CN111839331A - Method for predicting best working fan suction of robot - Google Patents
Method for predicting best working fan suction of robot Download PDFInfo
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- CN111839331A CN111839331A CN202010569611.3A CN202010569611A CN111839331A CN 111839331 A CN111839331 A CN 111839331A CN 202010569611 A CN202010569611 A CN 202010569611A CN 111839331 A CN111839331 A CN 111839331A
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- robot
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The invention discloses a method for predicting the best working fan suction of a robot, which comprises the following steps: the robot starts a fan and performs action calibration; acquiring the current of a mobile motor when the robot performs action calibration; determining the walking resistance of the robot based on the current of the action motor; and determining the optimal fan suction force for the normal work of the robot according to the walking resistance and the target walking current of the robot. The robot firstly detects the walking resistance of the walking surface before starting to clean, obtains the best cleaning fan suction force through calculation, and can enable the robot to reach the best working state after adjusting the fan to the best cleaning fan suction force, thereby realizing the best cleaning quality, walking efficiency and cleaning coverage rate.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method for predicting the best working fan suction of a robot.
Background
Under the prior art environment, a full-automatic planning cleaning robot product mainly comprises a wheeled robot, a sucker type robot and a tracked robot, the robots of the type are mainly a sweeper and a window cleaning machine, the robots cannot well balance the suction force of a fan and the maximum walking bearing resistance of wheels automatically, and the situation of overlarge suction force or undersize suction force sometimes occurs. If the vacuum cleaner of the sweeper is close to the ground and the suction force is large, the wheels are likely to be immobile due to excessive resistance; if the vacuum cleaner of the sweeper is small, a large number of sundries cannot be completely sucked. If the suction force of the fan of the window cleaning machine is large, the window cleaning machine is likely to be incapable of moving due to the fact that the resistance of the cleaning cloth is too large; if the fan of the window cleaning machine is opened small, a lot of stubborn stains can not be cleaned. If the fan configuration is unreasonable, the wheel can slip, the path planning of the robot is seriously affected, and the cleaning leakage is caused.
Disclosure of Invention
In order to solve the problems, the invention provides a method for predicting the best working fan suction of the robot, which greatly improves the cleaning quality, the walking efficiency and the cleaning coverage rate of the mobile robot. The specific technical scheme of the invention is as follows:
a method for predicting the best working fan suction of a robot comprises the following steps: s1: the robot is started, and the current walking resistance of the robot is determined based on the current of the action motor; s2: and determining the optimal fan suction of the robot according to the current walking resistance and the target walking current of the robot. The robot firstly detects the current walking resistance of the walking surface before starting to clean, obtains the best cleaning fan suction force through calculation, and can enable the robot to reach the best working state after adjusting the fan to the best cleaning fan suction force, thereby realizing the best cleaning quality, walking efficiency and cleaning coverage rate.
In one or more aspects of the present invention, in step S1, the robot obtains a travel motor current from a motion calibration.
In one or more aspects of the present invention, the robot motion calibration specifically includes the following steps: the robot sets a PWM value of the fan; the left wheel of the robot is fixed, the right wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time; and the right wheel of the robot is fixed, the left wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time. Under the fixed wheel PWM value, the left wheel and the right wheel of the robot perform forward rotation and reverse rotation at the same time, so that the data acquired by the robot are acquired under the same condition, and the accuracy of the data is improved.
In one or more aspects of the present invention, the robot obtains the current of the mobile motor by the following specific steps: the robot sets sampling time, when the left wheel or the right wheel of the robot positively rotates or reversely rotates within fixed time, the robot samples and sums current within a preset sampling time period by using the interruption of a timer, and then determines the average value of the current according to the sampling times. The robot obtains the action motor current when each wheel corotates and reverses, so that the data are more sufficient and comprehensive, and the accuracy of the calculation result is improved.
In one or more aspects of the invention, the sampling time is in the second half of the fixed time. When the sampling time is in the second half of the fixed time, the current of the action motor is more stable, and the calculation error is reduced.
