CN108113585A - A kind of sweeping robot and its control method for adapting to different occasions - Google Patents
A kind of sweeping robot and its control method for adapting to different occasions Download PDFInfo
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- CN108113585A CN108113585A CN201810097742.9A CN201810097742A CN108113585A CN 108113585 A CN108113585 A CN 108113585A CN 201810097742 A CN201810097742 A CN 201810097742A CN 108113585 A CN108113585 A CN 108113585A
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- motor
- controller
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- housing
- sensor
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Classifications
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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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- 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
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/02—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The present invention relates to a kind of sweeping robots and its control method for adapting to different occasions, including housing, controller and power supply are set in housing, controller connects cleaning mechanism, walking mechanism, sensing mechanism and charging mechanism, controller, cleaning mechanism, walking mechanism, charging mechanism coordinates with power supply, walking mechanism includes the left lateral driving wheel being sheathed on the first motor output shaft, the right lateral driving wheel and the universal wheel arranged on housing bottom front end being sheathed on the second motor output shaft, first motor and the second motor are mounted on top and are arranged on the elevating mechanism at the top of case inside, first motor, second motor and elevating mechanism coordinate with controller, universal wheel is arranged on elevating mechanism bottom；The bottom of universal wheel, left lateral driving wheel and right lateral driving wheel is in same level.The present invention completes basic cleaning, walking, and controller obtains sensing mechanism information control elevating mechanism overall and changes robot, and robot can clean blind area, reduces ground and keeps a public place clean difficulty, mitigates the burden of cleaning.
Description
Technical field
The present invention relates to the technical fields of the machinery of covering on cleaning floor, carpet, furniture, wall or wall, especially relate to
And a kind of sweeping robot and its control method for adapting to different occasions.
Background technology
Sweeping robot is one kind of controlling intelligent household appliances, using popularizing the most, can rely on certain artificial intelligence certainly
It is dynamic to complete floor cleaning work in the room, it is general to be swept using brush and vacuum mode, by ground sundries first receive into itself
Rubbish storage box, so as to complete the function of land clearing.
Functionally, sweeping robot is equivalent to the automatic cleaner with simple path planning and obstacle,
Floor sweeping function is essentially identical with dust catcher, is gathered dust to the opening of body suction area by hairbrush, high-power fan generates
Dust debris are sucked dust sucting pipeline by low pressure suction, and with the movement of body, dust, the sundries under body movement path are sucked
In body, filtering is remained in stored ash box.
In the family often there are various furniture, some direct bottoms of furniture land, and eliminate the trouble of cleaning, and very much
Furniture is then to be supported by the support feet around furniture there are a certain distance in bottom and ground, if in larger distance, swept the floor
Robot is still into sweeping, once in small distance, sweeping robot easily bumps against, in fact, there is the bottom of many furniture again
Only it is that edge and ground distance are smaller, it is larger with ground distance in centre, blind area is swept which results in sweeping robot,
By manually sweeping and there are many difficulties.
The content of the invention
In order to solve the problems in the existing technology, the present invention provides a kind of sweeper of the different occasions of adaptation of optimization
Device people and its control method, robot can reduce ground by shrinking the work for entering different regions and completing cleaning dust, sundries
Face is kept a public place clean difficulty, mitigates the burden of cleaning.
The technical solution adopted in the present invention is that a kind of sweeping robot for adapting to different occasions including housing and is arranged on
The in vivo controller of shell and power supply, be equipped in the housing cleaning mechanism being connected with controller, walking mechanism, sensing mechanism and
Charging mechanism, the controller, cleaning mechanism, walking mechanism and charging mechanism are connected with power supply, and the walking mechanism includes setting
In the left lateral driving wheel of housing bottom and right lateral driving wheel；The left lateral driving wheel is sheathed on the output shaft of the first motor, the right lateral
Driving wheel is sheathed on the output shaft of the second motor, and first motor and the second motor are mounted on elevating mechanism, the lifting
The top of mechanism is arranged at the top of case inside, and first motor, the second motor and elevating mechanism and controller are equipped with；Institute
It states walking mechanism and further includes the universal wheel arranged on housing bottom front end, the universal wheel is arranged on elevating mechanism bottom；It is described universal
The bottom of wheel, left lateral driving wheel and right lateral driving wheel is in same level.
