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Sweeping robot solution
With the continuous development of technology, various new types of equipment continue to emerge, and sweeping robots have also emerged. Initially, intelligent sweeping robots were widely used in European and American countries. In recent years, with the development of the economy, the scope of use of intelligent sweeping robots in our country is also expanding. The so-called intelligent sweeping robot can also be called automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., which is also an important part of current smart home appliances. It mainly uses artificial intelligence to automatically clean the floor in the room. Intelligent sweeping robots mostly adopt the form of brushing and vacuuming. First, the sundries on the ground are brought into the garbage storage box through the suction of the machine, so as to clean the ground.
1. Functions and types of sweeping robots
The body of the intelligent sweeping robot is a wireless machine, which is disc-shaped. Using its own battery, the intelligent sweeping robot can be controlled by a remote control or a control panel. Users can make an appointment for cleaning before use. The front section of the intelligent sweeping robot is equipped with a sensor, which can quickly and accurately detect obstacles in front. The route of the intelligent sweeping robot has been set by the manufacturer. When encountering obstacles, it can turn around by itself and carry out indoor cleaning work in a planned way.
At present, there are mainly the following types of intelligent sweeping robots: ①Single suction port sweeping robot. This kind of sweeping robot can effectively deal with floating dust on the ground, but for those dusts that are electrostatically adsorbed, the cleaning effect is not good. ②Sweeping robot with middle brush and clip type. This kind of robot can effectively remove large particles, and the removal effect on blankets is also good, but the effect on the treatment of ground dust is not ideal. The cleaning of this kind of robot is mostly done by glue brushes and hair brushes. ③Lifting V-brush cleaning system, this system can better fit the ground, so as to collect the electrostatically adsorbed dust well. Of course, the better the performance, the higher the price.
With the continuous development of technology, various new types of equipment continue to emerge, and sweeping robots have also emerged. Initially, intelligent sweeping robots were widely used in European and American countries. In recent years, with the development of the economy, the scope of use of intelligent sweeping robots in our country is also expanding. The so-called intelligent sweeping robot can also be called automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., which is also an important part of current smart home appliances. It mainly uses artificial intelligence to automatically clean the floor in the room. Intelligent sweeping robots mostly adopt the form of brushing and vacuuming. First, the sundries on the ground are brought into the garbage storage box through the suction of the machine, so as to clean the ground.
1. Functions and types of sweeping robots
The body of the intelligent sweeping robot is a wireless machine, which is disc-shaped. Using its own battery, the intelligent sweeping robot can be controlled by a remote control or a control panel. Users can make an appointment for cleaning before use. The front section of the intelligent sweeping robot is equipped with a sensor, which can quickly and accurately detect obstacles in front. The route of the intelligent sweeping robot has been set by the manufacturer. When encountering obstacles, it can turn around by itself and carry out indoor cleaning work in a planned way.
At present, there are mainly the following types of intelligent sweeping robots: ①Single suction port sweeping robot. This kind of sweeping robot can effectively deal with floating dust on the ground, but for those dusts that are electrostatically adsorbed, the cleaning effect is not good. ②Sweeping robot with middle brush and clip type. This kind of robot can effectively remove large particles, and the removal effect on blankets is also good, but the effect on the treatment of ground dust is not ideal. The cleaning of this kind of robot is mostly done by glue brushes and hair brushes. ③Lifting V-brush cleaning system, this system can better fit the ground, so as to collect the electrostatically adsorbed dust well. Of course, the second, the technical principle of the intelligent sweeping robot solution
The reason why household intelligent sweeping robots can work so conveniently is that the working principle is as follows: intelligent robots use the principle of infrared sensing for direction control, and of course some low-end robots also use ultrasonic bionic technology. In comparison, the technical cost of infrared sensing is low, but the application of this technology has higher requirements on the environment. In other words, the feedback of this technology on those light-colored objects is not flexible enough. During long-term use, the infrared rays of the robot will also have a certain impact on the furniture in the house, and the furniture may lose paint. Ultrasonic bionic technology does not have these problems. The sensitivity of this technology is relatively high, and it can effectively detect the orientation. However, the application cost of this technology is high, which also leads to the high price of sweeping robots, which makes it difficult to circulate in the market on a large scale. .
