described rectangular slope in real time；If described robot is not
Arrive described second corner, return step S204)；If described robot arrive described second corner, control described robot to
A left side carries out U-shaped revolution；Step S206) detect in real time described robot and whether march to the third angle of described rectangular slope and fall；If
Described robot does not arrives described the third angle and falls, and controls described robot straight-line travelling；If described robot arrives the described 3rd
Corner, controls described robot straight-line travelling, and detects whether described robot marches to the 4th of described rectangular slope the in real time
Corner；If described robot does not arrives described fourth corner, control described robot straight-line travelling；If described robot arrives institute
State fourth corner, control described robot and stop travelling；Step S209) detect whether described robot marches to described square in real time
The edge on shape slope, if described robot arrives an edge of described rectangular slope；Control described robot and carry out to the right U
Word turns round；Return step S206).
The robot of employing the second method for path navigation driving path in rectangular slope can have a variety of, due to
The length of rectangular slope, width are different, so the length in robot ride path is also with the ratio of robot length, width
Different, robot stops the position the most different (being parked in the lower left corner or the lower right corner) travelled.As Figure 15, Figure 16 show
Robot 100 uses two kinds of possible driving paths that the second method for path navigation travels in rectangular slope 300.
The third robot disclosed in the present embodiment travels method for path navigation in rectangular slope, including walking as follows
Rapid: step S301) set the lower left corner of described rectangular slope as navigation starting point；Step S302) control described robot from described
The navigation starting point upper left corner straight-line travelling to described rectangular slope；Step S303) detect whether described robot marches in real time
First corner of described rectangular slope；If described robot does not arrives described first corner, return step S302)；If described machine
Device people arrives described first corner, controls described robot and carries out to the right U-shaped revolution；Step S304) detect described machine in real time
Whether people marches to the second corner of described rectangular slope；If described robot does not arrives described second corner, control described machine
Device people's straight-line travelling；If described robot arrives described second corner, control described robot straight-line travelling, and detect institute in real time
State robot whether to march to the third angle of described rectangular slope and fall；Fall if described robot does not arrives described the third angle, control
Described robot straight-line travelling；Fall if described robot arrives described the third angle, control described robot and stop travelling；Step
S305) detect whether described robot marches to the edge of described rectangular slope in real time, if described robot arrives described square
One edge on shape slope；Control described robot and carry out U-shaped revolution to the left；Step S306) detect in real time described robot and be
No the second corner marching to described rectangular slope；If described robot does not arrives described second corner, control described robot
Straight-line travelling；If described robot arrives described second corner, control described robot straight-line travelling, and detect described machine in real time
Whether device people marches to the third angle of described rectangular slope falls；Fall if described robot does not arrives described the third angle, control described
Robot straight-line travelling；Fall if described robot arrives described the third angle, control described robot and stop travelling；Step S307)
Detect whether described robot marches to the edge of described rectangular slope in real time, if described robot arrives described rectangular slope
An edge；Control described robot and carry out to the right U-shaped revolution；Return step S304).
Use the robot of the third method for path navigation driving path in rectangular slope can have a variety of, due to
The length of rectangular slope, width are different, so the length in robot ride path is also with the ratio of robot length, width
Different, robot stops the position the most different (being parked in the lower left corner or the lower right corner) travelled.As Figure 17, Figure 18 show
Robot 100 uses two kinds of possible driving paths that the third method for path navigation travels in rectangular slope 300.
