CN110142782A - A method of robot and its intelligence traversal bed surface for bed surface sterilization - Google Patents
A method of robot and its intelligence traversal bed surface for bed surface sterilization Download PDFInfo
- Publication number
- CN110142782A CN110142782A CN201910516899.5A CN201910516899A CN110142782A CN 110142782 A CN110142782 A CN 110142782A CN 201910516899 A CN201910516899 A CN 201910516899A CN 110142782 A CN110142782 A CN 110142782A
- Authority
- CN
- China
- Prior art keywords
- robot
- bed surface
- bed
- distance
- traversal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of methods of robot for bed surface sterilization and its intelligence traversal bed surface, the robot includes robot body, single-chip microcontroller, motor drive module, walking roller group, distance measuring sensor, ultrasonic sensor, infrared tube sensor, gyroscope and driving motor group, method includes the following steps: (1) robot turns around in bed surface rotation, the position of the head of a bed and the position of robot are obtained by the location information that ultrasonic sensor returns, then allows revolute to the position of the face head of a bed；(2) the mobile length and width for obtaining bed surface of the vertical and horizontal of Robot bed surface；(3) Map building of bed surface and position positioning, and divide traversal region；(4) all standing traverses.Method proposed by the present invention can be quickly obtained the length and width dimensions of bed surface and establish the cartographic model of bed surface, after graph model carries out multizone division over the ground, rapidly successively can carry out all standing traversal, traversal efficiency and quality with higher to each region.
Description
Technical field
The invention belongs to robot path planning's technical fields, more particularly, to a kind of machine for bed surface sterilization
The method of people and its intelligence traversal bed surface.
Background technique
With economic development and improvement of living standards, people propose higher and higher want to the health of living environment
It asks, therefore sterilizes the consumption of class household appliances and be in linear upward trend in recent years.Pith of the bed as home life, for
The antiseptic machine people of bed starts to show up prominently, and how to plan that antiseptic machine people determines sterilization quality and efficiency in the path of bed surface
Height, be one of the core content of research.
The complete traverse path planing method of current bed surface antiseptic machine people mainly has random cladding process, based on laser thunder
Paths planning method and template matching method for reaching etc..Random cladding process refers to when colliding barrier every time or detect steep cliff
The steering being fixed does not have to positioning, without environmental map, can not carry out path planning yet, traverse quality and efficiency not
It is high.Paths planning method based on laser radar is to drive laser beam emitting head rotary scanning by a rotating electric machine, ceaselessly
The distance for the surrounding objects that refresh scan arrives, and then positioned in real time and map structuring, the laser probe cost of the method compared with
It is high.Template model method is that the template of predefined is matched based on priori knowledge and previous environment, and this method excessively relies on
The past experience of robot, is not suitable for foreign environment.
Therefore, there is traversal low efficiency in existing Path Planning Technique, the technology of at high cost, not applicable foreign environment is asked
Topic.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides the robot sterilized for bed surface and its
The method of intelligence traversal bed surface, is suitable for foreign environment, obtains the length and width of bed surface quickly to carry out covering path,
And traversal is high-efficient.