Preferably, the elevating mechanism includes the telescopic rod that top is arranged at the top of case inside, square set under the telescopic rod
Equipped with telescopic, telescopic rod bottom in the telescopic is equipped with push-and-pull cylinder, and the telescopic has a fixed frame, and described the
One motor and the second motor are arranged on fixed frame；The push-and-pull cylinder is connected with the controller.
Preferably, the cleaning mechanism includes the 3rd motor of at least one that is connected with controller, the 3rd motor it is defeated
Shaft runs through housing bottom, and the output shaft of the lower housing portion is equipped with hairbrush, cavity is equipped in the housing, the cavity
Adsorption orifice is arranged on the housing bottom of hairbrush side, and micro-cleaner is equipped in the cavity.
Preferably, the cavity includes the inner wall of the main cavity of space connection and auxiliary cavity, the main cavity and auxiliary cavity
On be sticked and have electrostatic paster.
Preferably, the sensing mechanism includes the first range sensor and second distance sensor, and first distance passes
Sensor horizontal direction is set towards front side, is equipped with and first range sensor and second distance sensor on front side of the housing
Be equipped with apart from sensing hole.
Preferably, one end of the second distance sensor is sheathed in shaft, and the shaft is connected to the 4th motor, institute
It states the 4th motor and is fixed on enclosure interior, the 4th motor is connected to controller；On front side of the housing is apart from sensing hole
Elongate holes.
Preferably, the shaft is equipped with limited block compared with the one side of the 4th motor, and the shaft is compared with the 4th motor
One side housing in be equipped with 2 protrusions, described 2 between protrusion and shaft be at an angle of set.
Preferably, the sensing mechanism further includes optical sensor, and the case top front end is equipped with and optical sensor
The illumination sensing hole being equipped with.
Preferably, the lower housing portion edge is equipped with anticollision strip.
A kind of control method of sweeping robot using the different occasions of adaptation, the control method includes following
Step：
Step 1：Simultaneously installation cavity is emptied, starts robot；Controller control cleaning mechanism, walking mechanism and sensing mechanism start
Work；Controller controls the 3rd motor band electric brush to rotate, and hairbrush is brushed lightly the dust swept and passes through adsorption orifice by micro-cleaner work
It is swept into cavity；
Step 2：Controller controls the first range sensor real-time Transmission robot and the distance L1 of sweep-out pattern front obstacle,
When distance is 0, controller controls the first motor and the second motor to carry out steering operation according to the position of barrier, universal wheel with
Row；
Step 3：Controller controls the 4th motor to drive shaft uniform rotation, obtains the first range sensor and second distance sensing
The distance sensing L2 of sensing angle α and second distance sensor between device；When the 4th motor drives second distance sensor downward
It rotates and L1 ＞ L2 × cos α, while at next second during L1=L2, it is anti-to lock current second distance sensor for the 4th motor reversal
The barrier of range information is presented, carries out step 4；Rotated upward and L1 ＞ L2 when the 4th motor drives second distance sensor ×
Cos α, while during L1=L2 upper one second, the barrier of current second distance sensor feedback range information is locked, carry out step 4；
Otherwise current working status or shutdown are kept；
Step 4：Controller controls the 4th motor to drive shaft uniform rotation so that second distance sensor locks current the always
Two range sensors feed back the barrier of range information, the sensing angle between the first range sensor and second distance sensor
When α is 90 °, controller control elevating mechanism declines, cleaning mechanism continuous firing；Sweeping robot after if elevating mechanism declines
Peak generates collision with barrier, then return to step 2, and otherwise, optical sensor feedback light shines intensity difference △ E；
Step 5：When optical sensor, feedback light shines intensity difference △ E ', the sensing of the first range sensor and front obstacle again
When distance L3 is the length of scanning machine people front end to rear end, controller control elevating mechanism rises, cleaning mechanism continuous firing,
Carry out step 2.
The present invention provides the sweeping robot and its control method of a kind of different occasions of adaptation of optimization, by housing
It is interior that power supply, cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism being connected with controller are set, complete the base of robot
This cleaning, walking function, and pass through sensing mechanism feedback information trigger controller；Meanwhile walking mechanism is arranged on elevator
On structure, controller controls elevating mechanism to be lifted by obtaining sensing mechanism feedack, whole to change sweeping robot
Height, robot under the control of the controller, completes to clean the work of dust, sundries, can also clean blind area, reduce ground and protect
Clean difficulty mitigates the burden of cleaning.