Disclosed in the present embodiment the 4th kind robot travels method for path navigation, including walking as follows in rectangular slope
Rapid: step S401) set the lower right corner of described rectangular slope as navigation starting point；Step S402) control described robot from described
The navigation starting point upper right corner straight-line travelling to described rectangular slope；Step S403) detect whether described robot marches in real time
First corner of described rectangular slope；If described robot does not arrives described first corner, return step S402)；If described machine
Device people arrives described first corner, controls described robot and carries out U-shaped revolution to the left；Step S404) detect described machine in real time
Whether people marches to the second corner of described rectangular slope；If described robot does not arrives described second corner, control described machine
Device people's straight-line travelling；If described robot arrives described second corner, control described robot straight-line travelling, and detect institute in real time
State robot whether to march to the third angle of described rectangular slope and fall；Fall if described robot does not arrives described the third angle, control
Described robot straight-line travelling；Fall if described robot arrives described the third angle, control described robot and stop travelling；Step
S405) detect whether described robot marches to the edge of described rectangular slope in real time, if described robot arrives described square
One edge on shape slope；Control described robot and carry out to the right U-shaped revolution；Step S406) detect in real time described robot and be
No the second corner marching to described rectangular slope；If described robot does not arrives described second corner, control described robot
Straight-line travelling；If described robot arrives described second corner, control described robot straight-line travelling, and detect described machine in real time
Whether device people marches to the third angle of described rectangular slope falls；Fall if described robot does not arrives described the third angle, control described
Robot straight-line travelling；Fall if described robot arrives described the third angle, control described robot and stop travelling；Step S407)
Detect whether described robot marches to the edge of described rectangular slope in real time, if described robot arrives described rectangular slope
An edge；Control described robot and carry out U-shaped revolution to the left；Return step S404).
Use the robot of the 4th kind of method for path navigation driving path in rectangular slope can have a variety of, due to
The length of rectangular slope, width are different, so the length in robot ride path is also with the ratio of robot length, width
Different, robot stops the position the most different (being parked in the lower left corner or the lower right corner) travelled.As Figure 19, Figure 20 show
Robot 100 uses two kinds of possible driving paths that the 4th kind of method for path navigation travels in rectangular slope 300.
Travel in rectangular slope in method for path navigation in above-mentioned four kinds of robots, it is determined that whether described robot is straight
Line travels, or controls described robot straight-line travelling, and its concrete grammar has a detailed description the most, does not goes to live in the household of one's in-laws on getting married at this
State.Control the 90 degree of turnings to the left or to the right of described robot, above, dynamical system introduction has a detailed description, do not make at this
Repeat.
Travel in rectangular slope in method for path navigation in above-mentioned four kinds of robots, detect whether described robot advances in real time
To a corner of described rectangular slope or an edge, specifically include following steps: step S1011) on a left side for described robot
Front portion, right front portion, left back portion and right-rearward portion do not arrange a range sensor 413, and range sensor 413 extends to described machine
The outside of people, range sensor 413 is towards solar panel；Step S1012) it is followed successively by four range sensors 413 and numbers, will
The range sensor 413 that the left front portion of described robot, right front portion, left back portion and right rear portion are arranged is respectively defined as sensor
N1, sensor N2, sensor N3 and sensor N4；Step S1013) sensing that simultaneously obtains according to any instant of described robot
Device signal judges the position of described robot；When described robot obtains sensor N3 signal and sensor N4 signal simultaneously,
Judge that described robot arrives an edge of described rectangular slope；When described robot can only obtain sensor N4 signal,
Judge that described robot arrives the first corner or second corner of described rectangular slope；When described robot can only obtain sensor
During N3 signal, it is determined that described robot arrives the third angle of described rectangular slope and falls or fourth corner；Step S1014) work as judgement
Described robot arrives a corner of described rectangular slope, reads the count results of enumerator, to judge the order (the in this corner
Several corners).
Travel in method for path navigation in rectangular slope in above-mentioned four kinds of robots, control described robot and carry out to the left
U-shaped is turned round, and specifically includes following steps: step S1031) control described robot left face to 90 degree；Step S1032)
Controlling described robot straight-line travelling certain distance, described certain distance is equal to the width of described robot；And step
S1033) described robot left face is controlled to 90 degree.
Travel in method for path navigation in rectangular slope in above-mentioned four kinds of robots, control described robot and carry out to the right
U-shaped is turned round, and specifically includes following steps: step S1041) control described robot original place and turn to the right 90 degree；Step S1042)
Controlling described robot straight-line travelling certain distance, described certain distance is equal to the width of described robot；Step S1043) control
Make described robot original place and turn to the right 90 degree.