To achieve the above object, according to one aspect of the present invention, a kind of robot for bed surface sterilization is provided,
Including robot body and the single-chip microcontroller being commonly mounted on the robot body, motor drive module, walking roller group, ranging
Sensor, ultrasonic sensor, infrared tube sensor, gyroscope and driving motor group, wherein
The single-chip microcontroller is separately connected motor drive module, distance measuring sensor, ultrasonic sensor, infrared tube sensor
And gyroscope；
The motor drive module connects the driving motor group, and the driving motor group is connect with the walking roller group,
To be used to that the walking roller group to be driven to rotate, and then drives the robot body mobile and turn to；
The gyroscope is used to detect the angle of robot body steering and feeds back to single-chip microcontroller, and single-chip microcontroller passes through this again
Walking roller group turns to control the steering angle of robot body；
The ultrasonic sensor is installed on the front end of the robot body, for measuring the robot body and setting
The distance of target simultaneously feeds back to single-chip microcontroller, and single-chip microcontroller obtains the position of the head of a bed based on the distance value；
The single-chip microcontroller is turned to based on the position control robot body of the head of a bed and movement；
The infrared tube sensor is for measuring the robot body at a distance from the edge of bed surface and feeding back to monolithic
Machine, to allow robot body pause when being moved adjacent to the setting position of side edge of tailstock, bed surface；
The distance measuring sensor is for measuring moving distance and feedback of the robot body along the vertical and horizontal of bed surface
To single-chip microcontroller, to obtain the length and width of bed surface, length and width of the single-chip microcontroller based on the bed surface carries out the map of bed surface
Modeling and position positioning, and divide traversal region.
Other side according to the invention additionally provides a kind of intelligent robot traversal bed surface for bed surface sterilization
Method, comprising the following steps:
(1) robot is placed on bed surface, initial bit of the position as robot on bed surface where robot
It sets, robot rotates in place a circle in the initial position, the distance returned by the ultrasonic sensor that robot front end is carried
Then the location information and robot that value obtains the head of a bed allow revolute to allowing the supersonic sensing in the location information of bed surface
The position of the device face head of a bed；Wherein, the initial position where robot is it is ensured that the robot that the ultrasonic sensor measures arrives
The distance of the head of a bed is the smallest value in distance value that the ultrasonic sensor is returned；
(2) robot first obtains the length of bed surface along the longitudinal movement of bed surface, along the transverse direction of bed surface after then turning again to 90 °
The mobile width for obtaining bed surface；
(3) length and width of the bed surface obtained by step (2), establishes bed surface map and divides on the bed surface map
Traverse region；
(4) robot successively carries out all standing traversal to the traversal region of division.
Preferably, specific step is as follows for the step (1): robot is revolved on bed surface by setting step-length angle
Turn, and each corresponding distance value returned of setting step-length angle is recorded by the ultrasonic sensor, to obtain minimum
Distance value, then position corresponding to revolute to lowest distance value, position corresponding to lowest distance value is that this is super
The position of the sonic sensor face head of a bed；Wherein, the setting step-length angle of selection should allow the ultrasonic sensor to can be turned to just
To the position of the head of a bed.
Preferably, the rotation of robot measures by double tops instrument and feeds back to single-chip microcontroller, and single-chip microcontroller passes through machine
Motor drive module, driving motor group and the walking roller group of device people controls the walking and steering of robot.
Preferably, specific step is as follows for the step (2):
(2.1) the longitudinal of Robot bed surface is moved to first position towards the head of a bed, and the first position and the head of a bed are separated by setting
Distance, delta L1, then robot turns around from the first position and longitudinally moves to the second position along bed surface, the second position with
Tailstock is separated by set distance Δ L2, the distance measuring sensor that is carried by robot bottom records from first position to the second position
Distance and using the distance of the first position to the second position as the length L of bed surface；
(2.2) robot rotates 90 ° in the second position, with allow Robot bed surface laterally toward close to the first side of bed surface
The direction at edge is moved to the third place, and the first side edge distance of the third place and bed surface is Δ L3, then robot from
The third place turns around and is moved to the 4th position laterally toward the direction close to bed surface second side edge along bed surface, and the 4th
The second side edge of position and bed surface is separated by set distance Δ L4, recorded by the distance measuring sensor carried in robot from third
Position to the 4th position distance and using the distance of the third place to the 4th position as the width W of bed surface.
Preferably, judged by the infrared tube sensor of robot front end two side edges of robot and bed surface away from
From.
Preferably, specific step is as follows for the step (3): being original with any position in first position~the 4th position
Point establishes bed surface map by the length L and width W of obtained bed surface, and is multiple rectangular by the bed surface map partitioning
Region is as traversal region.