Description of the drawings
Fig. 1 is the main view schematic diagram of the present invention；
Fig. 2 is that the enclosure interior of the present invention omits the structure diagram of walking mechanism and elevating mechanism；
Fig. 3 is the walking mechanism of the present invention and the structure diagram of elevating mechanism；
Fig. 4 is the vertical view figure structure schematic representation of the present invention；
Fig. 5 looks up figure structure schematic representation for the present invention's；
Fig. 6 is the vertical view figure structure schematic representation of the enclosure interior mechanism of the present invention, wherein, electrical connection between dotted line outgoing mechanism or
Communication connection；
Fig. 7 be the sweeping robot of the present invention during traveling, the operating diagram of second distance sensor, wherein, it is empty
Line represents the travel condition of sweeping robot, and chain-dotted line represents the sensing path of the first range sensor and second distance sensor
Footpath, the front that sweeping robot is advanced are barrier；
Fig. 8 is the partial enlarged view of A in Fig. 7, wherein, sensing angles of the α between the first range sensor and second distance sensor
Degree.
Specific embodiment
The present invention is described in further detail with reference to embodiment, but protection scope of the present invention is not limited to
This.
The present invention relates to a kind of sweeping robot for adapting to different occasions, the controller including housing 1 and in housing 1
2 and power supply 3, cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism 4 being connected with controller 2 are equipped in the housing 1,
The controller 2, cleaning mechanism, walking mechanism and charging mechanism 4 are connected with power supply 3, and the walking mechanism includes being arranged on housing 1
The left lateral driving wheel 5 of bottom and right lateral driving wheel 6；The left lateral driving wheel 5 is sheathed on the output shaft of the first motor 7, and the right lateral moves
Wheel 6 is sheathed on the output shaft of the second motor 8, and 7 and second motor 8 of the first motor is mounted on elevating mechanism, the liter
The top of descending mechanism is arranged on 1 inside top of housing, and first motor 7, the second motor 8 and elevating mechanism and controller 2 coordinate
It sets；The walking mechanism further includes the universal wheel 9 arranged on 1 bottom front of housing, and the universal wheel 9 is arranged on elevating mechanism bottom
Portion；The bottom of the universal wheel 9, left lateral driving wheel 5 and right lateral driving wheel 6 is in same level.
In the present invention, the main body of robot includes a housing 1, and the various mechanisms of entire robot are provided in housing 1
With 2 interactive signal of controller, instruction is assigned by controller 2 and is specifically acted, adult generally should be also collected in controller 2
Machine interactive module etc. is more suitable for applying the module in existing environmental demand.Controller 2 can be completed using general microcontroller
The corresponding function subsequently described, the main technical problems to be solved of non-invention, those skilled in the art can be according to respective demands
Complete basis instrument.
In the present invention, the control that cleaning mechanism is used to receive controller 2 carries out operation of keeping a public place clean to ground；Walking mechanism is used for
The control of controller 2 is received, the advance on road surface, steering is completed, retreats operation；Sensing mechanism is used to send phase towards controller 2
The heat transfer agent answered, and then trigger controller 2 controls the work of other mechanisms；Charging mechanism 4 is used to that robot to be completed to charge
Operation, under normal circumstances, integrated charge module in controller 2 charges to power supply 3 by charging mechanism 4, is this field
The known technology of technical staff, those skilled in the art can voluntarily be set according to demand.
In the present invention, cleaning mechanism, walking mechanism, charging mechanism 4 are related to charge and discharge, therefore are connected with power supply 3.
In the present invention, controller 2 controls the first motor 7 and the second motor 8 generates different outputs, and then drives left lateral driving wheel
5 and right lateral driving wheel 6 generate the different speeds of service, achieve the purpose that toward different directional steerings；It is supported by universal wheel 9
Advance with normal；When robot touches wall, controller 2 controls the output of the first motor 7 and the second motor 8, and then with movement machine
People carries out cleaning operation to other paths.This be skilled addressee readily understands that content, the knot of specific walking mechanism
Structure setting can voluntarily be set according to the actual demand of those skilled in the art.