Above-mentioned four kinds of robots travel method for path navigation in rectangular slope, and it has technical effect that, can allow machine
People is within the shortest time, free of discontinuities, not repeatedly go over each corner of rectangular slope with shortest path, it is achieved oblique to rectangle
Comprehensive covering on slope.In the present embodiment, any one during sweeping robot utilizes above-mentioned four kinds of air navigation aids can be short
Go over each corner of solar panel in time, it is effectively cleaned.Owing to cleaning process can produce sewage, can
Can be along the downward landing of solar panel, therefore, the first, the cleaning effect of the second air navigation aid can more preferably, the third,
The cleaning effect of the 4th kind of air navigation aid may be poor, preferably the first, the second air navigation aid.
Control system 4 also includes at least one alarm unit 44, is connected to processor 42, and alarm unit 44 can be to be arranged on
A red light outside car body or buzzer.When a certain running parameter exceedes setting threshold value, described alarm unit sends alarm signal
Number, such as, when power system 5 electric power deficiency, or when described sweeping robot sends fault, alarm unit 44 can be sent out
Go out alarm signal to remind user.
Data acquisition unit 41 includes at least one image sensor 415 or photographic head, is connected to processor 42, is arranged at car
Body 1 front end (as shown in Figure 2 and Figure 3), in order to gather the image in car body 1 front in car body 1 traveling process, these images can be deposited
Storage is to described memory element so that staff checks the duty of robot.
In the present embodiment, having technical effect that of control system 4, it is provided that multiple clean robot is up at solar panel
The control method that the path optimizing entered and robot advance at slope plane and straight line, it is ensured that robot can not repeatedly pass by
Whole spaces of solar panel, area coverage is big, will not fall from solar panel edge, both can ensure that cleaning effect
Really, can ensure that again work efficiency.
Solar panel sweeping robot 100 can also include at least one wireless communication unit 45, is wirelessly connected to clothes
Business device 400, communicates for setting up between solar panel sweeping robot 100 with server 400.The image in car body 1 front
Can send in real time to server 400, in order to staff realizes sweeping robot effectively checking in the progress of work, has
When in effect solution prior art, solar panel is positioned at eminence, sweeping robot is the technology of Working Status Monitoring difficulty on panel
Problem.
In the present embodiment, as it is shown on figure 3, power system 5 be one or one group be arranged in battery case 51 disposable
Battery or rechargeable battery (not shown), need staff periodically to be taken off from solar panel by described sweeping robot,
It is replaced Battery disposal or charging process so that it is can work on.
Embodiment provides a kind of solar panel sweeping robot, can free-running operation on solar panel, effectively go
Except the dust on panel and other attachments, clean effect is good；The sweeping robot of the present invention runs on solar panel
During, travel according to the path optimizing set, can whole spaces of not repeatedly cover plate, work efficiency is high；This
Bright sweeping robot can be turned according to Automatic Program or tune, it is achieved automatically controls, easy to operate.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. the method for path navigation that a robot travels in rectangular slope, it is characterised in that comprise the steps:
Step S101) set the lower left corner of described rectangular slope as navigation starting point；
Step S1) control described robot from described navigation starting point to the upper left corner straight-line travelling of described rectangular slope；
Step S103) detect whether described robot marches to the first corner of described rectangular slope；If described robot does not arrives
Reach described first corner, return step S1)；If described robot arrives described first corner, control described robot and turn right
To 90 degree；
Step S104) control described robot straight-line travelling；
Step S105) detect whether described robot marches to the second corner of described rectangular slope；If described robot does not arrives
Reach described second corner, return step S104)；If described robot arrives described second corner, control described robot to the right
Carry out U-shaped revolution；
Step S106) detect described robot and whether march to the third angle of described rectangular slope and fall；If described robot does not arrives
Reach described the third angle to fall, control described robot straight-line travelling；Fall if described robot arrives described the third angle, control described machine
Device people's straight-line travelling, and detect whether described robot marches to the fourth corner of described rectangular slope；If described robot is not
Arrive described fourth corner, control described robot straight-line travelling；If described robot arrives described fourth corner, control described
Robot stops travelling；
Step S107) detect whether described robot marches to the edge of described rectangular slope, if described robot arrives institute
State an edge of rectangular slope；Control described robot and carry out U-shaped revolution to the left；
Step S108) detect described robot and whether march to the third angle of described rectangular slope and fall；If described robot does not arrives
Reach described the third angle to fall, control described robot straight-line travelling；Fall if described robot arrives described the third angle, detect described machine
Whether device people marches to the fourth corner of described rectangular slope；If described robot does not arrives described fourth corner, control described
Robot straight-line travelling；If described robot arrives described fourth corner, control described robot and stop travelling；And
Step S109) detect whether described robot marches to the edge of described rectangular slope, if described robot arrives institute
State an edge of rectangular slope；Control described robot and carry out to the right U-shaped revolution；Return step S106).