Preferably, specific step is as follows for the step (4): carrying out path planning on bed surface map, robot is from bed
The origin of face map starts, and successively carries out all standing traversal to all traversal regions by the path of planning.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) method proposed by the present invention can be quickly obtained the length and width dimensions of bed surface and establish the cartographic model of bed surface, right
After cartographic model carries out multizone division, all standing traversal, traversal with higher successively rapidly can be carried out to each region
Efficiency and quality.
(2) detection perception, Map building and robot localization under foreign environment has can be achieved in the present invention, is path planning
It is convenient to provide, and can carry out the traversal of multizone all standing on this basis.
(3) present invention employs multisensors such as ultrasonic sensor, infrared sensor, Hall sensor, gyroscopes,
With easy for installation, lower-cost advantage, multisensor interaction has preferable control precision, and the data obtained are accurate,
It is capable of forming accurate bed surface map.
Detailed description of the invention
Fig. 1 is the flow chart of robot traversal bed surface in the present invention；
Fig. 2 is the structural schematic diagram of robot in the present invention；
Fig. 3 a is the scheme of installation of the gyroscope in the present invention in robot；
Fig. 3 b is the scheme of installation of the ultrasonic sensor in the present invention in robot；
Fig. 3 c is the scheme of installation of the infrared sensor and track ball sensor in the present invention in robot；
Fig. 4 is the schematic diagram of each module of robot in the present invention；
Fig. 5 is the modeling of bed surface map and region division schematic diagram in the present invention；
Fig. 6 is the schematic diagram in the path planned in the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Referring to each attached drawing, a kind of robot for bed surface sterilization, including robot body 1 and it is commonly mounted on the machine
Single-chip microcontroller, motor drive module, walking roller group 2, distance measuring sensor 3, ultrasonic sensor 4, infrared tube on human body 1
Sensor 5, gyroscope 6 and driving motor group 7, wherein
The single-chip microcontroller is separately connected motor drive module, distance measuring sensor 3, ultrasonic sensor 4, infrared tube sensing
Device 5 and gyroscope 6；
The motor drive module connects the driving motor group 7, and the driving motor group 7 connects with the walking roller group 2
It connects, to be used to that the walking roller group 2 to be driven to rotate, and then drives the robot body 1 mobile and turn to；The walking roller group 2
Including multiple walking rollers (similar to the walking roller on sweeping robot), facilitates and walked and turned to；
The gyroscope 6 is used to detect the angle of the robot body 1 steering and feeds back to single-chip microcontroller, and single-chip microcontroller passes through again
The walking roller group 2 turns to control the steering angle of robot body 1；
The ultrasonic sensor 4 is installed on the front end of the robot body 1, with for measure the robot body 1 with
It sets the distance of target and feeds back to single-chip microcontroller, single-chip microcontroller obtains the position of the head of a bed 101 based on the distance value；
The single-chip microcontroller is turned to based on the position control robot body 1 of the head of a bed 101 and movement；
The infrared tube sensor 5 is for measuring the robot body 1 at a distance from the edge of bed surface 100 and feeding back to
Single-chip microcontroller, to allow the pause when being moved adjacent to the setting position of side edge of tailstock 102, bed surface 100 of robot body 1；
The distance measuring sensor 3 is used to measure the moving distance of the vertical and horizontal of the robot body 1 along bed surface 100 simultaneously
Single-chip microcontroller is fed back to, to obtain the length and width of bed surface 100, length and width of the single-chip microcontroller based on the bed surface 100 is carried out
The Map building of bed surface 100 and position positioning, and divide traversal region 104.The distance measuring sensor 3 can use mouse encoder
Or it is other for example using photoelectricity, ultrasonic wave, laser, infrared, radar range finding sensor, if the distance measuring sensor 3 uses
Mouse encoder can then install the mouse roller with mouse encoder cooperation on robot body 1, which can
To replace a walking roller, turned to convenient for robot.