Generally speaking, the intelligent sweeping robot is controlled by a microcomputer system. There are three cleaning brushes on the bottom of the sweeping robot, which mainly clean the house by rolling the area. Generally speaking, the body of the sweeping robot is relatively small, so it can flexibly pass through various areas, including areas that are difficult to clean such as under the bed and under the sofa. The sweeping robot also has the function of intelligently avoiding obstacles. Once a collision occurs, the sweeping robot can generate memory to form an indoor map area. During the next cleaning process, the sweeping robot can remember the map from the last time to prevent another collision.
Under the new situation, intelligent sweeping robots have entered ordinary families. The intelligent sweeping robot can not only realize voice control, but also realize remote infrared control, giving users a more humanized cleaning experience. The better the performance, the higher the price.
3. The design idea of the sweeping robot solution
According to the completed tasks, the sweeping robot can be divided into two parts: cleaning and charging. Therefore, according to the hardware design idea, it should have two hardware parts: the mobile robot body with cleaning equipment and the charging device. Before performing indoor cleaning tasks, the robot needs to judge the general condition of the indoor environment through sensors and automatically plan the path. During the cleaning process, it needs to monitor obstacles and cleaning range in real time. Automatically receive charging, and the charging device is connected to the 220V power supply of the home to provide energy for the sweeping robot. According to the above analysis, the main hardware equipment required by the sweeping robot includes power supply, charging equipment, motor, mechanical structure, sensing equipment, etc. The hardware design scheme of the sweeping robot is as follows.
1. Power supply design
Any operation of any robot requires a continuous supply of energy, and the power supply system is the energy source for the cleaning robot, and is the basic guarantee for the normal operation of all other hardware components. The mobile working mode of the sweeping robot determines that its power supply system is basically powered by a rechargeable battery. The capacity of the battery is positively correlated with the cleaning time and power, and the frequent working mode of the sweeping robot also has a great impact on the charging and discharging times and service life of the battery. high demands. Selecting a suitable battery requires comprehensive consideration of factors such as weight, volume, capacity, charge and discharge current, and operating environment.
In the battery selection of mobile robots, it is necessary to consider not only the actual working mode and characteristics of the robot, but also the objective conditions such as cost and life. Ni-MH batteries are low in cost, simple in battery auxiliary circuits, and low in pollution to the environment. It is easy to produce memory effect; the same problem also exists in lithium batteries; the lead-acid battery is too large, which wastes too much volume space for the small body of the sweeping robot, which is obviously out of date. Lithium-ion batteries have certain advantages over other types of batteries. The first is high energy density. Lead-acid batteries with high specific energy are only about 100Wh/kg, but general lithium-ion batteries can reach 600Wh/kg. The second is its high rated voltage. A single lithium-ion battery can reach a voltage of about 3.8V, far exceeding the 2V of a nickel-metal hydride battery. By building a lithium-ion battery pack, it can completely meet the power supply of the sweeping robot when multiple devices are running at the same time. supply. The third is that the temperature adaptability is very strong, and it can work normally between -20°C and 60°C, while the indoor temperature of ordinary households is between 0°C and 40°C, which fully meets the requirements; the fourth is that lithium-ion batteries do not contain heavy metals. And harmful substances, will not bring too much harm in the process of use, scrapping and recycling. However, lithium-ion batteries have their own problems, such as active chemical properties, easy explosion, etc., and special attention should be paid when using them. Lithium-ion batteries are widely used in mobile electronic devices, such as mobile phones, laptops, tablets, etc. Therefore, based on the advantages of lithium-ion batteries, sweeping robots should choose this type of battery as a power source. Considering the actual working content and duration of the sweeping robot, six 1.2V 3000mAh lithium-ion batteries are used.
2. Sweeper charging equipment
Charging equipment is also called a charging base in the sweeping robot system, similar to electric vehicle charging piles, because the location of the charging equipment is fixed, and the sweeping robot needs to be recharged back and forth. Similar to most household appliances in the family, the charging base of the sweeping robot also adopts the voltage and current standard of 220V AC. The charging equipment can obtain power from ordinary wall plugs, which is simple and convenient. The current required to charge the battery of the sweeping robot is low-voltage direct current, so it must go through processes such as step-down, rectification, and filtering in the middle.
If the charging equipment directly charges the battery without a reasonable voltage conversion, it is likely to cause irreversible damage to the battery, and even lead to dangers such as combustion and explosion. This process can also be replaced by a compliant power adapter. In terms of charging form, it is currently divided into two main forms: wired charging and wireless charging. Wired charging is similar to the charging of ordinary electronic equipment. When the sweeping robot reaches the charging warning line, it will automatically issue an early warning. After the user finds it, he can connect it to the charging device through the cable in time. The advantage of wired charging is that the equipment is relatively simple, the cost is low, and the impact on the life of the battery is small. The disadvantage is that the operation is complicated. Wireless charging is a charging mode that has only become popular in recent years. The sweeping robot can return to a fixed charging base by itself. After the charging base detects the robot, it can charge it by induction. After the charging is completed, the robot leaves the charging base to continue working . Compared with wired charging, wireless charging is more convenient and intelligent, but it also has the characteristics of low charging efficiency and fast battery life decay. To sum up, in order to build a more intelligent and convenient sweeping robot system and fully realize its autonomous operation characteristics, the best choice is the wireless charging mode.
3. Drive motor
The reason why the sweeping robot can walk freely indoors is that the mechanical energy comes from the conversion of electric energy by the motor. The motor is the direct output device of the control system. The output shaft is directly connected with the motion transmission device of the robot. The mechanical energy generated by the rotation of the motor drives the movement of the robot actuator. By adjusting the speed, the robot can also complete a series of human-operated movements. In terms of motor selection, AC motors are simple in structure and cheap in price, but their control accuracy is low, and it is difficult to achieve high-precision and low-speed working conditions of sweeping robots, and there are disadvantages of self-steering under certain circumstances; ordinary DC motors It can overcome the shortcomings of autobiography, and the stability is well guaranteed, but there is a problem of brush friction, which is not suitable for long-life sweeping robots; the stepping motor can complete precise movement, but its torque is small and the load is low, so it is large Most of them are used in instruments; brushless DC motors are small in size and quality, have good speed range, linearity, life and maintenance and replacement costs, and have low noise during operation, and there are no disadvantages of brushes. After adding permanent magnets, Its performance has been further improved. Combined with the requirements of the sweeping robot for the size of the motor and the quiet environment in the home, the best choice for the motor is a brushless DC permanent magnet synchronous motor.
4. The actuator of the sweeping robot
As pointed out earlier, the output shaft of the motor directly drives the actuator to complete the action. The actuator is a device that interacts between the sweeping robot and the external force, and is a key part that determines the accuracy, flexibility, and stability of the entire system. For sweeping robots, there are three types of actuators that can be selected: leg-foot type, crawler type and wheel type. Legged robots imitate the walking style of spiders, which are still in the experimental stage, and the walking speed is very slow, so they are not suitable for home use; crawler robots are more mature, but most of them are used on uneven ground such as mud and sand. Travel speed is also slower. Considering the flat road environment of indoor work, a simple wheel drive device is most suitable. This actuator is composed of several wheel discs, with simple control mode, high energy utilization rate, small turning radius and fast response speed. The number and types of wheels will also affect the driving mode of the robot. Combined with the requirements of the range of activities and driving speed, the 4-wheel mode is most suitable for indoor cleaning work, and it is also conducive to the convenient realization of later trajectory planning.
5. Sensor
Sweeping robots are inseparable from various sensors when working indoors. The sensors are equivalent to the various sensory organs of the robot, similar to the facial features of humans. The sweeping robot needs to judge its own position, measure distance, speed, acceleration, pose, etc., detect obstacles around itself, and sometimes obtain information such as ambient temperature and humidity. The following sensors are necessary for the sweeping robot.
1) Accelerometer and Gyroscope. The accelerometer and gyroscope are devices for the robot to measure the displacement and angle. The accelerometer measures the acceleration of the robot, and the gyroscope measures the angular acceleration. The displacement and angular displacement of the robot are obtained through quadratic integration. Combined with the dead reckoning algorithm, the robot can achieve precise positioning.