2. the method for path navigation that robot as claimed in claim 1 travels in rectangular slope, it is characterised in that detection institute
State whether robot marches to a corner or an edge of described rectangular slope, specifically include following steps:
Step S1011) at the left front portion of described robot, right front portion, left back portion and left back portion, one range sensor is not set,
Described range sensor extends to the outside of described robot, and described range sensor is towards described solar panel；
Step S1012) it is followed successively by four range sensor numberings, by the left front portion of described robot, right front portion, left back portion and a left side
The range sensor that rear portion is arranged is respectively defined as sensor N1, sensor N2, sensor N3 and sensor N4；And
Step S1013) described robot judges the position of described robot according to the sensor signal that any instant obtains simultaneously；
When described robot obtains sensor N3 signal and sensor N4 signal simultaneously, it is determined that it is oblique that described robot arrives described rectangle
One edge on slope；When described robot can only obtain sensor N4 signal, it is determined that it is oblique that described robot arrives described rectangle
First corner on slope or the second corner；When described robot can only obtain sensor N3 signal, it is determined that described robot arrives
The third angle of described rectangular slope falls or fourth corner.
3. the method for path navigation that robot as claimed in claim 1 travels in rectangular slope, it is characterised in that control institute
State robot straight-line travelling, specifically include following steps:
Step S11) judge whether a robot travels along default straight line path；If the straight line that the deviation of described robot is preset
Path, performs step S12)；
Step S12) control described robot in the process of moving to the deflection of described Tm direction；And
Step S13) control described robot in the plane of described slope along Tm direction straight-line travelling；Return step S11).
4. the method for path navigation that robot as claimed in claim 3 travels in rectangular slope, it is characterised in that step
S11) judge that whether a robot travels along default straight line path, specifically include following steps:
Step S1) in described robot, set up three-dimensional system of coordinate, defining described robot direct of travel is Y-axis positive direction, fixed
It is Z-direction that justice is perpendicular to the direction of described slope plane；Residing for described X-axis and described Y-axis, plane is put down with described slope plane
OK；
Step S2) define described robot direct of travel when being Ts, gravity acceleration g is on three directions of described three-dimensional system of coordinate
Standard scores vector gxs0、gys0、gzs0；
Step S3) generate a reference direction parameter library；
Step S4) control described robot in the plane of described slope along a default straight line path to either direction Tm straight line
Travel；
Step S5) transfer should the standard scores vector g of direct of travel Tm from described reference direction parameter libraryxm0、gym0、gzm0
Data；
Step S6) it is spaced one group of real-time directioin parameter of t Real-time Collection at regular intervals, described real-time directioin parameter includes gravity
The acceleration g point vector g in real time on three directions of described three-dimensional system of coordinatexm1、gym1、gzm1；
Step S7) calculate the gravity acceleration g point vector in real time in described X-direction and point vector differentials of standard scores vector
gxd=gxm1 -gxm0 ；And
Step S8) judge whether described robot travels along default straight line path；Work as gxdDuring equal to 0, it is determined that described machine
People travels along default straight line path, returns step S106)；Work as gxdWhen being not equal to 0, it is determined that the deviation of described robot is preset
Straight line path.