In one or more aspects of the disclosure, the fixed time is 360ms, and the sampling time is 100 ms. The robot can finish action calibration and current sampling in a short time, and the detection time required by the robot is reduced.
In one or more aspects of the invention, when the robot samples the current, the current is sampled once when the timer interrupts the robot. The current sampling is carried out through a timer of a singlechip of the robot, and the data acquisition is accurate and rapid.
In one or more aspects of the present invention, the determining of the current walking resistance in step S1 specifically includes the following steps: the robot samples 4 current values according to the positive rotation and the reverse rotation of the left wheel and the right wheel, the robot obtains optimized current from the 4 current values, and the optimized current is divided by the PWM value of the fan to obtain the current walking resistance.
In one or more aspects of the present invention, the robot calculates the optimized current by using 4 current values, and specifically includes the following steps: the robot compares the 4 current values, determines the second largest current value, and multiplies the second largest current value by 4 to obtain the optimized current. The first large current may be that the machine hits the rim and the maximum current cannot be used. The machine needs to take account of the difference of two walking motors, so as to prevent the situation of walking unmovable, the second largest current is selected, and the situation that the wheel is unmovable after the machine is calibrated is prevented.
In one or more aspects of the present invention, the step S2 specifically includes the following steps that the robot sets a target walking current, and the target walking current is divided by the current walking resistance to obtain the optimal fan suction. After the robot determines the target walking current, when the robot works on walking surfaces with different friction forces, the optimal fan suction force of the robot on the current walking surface can be obtained through automatic calculation according to the target walking current of the robot as long as the walking resistance of the current walking surface is detected, the optimal fan suction force is achieved without manually adjusting the fan PWM, the complex environment adaptability of the robot is improved, and the robot is efficient and intelligent.
In one or more aspects of the invention, the target walking current is a walking current determined when the robot can work normally on walking surfaces with different friction forces. Due to the fact that the traveling motors, the main fan, the die structures and the like of different types of machines are different, target traveling currents are different comprehensively, and therefore the target traveling currents are used as calibration targets when the robot works in different environments, and results are accurate.
Drawings
FIG. 1 is a flow chart of a prediction method of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1, a method for predicting the best working fan suction of a robot includes the following steps: the robot starts a fan and performs action calibration; acquiring the current of a mobile motor when the robot performs action calibration; determining the current walking resistance of the robot based on the current of the action motor; and determining the optimal fan suction of the robot according to the current walking resistance and the target walking current of the robot. The robot firstly detects the current walking resistance of the walking surface before starting to clean, obtains the best cleaning fan suction force through calculation, and can enable the robot to reach the best working state after adjusting the fan to the best cleaning fan suction force, thereby realizing the best cleaning quality, walking efficiency and cleaning coverage rate.
As one example, when the robot performs action calibration, the robot turns on the fan to a fixed PWM value P IThe Pulse Width Modulation (PWM) is an abbreviation of English Pulse Width Modulation, which is called Pulse Width Modulation for short, a PWM value is an average value of the sum of the conduction time of a switching tube in a period, the longer the conduction time is, the larger the average value of direct current output is, the PWM frequency is a ratio of the conduction time to the period time in the period, generally called a duty ratio, the larger the conduction frequency is, the difference between the two is that under the condition that the output is not changed, the former is reflected on the conduction time, and the latter is reflected on the conduction frequency, and the machine is kept still. The left wheel of the robot is set to be in a locking brake mode, when the right wheel alone drives forward rotation and reverse rotation, the motion center of the robot is at the left wheel in a locking brake state, the right wheel fixes PWM forward rotation for 360ms of fixed time, then the brake stops, and the right wheel fixes PWM and then reverses rotation for 360ms of fixed time. The right wheel of the robot is set to be in a locking brake mode, when the left wheel drives forward rotation and reverse rotation independently, the motion center of the robot is at the right wheel in a locking brake state, the left wheel fixes PWM forward rotation for 360ms of fixed time, then the brake stops, and the left wheel fixes PWM and then reverses rotation for 360ms of fixed time. Each wheel of the robot needs to be subjected to action calibration, the range of data acquired by the robot is large, and the data acquired by the robot is also The accuracy of the robot calculation result is improved. PIIs one-half of the duty cycle PWM of the fan, and is linear with the fan suction, including but not limited to typical values, which are mostly rotatable and can be sucked. Typical values for the left and right wheel fixed PWM are three-quarters of the duty cycle PWM of the wheel, and are linear with wheel torque, including but not limited to typical values for which most PWM can be turned with the fan fixed PWM. PWM of the fan and the robot is set according to actual conditions, so that the method is wider in applicability.