Other side according to the invention additionally provides a kind of intelligent robot traversal bed surface based on multisensor
100 method, comprising the following steps:
(1) robot rotates in place a circle in bed surface 100, is returned by the ultrasonic sensor 4 that robot front end is carried
Location information, then the location information and robot for obtaining the head of a bed 101 allow revolute in the location information of bed surface 100
To the position of the face head of a bed 101；It is rotated, is led to the specific steps of which are as follows: robot sets step-length angle on bed surface 100
It crosses the ultrasonic sensor 4 and records the distance values that each setting step-length angle returns, i.e. each angle side of robot
The distance values that the corresponding ultrasonic sensor 4 in position returns, these distance values are saved in array DIS, array is compared
Distance values in DIS, the corresponding position of minimum range numerical value are exactly the position of the robot face head of a bed 101, then robot
To position corresponding to minimum range numerical value, this position is the position of the robot face head of a bed 101 for rotation；Wherein, selection
Setting step-length angle will allow robot to can be turned to the position of the face head of a bed 101, and for example, setting step-length angle, which can choose, to be less than
Equal to 1 °, numerical value is selected smaller, then the position of the face head of a bed 101 can be made more accurate；Preferably, the rotation of robot is adopted
Accurate course changing control is carried out with double tops instrument 6.
(2) robot first obtains the length of bed along the longitudinal movement of bed, then obtains bed along the transverse shifting of bed surface 100 again
The width in face 100, the specific steps are as follows:
(2.1) the longitudinal of Robot bed surface 100 is moved to first position towards the head of a bed 101, the first position and the head of a bed 101
It is separated by set distance Δ L1, in the process, ultrasonic sensor 4 measures at a distance from the head of a bed 101 always, when distance reaches Δ
L1When, robot pause movement；Then robot turns around from the first position and longitudinally moves to second along bed surface 100
It sets, the second position and tailstock 102 are separated by set distance Δ L2, during this, the infrared tube for passing through robot front end is sensed
Device 5 judges that robot at a distance from 102 edge of tailstock, falls from bed surface 100 to prevent robot, carries by robot bottom
Distance measuring sensor 3 record distance from first position to the second position and using the distance of the first position to the second position as
The length L of bed surface 100；
(2.2) 90 ° of revolute of the second place will be located at, allow Robot bed surface 100 laterally toward close
The direction of 100 first side edge of bed surface is moved to the third place, and the first side edge distance of the third place and bed surface 100 is Δ
L3, then robot turns around from the third place and along the side laterally toward the second side edge close to bed surface 100 of bed surface 100
To the 4th position is moved to, the 4th position and the second side edge of bed surface 100 are separated by set distance Δ L4, by robot
The distance measuring sensor 3 of carrying is recorded from the third place to the distance of the 4th position and by the third place to the distance of the 4th position
Width W as bed surface 100.During this, robot and bed surface are judged by the infrared tube sensor 5 of robot front end
100 first side edge and the distance of second side edge, fall from bed surface 100 to prevent robot.
(3) length and width of the bed surface 100 obtained by step (2) carries out the Map building of bed surface 100 (in bed surface
Rectangular cartographic model is established on 100) and position positioning (using any position in first position~the 4th position as origin
103 position to carry out the position of origin 103), and divide traversal region 104 and (be divided into multiple rectangular regions as traversal
Region 104)；
(4) robot successively carries out all standing traversal to the traversal region 104 of division, the specific steps are as follows: in bed surface 100
Path planning is carried out on map, robot is successively owned since the origin 103 of 100 map of bed surface by the path of planning
Traversal region 104 carry out all standing traversal (covering each traversal region).
Traversal method is specifically described by taking the bed surface 100 having a size of 200cm × 120cm (long × wide) as an example below.