5. the method for path navigation that robot as claimed in claim 4 travels in rectangular slope, it is characterised in that step
S6) and step S7) between can also comprise the steps:
Step S9) utilize a Magnetic Sensor to obtain real-time direct of travel Tm1；And
Step S10) according to described real-time direct of travel Tm1 to gravity acceleration g on three directions of described three-dimensional system of coordinate
Point vector g in real timexm1、gym1、gzm1Do school partially to process.
6. the method for path navigation that robot as claimed in claim 4 travels in rectangular slope, it is characterised in that step
S3) generate a reference direction parameter library, specifically include following steps:
Step S31) control described robot and do uniform circular motion along a default circular path in the plane of described slope；
Step S32) during described robot moves in a circle, it is spaced t at regular intervals0Real-time Collection also records at least
One group of reference direction parameter；Each group of reference direction parameter includes a direct of travel Ts of described robot and to should the side of traveling
To standard scores vector gxs0、gys0、gzs0；And
Step S33) generate a reference direction parameter library according to least one set reference direction parameter.
7. the method for path navigation that robot as claimed in claim 3 travels in rectangular slope, it is characterised in that step
S12) control described robot to deflect to described Tm direction in the process of moving, specifically include following steps:
Step S121) transfer actual direction of travel Tn corresponding with described real-time directioin parameter at reference direction parameter library；
Step S122) calculate yawing moment and deflection angle that described robot needs to adjust；Described deflection angle is described reality
The angle angle of border direct of travel Tn and default direct of travel Tm；And
Step S123) according to described robot need adjust yawing moment and deflection angle, control described robot to the left or
Deflect to the right.
8. the method for path navigation that robot as claimed in claim 1 travels in rectangular slope, it is characterised in that
Control described robot and carry out U-shaped revolution to the left, specifically include following steps:
Step S1031) control described robot left face to 90 degree；
Step S1032) control described robot straight-line travelling certain distance, described certain distance is equal to the width of described robot
Degree；And
Step S1033) control described robot left face to 90 degree.
9. the method for path navigation that robot as claimed in claim 1 travels in rectangular slope, following steps:
Control described robot and carry out to the right U-shaped revolution, specifically include following steps:
Step S1041) control described robot original place and turn to the right 90 degree；
Step S1042) control described robot straight-line travelling certain distance, described certain distance is equal to the width of described robot
Degree；And
Step S1043) control described robot original place and turn to the right 90 degree.
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| CN201610836021.6A CN106272331B (en) | 2016-09-21 | 2016-09-21 | The method for path navigation that robot travels in rectangular slope |
| PCT/CN2017/072763 WO2018053984A1 (en) | 2016-09-21 | 2017-01-26 | Path navigation method for robot running on rectangular slope |
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| CN201610836021.6A CN106272331B (en) | 2016-09-21 | 2016-09-21 | The method for path navigation that robot travels in rectangular slope |
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| WO2018053983A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Determining method and control method for straight running of robot on slope plane |
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| WO2018145632A1 (en) * | 2017-02-10 | 2018-08-16 | 苏州瑞得恩光能科技有限公司 | Navigation system for solar panel cleaning robot and navigation method thereof |
| CN110899190A (en) * | 2019-11-15 | 2020-03-24 | 浙江大学 | Method for cleaning attachment on underwater surface of pier and underwater operation robot |
| CN111329383A (en) * | 2018-12-19 | 2020-06-26 | 科沃斯机器人股份有限公司 | Cleaning method and cleaning robot |
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| CN118151660B (en) * | 2024-04-30 | 2024-07-23 | 广东汇博机器人技术有限公司 | Control method of photovoltaic cleaning robot based on visual recognition |
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| CN106272331B (en) | 2018-09-14 |
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