In one embodiment, when the left wheel or the right wheel of the robot performs forward rotation or reverse rotation for a fixed time of 360ms, in order to reduce the unstable current when the motor starts to rotate, the sampling of the current is located in the second half of the fixed time of 360ms, and the stable current is adopted, so that the error is reduced, for example, the sampling is started from 210ms and is continued until 310ms is stopped, and the sampling time lasts for 100ms in total. The robot can finish action calibration and current sampling in a short time, so that the method has stronger practicability. The robot samples current according to the interrupt time of the timer, when data acquisition is allowed, the current is sampled once when the timer interrupts the robot once, the interrupt time of the timer is the reciprocal of the frequency of the timer, when the frequency of the timer is 1KHz, the interrupt time is 1ms, and the sampling time of 100ms samples 100 times of current. And continuously summing the sampled current values of the action motor moving in the fixed PWM until the current value I is obtained, stopping summing when the sampling is not allowed, and dividing the summing result by the summing times. After the left wheel and the right wheel are respectively positively transmitted and reversely rotated, 4 current values I are obtained 0、I1、I2And I3. Comparing the 4 current values to find the second largest current, and multiplying the second largest current by 4 to obtain the optimized current IX. The first large current may be that the machine hits the rim and the maximum current cannot be used. The machine needs to take account of the difference of two walking motors, so as to prevent the situation of walking unmovable, the second largest current is selected, and the situation that the wheel is unmovable after the machine is calibrated is prevented. The average value of 4 current values,Median, etc. Will IXDivided by the fixed PWM value P of the fanIThe result is the current relative current walking resistance value α. The current walking resistance is obtained according to more comprehensive data, and the accuracy is high.
As one example, the robot predicts the optimal fan suction P based on the current walking resistanceTThe method of (1): after a large amount of data analysis and actual verification, the optimal fan suction force P is foundTThe calculation can be made as follows: pT=ITA,/α. When the robot works on walking surfaces with different friction forces, the optimal fan suction force of the robot on the current walking surface can be obtained by automatic calculation according to the target walking current of the robot as long as the walking resistance of the current walking surface is detected, the optimal fan suction force is achieved without manually adjusting the fan PWM, the complex environment adaptability of the robot is improved, and the robot is efficient and intelligent.
As one embodiment, the target walking current is determined when the robot can work normally on walking surfaces with different friction forces, and the normal work of the robot is that the situation that wheels rotate due to too large suction force or the situation that wheels slip due to too small suction force does not occur when the robot works. Firstly, the robot is placed on a material with small friction force, and the material I is adjusted up and downTThe value of (2) enables the robot to work normally after the robot automatically calibrates the suction force. Then the robot is placed on the material with larger friction force, and the I is finely adjustedTThe value of (2) enables the robot to work normally after the robot automatically calibrates the suction force. Then, the surface with different friction forces is used for verifying whether the current I is the current ITThe value of (b) can make the robot work normally, if not, a balance value is found to satisfy most conditions encountered by the robot. Due to the great difference of the walking motors, the main fans, the die structures and the like of the machines of different types, the target walking current value I of the normal work of the machines of different types is enabled to beTIs different, so that the target walking current I when the robot works normally needs to be obtained in advanceT. Target walking current ITNeed to be artificially judged and adjusted in the early stage and then according to the above The optimal fan suction force P is obtained by automatic calculation according to the formulaT. The influence of different types of environments on the application of the method is reduced, and the method is higher in applicability.
