Mobile robot, working surface recognizing method and control method

A mobile robot and work surface technology, applied in the field of mobile robots, can solve the problems of high implementation cost, complex solutions, detection errors, etc., and achieve the effect of high recognition accuracy and low implementation cost

Active Publication Date: 2019-01-15
GUANGZHOU COAYU ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, Chinese Patent Application No. 200510050557.7 discloses a scheme for judging the ground type by detecting the operating current of the rotating motor, but due to the low accuracy of the single-chip ADC and the loss of the external circuit, etc., errors will occur in the detection, and then Misjudg

Method used

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  • Mobile robot, working surface recognizing method and control method
  • Mobile robot, working surface recognizing method and control method

Examples

Experimental program
Comparison scheme
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Example Embodiment

[0022] Example 1

[0023] The mobile robot in this embodiment is described by taking a sweeping robot as an example.

[0024] Such as figure 1 As shown, the sweeping robot in this embodiment includes a rotating device, an acquisition module, a storage module, and a judgment module. Specifically, the rotating device in this embodiment is the left and right driving wheels; the acquisition module includes a Hall sensor for acquiring the speed of the driving wheel and a single-chip microcomputer for acquiring the duty ratio of the driving wheel; the storage module is the memory of the single-chip microcomputer of the sweeping robot; the judgment module It is a single-chip microcomputer; the drive module is a drive IC.

[0025] The single-chip microcomputer in this embodiment implants a PID program to control the rotation speed of the driving wheel; the memory (ie, storage module) of the single-chip microcomputer includes ROM and RAM, and the ROM is used to store the mobile robot program...

Example Embodiment

[0040] Example 2

[0041] The mobile robot in this embodiment is described by taking a lawn mower robot as an example.

[0042] The mowing robot in this embodiment includes a rotating device, an acquisition module, a storage module, and a judgment module. Specifically, the rotating device in this embodiment is a driving wheel or a rotary cutter head; the acquisition module in this embodiment includes a Hall sensor for obtaining the rotation speed of the driving wheel or the rotary cutter head; the storage module is a memory of the single-chip microcomputer of the lawn mower robot; The judgment module is a single-chip microcomputer.

[0043] The lawn type recognition method of the lawn mower robot in this embodiment is basically the same as that in the first embodiment. The difference is that the rotation speed and duty cycle of the lawn mower robot can be detected to detect the work of the lawn mower robot. Lawn status, and then enter the corresponding mowing mode to improve the mo...

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Abstract

The invention discloses a mobile robot. The mobile robot comprises an obtaining module, a storing module, a determining module and a driving module, wherein the obtaining module is used for obtainingcurrent velocity V and duty ratio P of a rotating device of the mobile robot; the storing module is used for storing a program instruction of the mobile robot, the threshold range of ratio of the dutyratio to the speed of the rotating device and the corresponding working surface type; the determining module is sued for determining the type of the current working surface of the mobile robot basedon the ratio K, obtained by the obtaining module, of the duty ratio and the speed of the rotating device; and the driving module is used for driving the rotating device to turn based on the instruction sent by the determining module. According to the scheme, the type of the working surface is determined based on the ratio of the duty ratio to the speed of the rotating device of the mobile robot isdetected in real time; the mobile robot has the advantages of being high in recognizing accuracy, and low in performing cost. Additionally, the invention also discloses a working surface recognizingmethod of the mobile robot and a control method.

Description

technical field [0001] The invention belongs to the field of mobile robots, and in particular relates to a mobile robot, a working surface recognition method of the mobile robot and a control method based on the working surface. Background technique [0002] Existing covered mobile robots (such as sweeping robots and lawn mowing robots) often only have a single working mode, and adopt the same working mode when working on different working surfaces, which leads to low working efficiency and poor working effect of mobile robots. [0003] In view of the above problems, most of the prior art realizes the recognition of the working surface by the mobile robot by detecting the working current of the motor. For example, Chinese Patent Application No. 200510050557.7 discloses a scheme for judging the ground type by detecting the operating current of the rotating motor, but due to the low accuracy of the single-chip ADC and the loss of the external circuit, etc., errors will occur i...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/161B25J9/1679A47L9/28G05D1/02
Inventor 田武林杨锴
Owner GUANGZHOU COAYU ROBOT CO LTD
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