In the present invention, the first motor 7 and the second motor 8 are mounted on elevating mechanism, while the top of elevating mechanism is supported and set
In 1 inside top of housing, i.e. controller 2 can receive the heat transfer agent of sensing mechanism, elevating mechanism be fed back to, by elevating mechanism
The first motor 7 and the second motor 8 is driven to move up and down, completes the operation of lifting, in order to ensure the steady of sweeping robot entirety,
Bottom, the front side of housing 1 and the bottom of universal wheel 9, left lateral driving wheel 5 and right lateral driving wheel 6 that universal wheel 9 is arranged on elevating mechanism are in
In same level.
In the present invention, controller 2 controls elevating mechanism to be lifted by obtaining sensing mechanism feedack, integrally changes
Become the height of sweeping robot, robot under control of the controller 2, is completed to clean the work of dust, sundries, can also cleaned blind
Area reduces ground and keeps a public place clean difficulty, mitigates the burden of cleaning.
The elevating mechanism includes the telescopic rod 10 that top is arranged on 1 inside top of housing, and 10 lower section of telescopic rod is arranged
There is a telescopic 11,10 bottom of telescopic rod in the telescopic 11 is equipped with push-and-pull cylinder 12, and the telescopic 11 has fixation
Frame 13,7 and second motor 8 of the first motor are arranged on fixed frame 13；The push-and-pull cylinder 12 is connected with the controller 2.
In the present invention, specifically, the top of the telescopic rod 10 of elevating mechanism, which is supported, is arranged on 1 inside top of housing, stretches
The effect end for being located at a push-and-pull cylinder 12 is supported in the lower section of bar 10 before this, is then arranged telescopic 11 on the outside, under telescopic 11
The first motor 7 and the second motor 8 are mounted on fixed frame 13, controller 2 triggers push-and-pull cylinder 12 by heat transfer agent,
And then complete the lifting of fixed frame 13, that is, the first motor 7, the second motor 8, left lateral driving wheel 5 and right lateral driving wheel 6 is driven to be risen
Drop.
In the present invention, it is therefore apparent that 13 front bottom end of fixed frame is equipped with universal wheel 9.
The cleaning mechanism includes the 3rd motor 14 of at least one being connected with controller 2, the output of the 3rd motor 14
Axis runs through 1 bottom of housing, and the output shaft of 1 lower part of housing is equipped with hairbrush 15, cavity, the sky are equipped in the housing 1
The adsorption orifice 16 of chamber is arranged on 1 bottom of housing of 15 side of hairbrush, and micro-cleaner 17 is equipped in the cavity.
The cavity includes the inner wall of the main cavity 18 and auxiliary cavity 19 of space connection, the main cavity 18 and auxiliary cavity 19
On be sticked and have electrostatic paster 20.
In the present invention, cleaning mechanism includes the 3rd motor 14 of at least one, that is, corresponds to a hairbrush 15, in actual operation
In, the combination of 2 group of the 3rd motor 14 and hairbrush 15 according to demand can be set, increase cleaning dynamics.
In the present invention, rotated with the output shaft band electric brush 15 of the 3rd motor 14, set in 1 bottom of housing of 15 side of hairbrush
Be equipped with adsorption orifice 16, during hairbrush 15 rotates dust and sundries have it is a degree of raise, be provided in the cavities micro-
Type suction ventilator 17, dust and sundries are entered by adsorption orifice 16 in cavity immediately.
In the present invention, it is therefore apparent that 1 side of housing be equipped with air passage cooperation miniature suction ventilator 17 complete absorption dust and
The operation of sundries, this be skilled addressee readily understands that content.
In the present invention, cavity includes the main cavity 18 and auxiliary cavity 19 of space connection, sets 2 cavitys primarily to depositing
Put enough dust and sundries；Main cavity 18 and auxiliary cavity 19 can be two cavitys in parallel, can also be in main cavity 18
It is interior to include the auxiliary cavity 19 of setting.
In the present invention, in order to increase adsorption capacity, being sticked on the inner wall of main cavity 18 and auxiliary cavity 19 has electrostatic paster
20, it is further fixed for adsorbate, cavity Whole-dismountable is replaced or at least replaces electrostatic paster 20.
In the present invention, in actual operation, filter layer 21, filter layer can also be set between main cavity 18 and auxiliary cavity 19
21 for the larger sundries of filtration volume, i.e., under normal circumstances, for adsorbing larger sundries, auxiliary cavity 19 is used for main cavity 18
Adsorb the small particles such as dust.