Performance and trade-off solutions in extreme cases: the method of the invention can achieve optimal fan suction in different environments, but always has a supporting limit due to the limit capacity of the fan and the limit of the adapter power, such as the reason that the glass is particularly smooth, the weather is particularly dry, and the like, so that if the target walking current value I is reachedTThe required fan suction is very large, even exceeding the limit that the fan can provide, or exceeding the power limit that the adapter can provide. For example, in particularly rough material surfaces, particularly wet weather, etc., the target walking current value I may be reachedTThe required suction force of the fan is very small and even smaller than the minimum force which can be provided by the fan, so that the machine can safely absorb the air pressure without falling on the surface of the material. The method for solving the balance is that the maximum supportable suction force is set as the optimal fan suction force when the target fan is calculated to exceed the maximum support range, and the minimum safe suction force is set as the optimal fan suction force when the target fan is calculated to be smaller than the minimum safe suction force. When the suction range of the fan is exceeded, the robot can use the method without replacing the fan, and the application range of the method is widened.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
Claims (10)
1. The method for predicting the best working fan suction of the robot is characterized by comprising the following steps:
s1: the robot is started, and the current walking resistance of the robot is determined based on the current of the action motor;
S2: and determining the optimal fan suction of the robot according to the current walking resistance and the target walking current of the robot.
2. The method for predicting the optimal working fan suction of the robot as claimed in claim 1, wherein the robot obtains the moving motor current from the motion calibration in step S1.
3. The method for predicting the optimal working fan suction of the robot according to claim 2, wherein the robot action calibration specifically comprises the following steps:
the robot sets a PWM value of the fan;
the left wheel of the robot is fixed, the right wheel of the robot fixes PWM, and then forward rotation and reverse rotation are respectively carried out for fixed time; and
the right wheel of the robot is stationary, the left wheel of the robot fixes PWM, and then the forward rotation and the reverse rotation are respectively carried out for fixed time.
4. The method for predicting the best working fan suction of the robot as claimed in claim 2 or 3, wherein the robot obtains the specific steps of the mobile motor current: the robot sets sampling time, when the left wheel or the right wheel of the robot positively rotates or reversely rotates within fixed time, the robot samples and sums current within a preset sampling time period by using the interruption of a timer, and then determines the average value of the current according to the sampling times.
5. The method for predicting the optimal working fan suction of a robot according to claim 4, wherein the sampling time is located in the second half of a fixed time.
6. The method for predicting the optimal working fan suction of the robot as claimed in claim 4, wherein the robot samples the current once when the timer interrupts the robot once when the current is sampled.
7. The method for predicting the optimal working fan suction of the robot as claimed in claim 4, wherein the step S1 of determining the current walking resistance specifically comprises the following steps: the robot samples 4 current values according to the positive rotation and the reverse rotation of the left wheel and the right wheel, the robot obtains optimized current from the 4 current values, and the optimized current is divided by the PWM value of the fan to obtain the current walking resistance.
8. The method for predicting the optimal working fan suction of the robot according to claim 7, wherein the robot calculates the optimal current by using 4 current values, and the method specifically comprises the following steps: the robot compares the 4 current values, determines the second largest current value, and multiplies the second largest current value by 4 to obtain the optimized current.
9. The method for predicting the optimal working fan suction of the robot as claimed in claim 1 or 7, wherein the step S2 comprises the steps of setting a target walking current by the robot, and dividing the target walking current by the current walking resistance to obtain the optimal fan suction.
10. The method for predicting the optimal working fan suction of the robot as claimed in claim 9, wherein the target walking current is the walking current determined when the robot can work normally on walking surfaces with different friction forces.
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