Using it is provided by the invention based on multisensor robot traversal 100 Intelligent planning method of bed surface to embodiment into
100 path planning of row bed surface, specific as follows:
(1) the current location information of robot is obtained
Robot is placed on 100 any position of bed surface, robot original place is allowed to rotate clockwise a circle, in rotary course, is led to
The accurately control rotation angle of double tops instrument 6 is crossed, every 1 ° of rotation records the position of a ultrasonic sensor 4 return, by 360
The distance values of angle are successively stored in array DIS；
(2) 101 upright position of the head of a bed will be diverted to immediately ahead of robot
The numerical value saved in comparison DIS array, finding minimum value is 60cm, and the corresponding array index of minimum value is 30 ° and is
The angle that should be rotated from initial position to the vertical head of a bed 101, allows robot to rotate clockwise 30 °, at this time immediately ahead of robot
That is the face head of a bed 101；
(3) robot is allowed to proceed to 101 position of the head of a bed
Robot vertical direction is advanced, and the measurement of ultrasonic sensor 4 and 101 distance, delta L of the head of a bed are passed through1, as Δ L1It is less than
When equal to 3cm, it can be used as reaching the first position near the head of a bed 101, robot suspends and turns around；
(4) length of robot measurement bed
Robot bed surface 100 it is advanced longitudinally forward, mobile distance is recorded by bottom distance measuring sensor 3, is passed through
Infrared tube sensor 5 immediately below robot front end judges at a distance from tailstock 102, when reaching the second position of setting,
Robot is located near tailstock 102 at this time, and mobile distance is the length L=194cm of bed surface 100.
(5) width of robot measurement bed
Make way for tailstock 102 robot turn left 90 °, continue along bed surface 100 transverse direction advance, until infrared sensor again
The secondary side edge for detecting bed surface 100, robot is located at the third place in 100 lower right corner of bed surface at this time, and robot is enabled to turn around, with
The lower right corner is starting point, by 3 recording distance of distance measuring sensor, robot is allowed to advance to the 4th position in 100 lower left corner of bed surface, note
Record width W=116cm of this section of distance as bed.
(6) map is constructed by origin 103 of robot current location
Using the 4th position in the lower left corner as origin 103, rectangular bed surface is established by the length and width of obtained bed
100 maps, and six rectangular regions are divided into, the size in each region is 65cm*58cm, the Map building of bed surface 100
It is as shown in Figure 5 with region division.
(7) all standing traversal is successively carried out to the region of division
Since origin 103, to the region of division, from left to right by planning, path from top to bottom is successively carried out entirely
Covering traversal, it is as shown in Figure 6 that all standing traverses mode.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of robot for bed surface sterilization, which is characterized in that including robot body and be commonly mounted on the robot
Single-chip microcontroller, motor drive module, walking roller group, distance measuring sensor, ultrasonic sensor, infrared tube sensing on ontology
Device, gyroscope and driving motor group, wherein
The single-chip microcontroller is separately connected motor drive module, distance measuring sensor, ultrasonic sensor, infrared tube sensor and top
Spiral shell instrument；
The motor drive module connects the driving motor group, and the driving motor group is connect with the walking roller group, with
In driving walking roller group rotation, and then drives the robot body mobile and turn to；
The gyroscope is used to detect the angle of robot body steering and feeds back to single-chip microcontroller, and single-chip microcontroller passes through the walking again
Roller group turns to control the steering angle of robot body；
The ultrasonic sensor is installed on the front end of the robot body, for measuring the robot body and setting target
Distance and feed back to single-chip microcontroller, single-chip microcontroller obtains the position of the head of a bed based on the distance value；
The single-chip microcontroller is turned to based on the position control robot body of the head of a bed and movement；
The infrared tube sensor is used to measure the robot body at a distance from the edge of bed surface and feed back to single-chip microcontroller, with
Allow robot body pause when being moved adjacent to the setting position of side edge of tailstock, bed surface；
The distance measuring sensor is for measuring the robot body along the moving distance of the vertical and horizontal of bed surface and feeding back to list
Piece machine, to obtain the length and width of bed surface, length and width of the single-chip microcontroller based on the bed surface carries out the Map building of bed surface
It is positioned with position, and divides traversal region.