The sensing mechanism includes the first range sensor 22 and second distance sensor 23, first range sensor
22 horizontal directions are set towards front side, and 1 front side of housing is equipped with to be sensed with first range sensor 22 and second distance
Device 23 be equipped with apart from sensing hole 24.
One end of the second distance sensor 23 is sheathed in shaft 25, and the shaft 25 is connected to the 4th motor 26,
4th motor 26 is fixed on inside housing 1, and the 4th motor 26 is connected to controller 2；The distance of 1 front side of housing
Sensing hole 24 is elongate holes.
The shaft 25 is equipped with limited block 27 compared with the one side of the 4th motor 26, and the shaft 25 is compared with the 4th motor
2 protrusions 28 are equipped in the housing 1 of 26 one side, is at an angle of and sets between 2 protrusions 28 and shaft 25.
The sensing mechanism further includes optical sensor 29, and 1 top nose of housing is equipped with matches somebody with somebody with optical sensor 29
Close the illumination sensing hole 30 set.
In the present invention, sensing mechanism mainly includes range sensor and optical sensor 29, range sensor be used for
Coordinate the distance obtained in real time between robot and barrier apart from sensing hole 24, do not generate collision as far as possible, and optical sensor
29 are used to coordinating with illumination sensing hole 30 and whether obtain robot in real time in the region for the operation that is not easy to carry out to keep a public place clean.
In the present invention, range sensor mainly includes the first range sensor 22 and second distance sensor 23, wherein the
One range sensor 22 is mainly used for carrying out the barrier of horizontal direction distance measurement, and second distance sensor 23 is used to confirm
Whether sweeping robot will enter whether the furniture bottom of easy cleaning and sweeping robot can not enter；1 front side of housing
Equipped with first range sensor 22 and second distance sensor 23 be equipped with apart from sensing hole 24.
In the present invention, second distance sensor 23 is mainly used for sweeping sensing sector, the orientation of acquired disturbance object, therefore incites somebody to action
One end of second distance sensor 23 is set in shaft 25, and controller 2 controls shaft 25 by controlling the 4th motor 26
It rotates.
In the present invention, for the ease of the work of the first range sensor 22 and second distance sensor 23,1 front side of housing
It is elongate holes apart from sensing hole 24, and width is at least the sensing list of the first range sensor 22 and second distance sensor 23
The sensing width of member.
In the present invention, in order to ensure the work efficiency of second distance sensor 23, not there is a situation where turn, in shaft 25
Limited block 27 is equipped with compared with the one side of the 4th motor 26, and is set in the housing 1 of respective side between 2 protrusions 28 and shaft 25
It is angled to set, ensure that limited block 27 will not be crossed and turn.Under normal circumstances, 2 protrusions 28 are in the front and top of shaft 25.
In the present invention, sensing mechanism further includes optical sensor 29, and in the setting of 1 top nose of housing and optical sensor
The 29 illumination sensing holes 30 being equipped with, for sensing the working region that sweeping robot is practically in.
1 lower edge of housing is equipped with anticollision strip 31.
In the present invention, in order to reduce the collision of sweeping robot and peripheral obstacle as far as possible, therefore in 1 lower edge of housing
Anticollision strip 31 is set, it is normal to ensure that the relatively stable of environment in sweeping robot, parts work.
The invention further relates to a kind of control method using the ground cleaning robot, the control method include with
Lower step：
Step 1：Simultaneously installation cavity is emptied, starts robot；Controller 2 controls cleaning mechanism, walking mechanism and sensing mechanism to open
Beginning work；Controller 2 controls the 3rd motor 14 to be rotated with electric brush 15, and micro-cleaner 17 works the dust brushed lightly hairbrush 15 and swept
Cavity is swept by adsorption orifice 16；
Step 2：Controller 2 controls 22 real-time Transmission robot of the first range sensor and the distance of sweep-out pattern front obstacle
L1, when distance is 0, controller 2 controls the first motor 7 and the second motor 8 to carry out steering operation according to the position of barrier, and ten thousand
To 9 retinue of wheel；
Step 3：Controller 2 controls the 4th motor 26 to drive 25 uniform rotation of shaft, obtains the first range sensor 22 and second
The distance sensing L2 of sensing angle α and second distance sensor 23 between range sensor 23；When the 4th motor 26 drives second
Range sensor 23 turns downward and L1 ＞ L2 × cos α, while at next second during L1=L2, the 4th motor 26 inverts, and locking is worked as
Preceding second distance sensor 23 feeds back the barrier of range information, carries out step 4；When the 4th motor 26 drives second distance sensing
Device 23 rotates upward and L1 ＞ L2 × cos α, while during L1=L2 of upper one second, lock current second distance sensor 23 feed back away from
Barrier from information carries out step 4；Otherwise current working status or shutdown are kept；
Step 4：Controller 2 controls the 4th motor 26 to drive 25 uniform rotation of shaft so that second distance sensor 23 is locked always
Settled preceding second distance sensor 23 feeds back the barrier of range information, when the first range sensor 22 and second distance sensor
When sensing angle α between 23 is 90 °, controller 2 controls elevating mechanism to decline, cleaning mechanism continuous firing；If under elevating mechanism
The peak of sweeping robot generates collision with barrier after drop, then return to step 2, and otherwise, 29 feedback light of optical sensor is shone
Intensity difference △ E；
Step 5：When optical sensor 29, feedback light shines intensity difference △ E ', the first range sensor 22 and front obstacle again
When distance sensing L3 is the length of scanning machine people front end to rear end, controller 2 controls elevating mechanism to rise, and cleaning mechanism is lasting
Work carries out step 2.