2) Ultrasonic sensor. Ultrasonic sensors are a class of widely used sensors, mainly used for obstacle detection and distance measurement. The ultrasonic transmitter located at the front can send and receive ultrasonic waves.
3) Infrared proximity sensor. Literally understood, this type of sensor generates a specific signal when it is close to an obstacle. After the emitted infrared signal encounters an obstacle and is bounced back, if the arrival time and light intensity at this time meet the requirements set in advance, then it is judged When obstacles are encountered, this information is sent to the control mechanism so that the robot can avoid obstacles in time.
In addition to the above sensors, there are also important sensors such as laser rangefinders, radar rangefinders, odometers, vision sensors, and temperature/humidity sensors.
To sum up, with the continuous increase of residents’ disposable income, household sweeping robots have become an important smart home appliance that most families have purchased or are considering purchasing. Many home appliance companies are also focusing on developing independent sweeping robots, trying to share this opportunity. A huge market. The hardware selection and design of the sweeping robot is extremely critical, which directly affects the working mode and effect of the robot. A reasonable design of the hardware structure can improve the cleaning performance of the robot. It is the future to explore a more lightweight, efficient, energy-saving, and long-life hardware system. Direction of development.
4. Problems to be solved in the sweeping robot solution
Although the application advantages of intelligent sweeping robots are obvious, it effectively solves the cleaning burden of users. However, for now, there are certain problems in the application process of intelligent sweeping robots.
(1) The cleaning area of the intelligent sweeping robot is not comprehensive enough. The current intelligent sweeping robots have been set to have a cleaning function in a specific area. This is the infrared sensor technology mentioned above. The application cost of this technology is relatively low, but there are obvious defects in the process of technology application. During the use of the robot, its specific divergence port will emit rays. During the movement, the rays will be fed back to the microcomputer inside the system when they hit some dark objects. After that, a certain amount of memory will be formed on the memory panel of the robot, and it will choose to turn and clean other areas. However, as far as actual family life is concerned, the arrangement of many objects may appear messy, and the color of the furniture is also different in shades. In addition, the shapes of indoor objects are different, so it is difficult for infrared rays to reflect back scientifically and rationally. In this way, the cleaning area of the robot may be divided, and some areas are difficult to clean.
(2) Intelligent robots will have a certain destructive effect on irregular and cylindrical objects. In the actual cleaning process, the intelligent sweeping robot will automatically avoid obstacles when it encounters obstacles. Avoidance work can be divided into two parts: complete avoidance and buffer avoidance. If the intelligent sweeping robot uses ultrasonic bionic technology, it can effectively avoid various obstacles. However, as mentioned in the previous discussion, the application cost of ultrasonic bionic technology is not high, and the overall application range is not wide enough. Therefore, most of the sweeping robots currently used in the home use infrared technology, which is limited to various solid and irregular obstacles; for those non-solid objects, such as various irregular objects, the system's identification is relatively difficult. Therefore, during the working process of the sweeping robot, it is easy to touch the corner of the table, causing certain damage.
(3) The intelligent sweeping robot is not strong enough to clean all kinds of large particles. The intelligent sweeping robot has a relatively strong adsorption capacity and can effectively clean all kinds of ordinary dust. However, the robot has certain limitations, the suction diameter is relatively small, and the brush of the sweeping robot is also spiral-shaped. In this way, some large-particle substances are difficult to inhale, which will affect the cleanliness of cleaning.
The above are the details of the sweeping robot solution introduced by Shenzhen Zuchuang Microelectronics Co., Ltd. for you. If you have electronic function development needs for smart vacuum cleaners, you can trust us. We have rich experience in customized development of electronic products. We can evaluate the development cycle and IC price as soon as possible, and can also calculate the PCBA quotation for electric sweepers. We are a number of chip agents at home and abroad, including MCU, voice IC, Bluetooth IC and modules, wifi modules. Our development capabilities cover PCB design, single-chip microcomputer development, software custom development, APP custom development, WeChat official account development and other hardware and software design. It can also undertake the research and development of smart electronic products, household appliances scheme design, beauty equipment development, Internet of Things application development, smart home scheme design, TWS scheme development, Bluetooth audio development, children's toy scheme development, and electronic education product development.
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