2. a kind of method of the intelligent robot traversal bed surface for bed surface sterilization, which comprises the following steps:
(1) robot is placed on bed surface, initial position of the position as robot on bed surface where robot, machine
Device people rotates in place a circle in the initial position, is obtained by the distance value that the ultrasonic sensor that robot front end is carried returns
Then the location information and robot of the head of a bed allow revolute to allowing the ultrasonic sensor face in the location information of bed surface
The position of the head of a bed；Wherein, the initial position where robot it is ensured that the robot that measures of the ultrasonic sensor to the head of a bed
Distance is the smallest value in distance value that the ultrasonic sensor is returned；
(2) robot first obtains the length of bed surface along the longitudinal movement of bed surface, along the transverse shifting of bed surface after then turning again to 90 °
Obtain the width of bed surface；
(3) length and width of the bed surface obtained by step (2) establishes bed surface map and divides traversal on the bed surface map
Region；
(4) robot successively carries out all standing traversal to the traversal region of division.
3. according to the method described in claim 2, it is characterized in that, the step (1) specific step is as follows: robot is in bed
It is rotated on face by setting step-length angle, and each setting step-length angle correspondence is recorded by the ultrasonic sensor and is returned
The distance value returned, to obtain lowest distance value, then position corresponding to revolute to lowest distance value, minimum range
The corresponding position of value is the position of the ultrasonic sensor face head of a bed；Wherein, the setting step-length angle of selection should allow this
Ultrasonic sensor can be turned to the position of the face head of a bed.
4. according to the method in claim 2 or 3, which is characterized in that the rotation of robot is surveyed by double tops instrument
Single-chip microcontroller is measured and feeds back to, single-chip microcontroller is controlled by the motor drive module of robot, driving motor group and walking roller group
The walking and steering of robot.
5. according to the method described in claim 2, it is characterized in that, the step (2) specific step is as follows:
(2.1) the longitudinal of Robot bed surface is moved to first position towards the head of a bed, and the first position and the head of a bed are separated by set distance
ΔL1, then robot turns around from the first position and longitudinally moves to the second position along bed surface, the second position and tailstock
It is separated by set distance Δ L2, distance of the distance measuring sensor record carried by robot bottom from first position to the second position
And using the distance of the first position to the second position as the length L of bed surface；
(2.2) robot rotates 90 ° in the second position, with allow Robot bed surface laterally toward close to bed surface first side edge
Direction be moved to the third place, the first side edge of the third place and bed surface distance is Δ L3, then robot from this
It turns around and is moved to the 4th position, the 4th position laterally toward the direction close to bed surface second side edge along bed surface in three positions
It is separated by set distance Δ L with the second side edge of bed surface4, recorded by the distance measuring sensor carried in robot from the third place
To the 4th position distance and using the distance of the third place to the 4th position as the width W of bed surface.
6. according to the method described in claim 5, it is characterized in that, the infrared tube sensor by robot front end judges machine
Device people is at a distance from the first side edge and second side edge of bed surface.
7. according to the method described in claim 5, it is characterized in that, the step (3) specific step is as follows: with first position
Any position in~the four position is origin, establishes bed surface map by the length L and width W of obtained bed surface, and should
Bed surface map partitioning is multiple rectangular regions as traversal region.