In the present invention, the initial operation mode of robot is that the dust and sundries on ground are carried out clearly using cleaning mechanism
It sweeps, and carries out steering operation in due course.
In the present invention, when the 4th motor 26 drives second distance sensor 23 to turn downward and L1 ＞ L2 × cos α, simultaneously
At next second during L1=L2, it is meant that robot has the furniture of certain distance or barrier to run towards bottom and ground, therefore
4th motor 26 inverts, and locks the barrier that current second distance sensor 23 feeds back range information；When the 4th motor 26 drives
Second distance sensor 23 rotates upward and L1 ＞ L2 × cos α, while during L1=L2 of upper one second, it is meant that court of robot
There are the furniture of certain distance or barrier to run to bottom and ground, lock current second distance sensor 23 and feed back range information
Barrier.
In the present invention, there are the furniture of certain distance or the process of barrier operation towards bottom and ground in sweeping robot
In, controller 2 controls the 4th motor 26 to drive 25 uniform rotation of shaft so that second distance sensor 23 locks current the always
Two range sensors 23 feed back the barrier of range information, and the angle of α is increasing, when the first range sensor 22 and second away from
From the sensing angle α between sensor 23 be 90 ° when, controller 2 control elevating mechanism decline, cleaning mechanism continuous firing, simultaneously
29 feedback light of optical sensor shines intensity difference △ E.
In the present invention, what point dropped to there is also sweeping robot can not all enter bottom and ground has certain distance
Furniture or barrier bottom situation, peak and the barrier of sweeping robot is generated and touched after even elevating mechanism declines
It hits, then return to step 2.
In the present invention, when optical sensor 29 again feedback light shine intensity difference △ E ' when, represent sweeping robot from
Opening bottom and ground has the furniture or barrier of certain distance, and after the diametral distance of sweeping robot, sweeping robot is whole
Body leaves, and controller 2 controls elevating mechanism to rise, cleaning mechanism continuous firing.
In the present invention, since the demand of each cleaning occasion is different, the value of △ E and △ E ' is different, under normal circumstances, takes
100~300Lx。
The present invention in housing 1 by setting the power supply 3 being connected with controller 2, cleaning mechanism, walking mechanism, sensing machine
Structure and charging mechanism 4, complete basic cleaning, the walking function of robot, and pass through sensing mechanism feedback information trigger controller
2；Meanwhile walking mechanism is arranged on elevating mechanism, controller 2 controls elevator by obtaining sensing mechanism feedack
Structure is lifted, the whole height for changing sweeping robot, and robot under control of the controller 2, completes to clean dust, sundries
Work, can also clean blind area, reduce ground and keep a public place clean difficulty, mitigate the burden of cleaning.
Claims (10)
1. a kind of sweeping robot for adapting to different occasions, including housing and arranged on the in vivo controller of shell and power supply, the shell
Cleaning mechanism, walking mechanism, sensing mechanism and the charging mechanism being connected with controller, the controller, cleaner are equipped in vivo
Structure, walking mechanism and charging mechanism are connected with power supply, it is characterised in that：The walking mechanism includes the left lateral arranged on housing bottom
Driving wheel and right lateral driving wheel；The left lateral driving wheel is sheathed on the output shaft of the first motor, and the right lateral driving wheel is sheathed on the second electricity
On the output shaft of machine, first motor and the second motor are mounted on elevating mechanism, and the top of the elevating mechanism is arranged on shell
Internal side roof part, first motor, the second motor and elevating mechanism and controller are equipped with；The walking mechanism further includes
Universal wheel arranged on housing bottom front end, the universal wheel are arranged on elevating mechanism bottom；The universal wheel, left lateral driving wheel and right lateral
The bottom of driving wheel is in same level.
2. a kind of sweeping robot for adapting to different occasions according to claim 1, it is characterised in that：The elevating mechanism
Including top to be arranged on the telescopic rod at the top of case inside, telescopic is arranged with below the telescopic rod, stretching in the telescopic
Contracting bar bottom is equipped with push-and-pull cylinder, and the telescopic has fixed frame, and first motor and the second motor are arranged on fixed frame
On；The push-and-pull cylinder is connected with the controller.
3. a kind of sweeping robot for adapting to different occasions according to claim 1, it is characterised in that：The cleaning mechanism
Including the 3rd motor of at least one being connected with controller, the output shaft of the 3rd motor is under housing bottom, the housing
The output shaft in portion is equipped with hairbrush, and cavity is equipped in the housing, and the adsorption orifice of the cavity is arranged on the housing bottom of hairbrush side
Portion, the cavity is interior to be equipped with micro-cleaner.
4. a kind of sweeping robot for adapting to different occasions according to claim 3, it is characterised in that：The cavity includes
Being sticked on the inner wall of the main cavity and auxiliary cavity of space connection, the main cavity and auxiliary cavity has electrostatic paster.
5. a kind of sweeping robot for adapting to different occasions according to claim 1, it is characterised in that：The sensing mechanism
Including the first range sensor and second distance sensor, the first range sensor horizontal direction is set towards front side, institute
State be equipped on front side of housing with first range sensor and second distance sensor be equipped with apart from sensing hole.
6. a kind of sweeping robot for adapting to different occasions according to claim 5, it is characterised in that：The second distance
One end of sensor is sheathed in shaft, and the shaft is connected to the 4th motor, and the 4th motor is fixed on enclosure interior, institute
It states the 4th motor and is connected to controller；On front side of the housing apart from sensing hole be elongate holes.
7. a kind of sweeping robot for adapting to different occasions according to claim 6, it is characterised in that：The shaft is opposite
In the one side of the 4th motor be equipped with limited block, the shaft compared in the housing of the one side of the 4th motor be equipped with 2 protrusions, institute
It states 2 and setting is at an angle of between protrusion and shaft.
8. a kind of sweeping robot for adapting to different occasions according to claim 5, it is characterised in that：The sensing mechanism
Optical sensor is further included, the case top front end is equipped with the illumination sensing hole being equipped with optical sensor.
9. a kind of sweeping robot for adapting to different occasions according to claim 1, it is characterised in that：The lower housing portion
Edge is equipped with anticollision strip.
10. a kind of control method of the sweeping robot of different occasions of adaptation using described in one of claim 1 ~ 9, feature
It is：The control method comprises the following steps：
Step 1：Simultaneously installation cavity is emptied, starts robot；Controller control cleaning mechanism, walking mechanism and sensing mechanism start
Work；Controller controls the 3rd motor band electric brush to rotate, and hairbrush is brushed lightly the dust swept and passes through adsorption orifice by micro-cleaner work
It is swept into cavity；
Step 2：Controller controls the first range sensor real-time Transmission robot and the distance L1 of sweep-out pattern front obstacle,
When distance is 0, controller controls the first motor and the second motor to carry out steering operation according to the position of barrier, universal wheel with
Row；
Step 3：Controller controls the 4th motor to drive shaft uniform rotation, obtains the first range sensor and second distance sensing
The distance sensing L2 of sensing angle α and second distance sensor between device；When the 4th motor drives second distance sensor downward
It rotates and L1 ＞ L2 × cos α, while at next second during L1=L2, it is anti-to lock current second distance sensor for the 4th motor reversal
The barrier of range information is presented, carries out step 4；Rotated upward and L1 ＞ L2 when the 4th motor drives second distance sensor ×
Cos α, while during L1=L2 upper one second, the barrier of current second distance sensor feedback range information is locked, carry out step 4；
Otherwise current working status or shutdown are kept；
Step 4：Controller controls the 4th motor to drive shaft uniform rotation so that second distance sensor locks current the always
Two range sensors feed back the barrier of range information, the sensing angle between the first range sensor and second distance sensor
When α is 90 °, controller control elevating mechanism declines, cleaning mechanism continuous firing；Sweeping robot after if elevating mechanism declines
Peak generates collision with barrier, then return to step 2, and otherwise, optical sensor feedback light shines intensity difference △ E；
Step 5：When optical sensor, feedback light shines intensity difference △ E ', the sensing of the first range sensor and front obstacle again
When distance L3 is the length of scanning machine people front end to rear end, controller control elevating mechanism rises, cleaning mechanism continuous firing,
Carry out step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097742.9A CN108113585A (en) | 2018-01-31 | 2018-01-31 | A kind of sweeping robot and its control method for adapting to different occasions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097742.9A CN108113585A (en) | 2018-01-31 | 2018-01-31 | A kind of sweeping robot and its control method for adapting to different occasions |
Publications (1)
| Publication Number | Publication Date |
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| CN108113585A true CN108113585A (en) | 2018-06-05 |
Family
ID=62234224
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810097742.9A Withdrawn CN108113585A (en) | 2018-01-31 | 2018-01-31 | A kind of sweeping robot and its control method for adapting to different occasions |
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| CN (1) | CN108113585A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606731A (en) * | 2018-06-08 | 2018-10-02 | 安徽风向标清洁设备有限公司 | Brushing mechanism for sweeper |
| CN109991986A (en) * | 2019-04-25 | 2019-07-09 | 大连交通大学 | A kind of sweeping robot control system |
| CN111184476A (en) * | 2020-01-21 | 2020-05-22 | 常熟理工学院 | Electrostatic adsorption type sweeping robot and control method thereof |
| CN112012149A (en) * | 2020-08-18 | 2020-12-01 | 长沙中联重科环境产业有限公司 | Electric washing vehicle for sidewalk |
| CN113465686A (en) * | 2021-09-02 | 2021-10-01 | 江苏洁路宝环保科技有限公司 | Intelligent detection device of sweeper |
| CN113867281A (en) * | 2021-09-09 | 2021-12-31 | 蔡丹迎 | Intelligent factory building management method and system based on big data |
| CN113875605A (en) * | 2021-10-27 | 2022-01-04 | 珠海一微半导体股份有限公司 | Colony house cleaning robot with double-moving structure and control method thereof |
| CN114010105A (en) * | 2021-11-03 | 2022-02-08 | 深圳市芯众云科技有限公司 | Cleaning robot control system and method for controlling cleaning robot |
-
2018
- 2018-01-31 CN CN201810097742.9A patent/CN108113585A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606731A (en) * | 2018-06-08 | 2018-10-02 | 安徽风向标清洁设备有限公司 | Brushing mechanism for sweeper |
| CN109991986A (en) * | 2019-04-25 | 2019-07-09 | 大连交通大学 | A kind of sweeping robot control system |
| CN111184476A (en) * | 2020-01-21 | 2020-05-22 | 常熟理工学院 | Electrostatic adsorption type sweeping robot and control method thereof |
| CN111184476B (en) * | 2020-01-21 | 2021-07-27 | 常熟理工学院 | Electrostatic adsorption type sweeping robot and control method thereof |
| CN112012149A (en) * | 2020-08-18 | 2020-12-01 | 长沙中联重科环境产业有限公司 | Electric washing vehicle for sidewalk |
| CN113465686A (en) * | 2021-09-02 | 2021-10-01 | 江苏洁路宝环保科技有限公司 | Intelligent detection device of sweeper |
| CN113867281A (en) * | 2021-09-09 | 2021-12-31 | 蔡丹迎 | Intelligent factory building management method and system based on big data |
| CN113875605A (en) * | 2021-10-27 | 2022-01-04 | 珠海一微半导体股份有限公司 | Colony house cleaning robot with double-moving structure and control method thereof |
| CN113875605B (en) * | 2021-10-27 | 2023-10-27 | 珠海一微半导体股份有限公司 | Colony house cleaning robot with double moving structures and control method thereof |
| CN114010105A (en) * | 2021-11-03 | 2022-02-08 | 深圳市芯众云科技有限公司 | Cleaning robot control system and method for controlling cleaning robot |
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Application publication date: 20180605 |