8. the method according to the description of claim 7 is characterized in that specific step is as follows for the step (4): in bed surface map
Upper carry out path planning, robot since the origin of bed surface map, by planning path successively to all traversal regions into
Row all standing traversal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516899.5A CN110142782B (en) | 2019-06-14 | 2019-06-14 | Robot for bed surface sterilization and method for intelligently traversing bed surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516899.5A CN110142782B (en) | 2019-06-14 | 2019-06-14 | Robot for bed surface sterilization and method for intelligently traversing bed surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110142782A true CN110142782A (en) | 2019-08-20 |
| CN110142782B CN110142782B (en) | 2020-08-11 |
Family
ID=67591403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910516899.5A Active CN110142782B (en) | 2019-06-14 | 2019-06-14 | Robot for bed surface sterilization and method for intelligently traversing bed surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110142782B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106104400A (en) * | 2014-06-18 | 2016-11-09 | 夏普株式会社 | Self-propelled electronic equipment |
| CN106914907A (en) * | 2017-04-29 | 2017-07-04 | 陆汉明 | A kind of intelligent bed clothes Bactericidal drying-machine device people |
| US20180354132A1 (en) * | 2017-06-09 | 2018-12-13 | Lg Electronics Inc. | Moving robot and control method thereof |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
| CN208598833U (en) * | 2017-09-08 | 2019-03-15 | 樊荣茂 | A kind of robot device with automatic disinfection |
-
2019
- 2019-06-14 CN CN201910516899.5A patent/CN110142782B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106104400A (en) * | 2014-06-18 | 2016-11-09 | 夏普株式会社 | Self-propelled electronic equipment |
| CN106914907A (en) * | 2017-04-29 | 2017-07-04 | 陆汉明 | A kind of intelligent bed clothes Bactericidal drying-machine device people |
| US20180354132A1 (en) * | 2017-06-09 | 2018-12-13 | Lg Electronics Inc. | Moving robot and control method thereof |
| CN208598833U (en) * | 2017-09-08 | 2019-03-15 | 樊荣茂 | A kind of robot device with automatic disinfection |
| CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
Non-Patent Citations (1)
| Title |
|---|
| 陈光明等: "智能洗地机器人区域遍历覆盖策略的研究", 《机床与液压》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110142782B (en) | 2020-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR0168189B1 (en) | Control method and apparatus for recognition of robot environment | |
| US10726568B2 (en) | Method and apparatus for map constructing and map correcting | |
| CN108196555B (en) | The control method that autonomous mobile robot is walked along side | |
| CN107003675B (en) | Method for autonomous robotic vehicle mapping treatment surface | |
| JP7374547B2 (en) | Exploration methods, devices, mobile robots and storage media | |
| CN104586322B (en) | Mobile robot and its method of work | |
| US10656659B2 (en) | Method and apparatus for localization and mapping based on RFID | |
| CN109144067A (en) | A kind of Intelligent cleaning robot and its paths planning method | |
| CN103431812B (en) | A kind of clean robot based on ultrasonic radar detection and ambulation control method thereof | |
| EP3271784B1 (en) | Localization and mapping using physical features | |
| CN107885213A (en) | A kind of sweeping robot indoor navigation system and method | |
| JP2020126691A (en) | Movable robot movement restriction | |
| CN106308685A (en) | Cleaning robot and control method thereof | |
| CN109997089A (en) | Floor treatment machine and floor treatment method | |
| CN104597902A (en) | Mobile robot | |
| CN109407675B (en) | Obstacle avoidance method and chip for robot returning seat and autonomous mobile robot | |
| US20090182464A1 (en) | Method and apparatus for planning path of mobile robot | |
| CN107357297A (en) | A kind of sweeping robot navigation system and its air navigation aid | |
| CN108209741A (en) | Clean robot control method and clean robot | |
| CN108415432B (en) | Straight edge-based positioning method for robot | |
| US20190164306A1 (en) | Method and Apparatus For Map Constructing And Map Correcting Based On Light-Emitting Device | |
| CN104765369A (en) | Sweeping device and sweeping method using sweeping device | |
| US20220299650A1 (en) | Detecting objects using a line array | |
| CN105739499A (en) | Multipath infrared and ultrasonic sensor distribution structure of autonomous mobile robot obstacle avoidance system | |
| US11795719B1 (en) | Control method of an underwater robot based on ultrasonic radar, underwater robot and non-volatile storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |