CN102727144B - The control device of multi-function robot and automatic separation module thereof and method - Google Patents
The control device of multi-function robot and automatic separation module thereof and method Download PDFInfo
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Abstract
The invention provides control device and the method for a kind of multi-function robot and automatic separation module thereof, this multi-function robot comprises body (1, 1 '), multiple functional module (2) and at least one automatic-separation mechanism (13), described multiple functional module (2) is arranged on described body (1, 1 ') on, this body (1, 1 ') travel mechanism (11) and control module (12) is comprised, automatic-separation mechanism described in each (13) is corresponding with described functional module (2) to be connected, described control module (12) controls described automatic-separation mechanism (13) and connected described functional module (2) is separated from described body (1) or combined.By above technical scheme, as required, the body of one or more functional module from multi-function robot can be separated, when alleviating robot and bearing a heavy burden, do not affect the work of robot, thus extend the operational use time of robot.
Description
Technical field
The present invention relates to a kind of intelligent robot, the control device of especially a kind of multi-function robot and automatic separation module thereof and method.
Background technology
Along with the progress of science and technology, robot has become a kind of common intelligent apparatus, plays an important role in all trades and professions.Usually, a kind of robot has one or more relevant functions.For this function clean, in order to clean room environment, people carry out cleaning floor with floor cleaners such as suction cleaner, sweeper, mops usually, and purify the air of a room with air purifier, but floor cleaner and air purifier only have single floor cleaning and air-cleaning function respectively.Can work to make floor cleaner and air purifier simultaneously, the multifunctional intellectual clean robot with floor cleaning and air-cleaning function has been there is in prior art, as shown in Figure 1, Fig. 1 is multifunctional intellectual clean robot functional block diagram in prior art, and multifunctional intellectual clean robot comprises floor cleaning unit 100a, air cleaning member 200a, travel mechanism 12a and control module 13a.Described floor cleaning unit 100a is used for cleaning floor, described air cleaning member 200a is used for purifying air, travel mechanism 12a is used for driving multifunctional intellectual clean robot at indoor moving, and control module 13a is used for controlling the co-ordination of floor cleaning unit 100a, air cleaning member 200a and travel mechanism 12a.
Particularly, as shown in Figure 2, be the diagrammatic cross-section of multifunctional intellectual clean robot in prior art.Described Multifunctional intelligent robot 1a comprises housing 11a and travel mechanism 12a, and described travel mechanism 12a comprises driving wheel 121a and supporting roller 122a.Wherein said housing 11a inside is provided with floor cleaning unit 100a, air cleaning member 200a.Described floor cleaning unit 100a inside is provided with dirt cylinder 102a, the bottom of floor cleaning unit 100a is provided with ash inlet 103a, this ash inlet 103a is connected with dirt cylinder 102a by air intake passage 104a, the corresponding position of described ash inlet 103a is provided with round brush 105a, and described dirt cylinder 102a is connected with air-out passage 107a by filtering dust net 106a; When ground cleaning unit 100a works, control module (not shown) controls dust sucting motor 109a and drives round brush 105a to rotate, ground foul is collected in described dirt cylinder 102a from ash inlet 103a, air intake passage 104a, in floor cleaning unit 100a runs, air-flow A with foul enters dirt cylinder 102a in the direction of the arrow and flows to air-out passage 107a direction, when foul runs into filtering dust net 106a, be blocked and be slipped in dirt cylinder 102a, air-flow A without foul passes through air-out passage 107a, blows out from air outlet 108a.
Please refer again to Fig. 2, air cleaning member 200a, its inside is provided with air mass sensor 201a, and airstrainer 202a and air channel 203a is tightly connected, and 203a inside, described air channel is provided with centrifugal type wind wheel 204a.When air cleaning member 200a works, described air mass sensor 201a detects air quality, and the value detected is sent to control module (not shown), after control module receives signal, judge that whether air quality is up to standard, if not up to standard, controlling motor 205a drives centrifugal type wind wheel 204a to rotate, contaminated gas is drawn in air cleaning member 200a from air intake opening 206a, and be adsorbed onto on airstrainer 202a and filter, pollutant is trapped in airstrainer 202a, gas after filtration is discharged along B direction from gas outlet 207a.
The concrete structure of above floor cleaning unit 100a and air cleaning member 200a is only an example, can also be any one concrete structure of the prior art.
Above-mentioned multifunctional intellectual clean robot uses rechargeable battery powered work usually, and owing to having floor cleaning unit and air cleaning member simultaneously, weight is comparatively large, drives the driving power consumption of intelligent robot walking large.When carrying out indoor cleaning, generally simultaneously can not clean the work with purification of air in face, if when only carrying out floor cleaning, because air-purifying module will be brought, thus compare waste and drive electric power, if when only carrying out purification of air work, also need band upper ground surface cleaning module, same wastes power, and the energy of rechargeable battery is certain, thus, greatly shorten the operational use time of robot, can not well complete indoor cleaning work.
Summary of the invention
Technical matters to be solved by this invention is, control device and the method for a kind of multi-function robot and automatic separation module thereof are provided for the deficiencies in the prior art, several functions can be provided, and as required, can automatically be separated or combine a certain functional module, while other functional modules are finished the work, alleviate the heavy burden of robot, extend the operational use time of robot.
Technical matters to be solved by this invention is achieved by the following technical solution:
The invention provides a kind of multi-function robot, comprise body, multiple functional module and at least one automatic-separation mechanism, described multiple functional module is arranged on the body, and described body is provided with travel mechanism and control module; Automatic-separation mechanism described in each is corresponding with described functional module to be connected, and described control module controls described automatic-separation mechanism and connected described functional module separated from described body or described functional module and described body combined.
Present invention also offers a kind of method being applied in automatic separation module in multi-function robot, comprise the steps:
Step 1, controls the automatic-separation mechanism action be connected with functional module to be separated, described functional module to be separated is separated from the body of described multi-function robot by described automatic-separation mechanism;
Step 2, controls the travel mechanism action of described multi-function robot, drives described multi-function robot to leave described functional module to be separated by described travel mechanism.
Present invention also offers a kind of control device being applied in automatic separation module in above-mentioned multi-function robot, described control device comprises the control gear being separated control module and telescoping mechanism, and described separation control module is arranged in described body; The control gear of described telescoping mechanism and telescoping mechanism are arranged in described functional module, are separated control module wireless connections with described; Described separation control module determines functional module to be separated according to the signal received, and sends separation/combined command to the control gear of the telescoping mechanism in functional module to be separated described in this; The control gear of described telescoping mechanism accepts the separation command of described separation control module, control described telescoping mechanism to stretch, described functional module is upwards lifted, thus described functional module is separated from described body, or the control gear of described telescoping mechanism accepts the combined command of described separation control module, control described telescoping mechanism to shrink, described functional module is moved down, thus described functional module is combined on described body.
By above technical scheme, as required, the body of one or more functional module from multi-function robot can be separated, when the heavy burden alleviating robot, do not affect again the work of multi-function robot, thus extend the operational use time of robot.
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is multifunctional intellectual clean robot functional block diagram in prior art;
Fig. 2 is multifunctional intellectual clean robot structural profile schematic diagram in prior art;
Fig. 3 is multi-function robot one-piece construction block diagram of the present invention;
Fig. 4 is the functional block diagram of multi-function robot automatic-separation mechanism of the present invention;
Fig. 5 is the method flow diagram of multi-function robot automatic separation module of the present invention;
Fig. 6 is the part-structure schematic diagram of a multi-function robot of the present invention specific embodiment;
Fig. 7 is the structural representation that two functional modules in multi-function robot of the present invention specific embodiment are separated;
Fig. 8 is a kind of structural representation of the telescoping mechanism in automatic-separation mechanism of the present invention;
The functional block diagram of the control gear embodiment one that Fig. 9 is telescoping mechanism shown in Fig. 8;
The functional block diagram of the control gear embodiment two that Figure 10 is telescoping mechanism shown in Fig. 8;
Figure 11 is the another kind of structural representation of the telescoping mechanism of automatic-separation mechanism of the present invention;
Figure 12 is the functional block diagram of the control gear of telescoping mechanism shown in Figure 11;
Figure 13 is the structural representation of the main body of multi-function robot embodiment two of the present invention.
Figure 14 is the functional block diagram being applied in an embodiment of the control device of automatic separation module in multi-function robot of the present invention.
Embodiment
Fig. 3 is multi-function robot one-piece construction block diagram of the present invention, as shown in Figure 3, multi-function robot provided by the present invention comprises main body 1, multiple functional modules 2 and at least one automatic-separation mechanism 13, multiple functional module 2 is arranged on above described body 1, described body 1 is also provided with travel mechanism 11, control module 12 and the first energy supply unit (not shown), described first energy supply unit is electrically connected with each functional module 2 travel mechanism 11 respectively by interface, for providing work capacity for described functional module 2 and travel mechanism 11, described control module 12 enables multi-function robot move by controlling travel mechanism 11.Automatic-separation mechanism 13 or functional module are also provided with the second energy supply unit, for providing work capacity for automatic-separation mechanism 13.Described multiple functional module, be floor cleaning module 20 and air-purifying module 21 in one particular embodiment of the present invention, described floor cleaning module 20 and air-purifying module 21 are folded to be successively located on body 1, and carries out work by the work order of reception control unit 12.The described functional module 2 that automatic-separation mechanism 13 described in each is corresponding with it with one is connected, described control module 12 controls described automatic-separation mechanism 13 and connected described functional module 2 is separated from described body 1, or described functional module 2 and described body 1 is combined.
In one particular embodiment of the present invention, described control module 12 comprises the first signal receiving unit 121, CPU (central processing unit) 122 and the first signal transmitting unit 123, the signal that described first signal receiving unit 121 receives comprises, user is by the control signal of the control panel input on body 1, or the status signal that each functional module sends, or come from the status signal of described automatic-separation mechanism 13, or the status signal detected by body.
Because common robot all has for providing interactive control panel, therefore, control module 12 can receive by the first signal receiving unit 121 instruction inputted by this control panel, and such as, this instruction may be used for indicating concrete which functional module of separation.Concrete operations as, an inventory is set, it states clearly the functional module that can be separated, user can browse this inventory by control panel, and selects one or more functional module, after determining done selection, control module 12 will receive this instruction, and know to be separated which functional module.Again such as, user can force to select by which functional module to be worked by control panel, and e.g., user can select to control floor cleaning module 20 in a certain period and work, and controls air-purifying module 21 work in a certain period.
Each functional module 2 can send status signal to control module 12, such as, when described functional module 2 is air-purifying module 21, described status signal is air quality status signal, control module 12 judges whether to need to carry out purification of air according to this air quality status signal, namely the need of startup air-purifying module 21, if do not needed, then do not need when mobile with air-purifying module 21.
When described functional module 2 is floor cleaning module 20, described status signal is state of ground signal, control module 12 judges whether to need to carry out floor cleaning according to this state of ground signal, namely the need of startup air-purifying module 21, if do not needed, then do not need when mobile with floor cleaning module 20.
Certainly, the present invention is not limited to above-mentioned two kinds of operational modules, and functional module also can be air wetting module, and when functional module is air wetting module, described status signal is humidity of air signal etc.
In addition, automatic-separation mechanism 13 can send status signal to described control module 12, represent the contents such as duty is good, exception, according to this status signal, control module 12 determines whether this automatic-separation mechanism can be used, if available, then send the instruction being separated or combining, if unavailable to it, then do not send to it instruction being separated or combining, the action namely no longer performing combination or be separated.Now, can report to the police or carry out other work.Certainly, automatic-separation mechanism 13 can send status signal always, also can send signal again when there are abnormal (as electrical fault, telescoping mechanism fault etc.).
Multi-purpose machine human body is also provided with the various sensor corresponding to difference in functionality module, as air mass sensor and dust sensor etc.When the status signal detected by the sensor on body is correspond to the signal that a functional module does not need work, this multi-function robot can be determined now to need to be separated this functional module, and can determine that the functional module corresponding with the status signal that this body detects is functional module to be separated.
In addition, the signal that multi-function robot provided by the invention also can be detected by body judges combination or replaces a certain functional module.Such as, for in specific embodiment provided by the invention, functional module is respectively floor cleaning module 20 and air-purifying module 21, body is provided with air mass sensor and dust sensor, for when only having floor cleaning module 20 to work, also air mass signal can be detected, when the air mass signal value that body detects is greater than predetermined value, this robot can determine that needing to start air-purifying module 21 works, now, by stopping the work of ground cleaning module 20, finding air-purifying module 21, starting air-purifying module 21 and working.Otherwise, when air-purifying module 21 works, if when body detects that dust signal value is greater than predetermined value, this robot can determine that needing to start floor cleaning module 20 works, now, by stopping the work of air-purifying module 21, finding floor cleaning module 20, starting floor cleaning module 20 and working.
Fig. 4 is the functional block diagram of multi-function robot automatic-separation mechanism of the present invention, as shown in Figure 4 with reference to Figure 3, the invention provides one and be applied in automatic-separation mechanism 13 in multi-function robot, it comprises telescoping mechanism 131 and control gear 132, described telescoping mechanism 131 is fixed in functional module 2, during work, described control module 12 determines functional module to be separated according to the signal received, and send wireless separation command signal to the control gear 132 of the telescoping mechanism in functional module to be separated described in this, the control gear 132 of described telescoping mechanism is according to the separation command signal received, control described telescoping mechanism 131 to stretch, described functional module 2 is upwards lifted, thus this functional module 2 is separated with body 1, or when described functional module 2 is with body 1 released state, described control module 12 determines functional module to be combined according to the signal received, and send wireless combination command signal to the control gear 132 of the telescoping mechanism in functional module to be combined described in this, described telescoping mechanism 131 shrinks, described functional module 2 is moved down, thus described functional module is combined on described body 1.
Fig. 5 is the method flow diagram of multi-function robot automatic separation module of the present invention, and as shown in Figure 6, the method flow of multi-function robot automatic separation module is as follows:
Method one: the method only can comprise step S100 in Fig. 5, S101, S102, S105 and S107.In the method, these steps perform successively by sequence number size.
Step S100, control module 12 Received signal strength, it should be noted that, this signal comprises the control signal of user by the control panel input on body 1, or the status signal that each functional module sends, or comes from the status signal of body detection.
Step S101, judges whether to need separate functional blocks, if needed, performs step S102, if do not needed, returns step S100.
Step S102, determines functional module to be separated.
Step S105, controls automatic-separation mechanism 13 action that is connected with functional module to be separated, the body of described functional module to be separated and described multi-function robot or other functional modules is separated by described automatic-separation mechanism 13.It should be noted that, also comprise such two steps in step S105, first, the first signal transmitting unit 123 in control module 12 sends separation command to the control gear 132 of the telescoping mechanism in automatic-separation mechanism; Then, the control gear 132 of described telescoping mechanism, according to separation command, controls telescoping mechanism 131 and stretches, functional module to be separated upwards lifted by described telescoping mechanism 131.
Step S107, control module 12 controls travel mechanism 11 action of multi-function robot, drives multi-function robot to leave described functional module to be separated by described travel mechanism 11.
Method two:
The method, except comprising step S100 in method one i.e. Fig. 5, S101, S102, S105 and S107, also comprised before step S105:
Step S104, is separated adjacent functional module, and the functional module above adjacent by functional module to be separated and the body 1 of described multi-function robot are separated.
Also comprise after step S105:
Step S106, is recombined into the functional module above adjacent for described functional module to be separated on the body 1 of described multi-function robot.
By the flow process described in method two, if when functional module to be separated is positioned at multiple functional module middle, the functional module mediated can be separated.
In the above described two methods, after determining functional module to be separated, if comprise step S103 also have received the status signal coming from described automatic-separation mechanism, if this status signal is abnormal, then sends in step S108 and report to the police and stop the action of this functional module of separation; If not abnormal, then perform step S105.By this step, can determine before separate functional blocks that the automatic-separation mechanism be connected with this functional module is in good condition, ensure that the accuracy of separation.
Fig. 6 is the part-structure schematic diagram of multi-function robot embodiment one of the present invention, Fig. 7 is the structural representation that two functional modules of multi-function robot embodiment one of the present invention are separated, as Fig. 6 and with reference to shown in Fig. 7, in the present embodiment, have two functional modules, one is floor cleaning module 20, one is air-purifying module 21, floor cleaning module 20 is positioned at the below of air-purifying module 21, and integrate with main body 1, its principles and structure is identical with background technology, does not repeat them here.See Fig. 7, two adjacent functional modules are folded to be located at together, each functional module is provided with the first bindiny mechanism, and described bindiny mechanism comprises and is evenly arranged on multiple guide pillars in a functional module 70 and is arranged on guide groove 71 corresponding with multiple guide pillar 70 on adjacent function modules.When two functional modules merge, functional module with multiple guide pillar 70 declines gradually, makes described guide pillar 70 insert the guide groove 71 that adjacent function modules is arranged, when guide pillar 70 inserts guide groove 71 completely, merging work completes, and two functional modules can be made to merge fixing.In the figure 7, the functional module above described, as air-purifying module 21 is provided with automatic-separation mechanism 13, described automatic-separation mechanism 13 comprises telescoping mechanism and control gear thereof.Wherein, a kind of structural representation of the telescoping mechanism of the automatic-separation mechanism in multi-function robot embodiment one of the present invention as shown in Figure 8.
See Fig. 8, it is a kind of structural representation of the telescoping mechanism in automatic-separation mechanism of the present invention; The telescoping mechanism 131 of automatic-separation mechanism comprises air pump (1320) and feet 131a in the present embodiment, wherein, feet 131a comprises air chamber 1310, piston 1311 and expansion link 1312, described piston 1311 is located at the inside of described air chamber 1310, described air chamber 1310 is divided into upper and lower two chambers 1314,1315, one end of described expansion link 1312 is connected with described piston 1311, and the other end stretches out described air chamber 1310; On described air chamber 1310, corresponding upper chamber 1314 is provided with entry/exit gas port 1313; Or on described air chamber 1310, corresponding chamber 1314,1315 is up and down respectively equipped with air intake opening and gas outlet (another kind of embodiment, not shown).
When multi-function robot carries out functional module mask work, air-flow enters air chamber 1310 along D direction by entry/exit gas port 1313 from air pump 1320, air pressure in upper chamber 1314 increases, promoting piston 1311 drives expansion link 1312 to move along E direction, functional module to be separated can be lifted, make it depart from multi-purpose machine human body.When multi-function robot carries out functional module merging work, air-flow flows out air chamber 1310 along the opposite direction of D by entry/exit gas port 1313, air pressure in upper chamber 1314 reduces, gravity due to functional module to be combined itself makes expansion link 1312 be subject to anchorage force F, thus driven plunger 1311 and expansion link 1312 move along the opposite direction of E, functional module to be combined is declined, thus with multi-function robot ontology merging.
The functional block diagram of the control gear embodiment one that Fig. 9 is telescoping mechanism shown in Fig. 8, as Fig. 9 with reference to shown in figure 8, the control gear 132 of telescoping mechanism comprises air valve 1321, air valve controller 1323 and secondary signal receiving element 1322 on the pipeline that is arranged between described air pump 1320 and entry/exit gas port 1313 or between described air pump 1320 and air intake opening.Described secondary signal receiving element 1322 receives the instruction that control module 12 sends, and this instruction is sent to air valve controller 1323, described air valve controller 1323 transmits control signal air-supply valve 1321, described air valve 1321 is according to this instruction unpack or closedown, air pump 1320 is inflated in air chamber 1310, thus control stretching out of expansion link 1312, or gas in air chamber 1310 is spilt into air from air valve 1321.
In the present embodiment, telescoping mechanism is controlled by pneumatic mode, air pump is wherein a minitype pump, and air valve, air valve controller can adopt any one of the prior art, such as, when in air valve with controlling functions time, controller that can be independent, but, if just common air valve, then needing increase controller, can be specifically the fritter circuit board being integrated with control element.Because this technology belongs to existing mature technology, therefore, do not repeat them here.
The functional block diagram of the control gear embodiment two that Figure 10 is telescoping mechanism shown in Fig. 8, as Figure 10 and with reference to shown in figure 8, the present embodiment and embodiment one difference are, the air-flow import/export of blower fan 103 is connected with entry/exit gas port 1313, the instruction of the control module 12 that controller of fan 102 is received by secondary signal receiving element 101, and transmit control signal to described blower fan 103, control turning to and rotating speed of blower fan 103, thus control the retracted position of expansion link 832.
Figure 11 is the another kind of structural representation of the telescoping mechanism of automatic-separation mechanism of the present invention, and as shown in figure 11, automatic-separation mechanism 110 comprises in the present embodiment, drive motor 115, rotation section, fork 111 and push rod 112.Rotation section is reduction gearing 114, and the output shaft of drive motor 115 is provided with little transmission gear 113, and reduction gearing 114 is meshed with the gear teeth of transmission gear 113, and thus, reduction gearing 114 is connected with the output shaft of drive motor 115 by transmission gear 113.One end of fork 111 is hinged on wheel body one side of reduction gearing 114, the pin joint of fork 111 and reduction gearing 114 is R to the distance at reduction gearing 114 center, one end of described fork 111 other end and push rod 112 is hinged, the stroke of push rod 112 is r, then r=2R, the free end of push rod 112 opposite side coaxially arranges a guiding mechanism (not shown), makes push rod free end keep rectilinear motion.When multi-function robot carries out functional module mask work, drive motor 115 starts, and drive pinion wheel 113 to rotate, pinion wheel 113 drives reduction gearing 114 to rotate, reduction gearing 114 drives fork 111 to move in a circle, and fork 111 drives push rod 112 to do rectilinear motion.Whenever reduction gearing 114 half revolution, fork 111 drives push rod 112 to keep straight on travel distance S, S=2R.The stroke of push rod 112 is r, if r=S=2R, then push rod 112 just take action distance S time, functional module to be separated rises to peak, makes it depart from multi-purpose machine human body.When multi-function robot carries out functional module merging, drive motor 115 does reverse rotation, pinion wheel 113 is made to drive reduction gearing 114 to drive fork 111 to do reverse circular motion, fork 111 drives push rod 112 to keep straight on and returns distance S, S=2R, functional module to be combined is declined, thus with multi-function robot ontology merging.
Certainly, if do not need to slow down to the output speed of drive motor, rotation section can be any one revolving meber, and it is directly connected with the output shaft of drive motor.One end of fork is hinged on side, rotation section one, the pin joint of fork and rotation section is R to the distance at center, rotation section, one end of the fork other end and push rod is hinged, the stroke of push rod is r, then r=2R, the free end of push rod opposite side coaxially arranges a guiding mechanism, makes push rod free end keep rectilinear motion.Remaining working method is identical with above-mentioned employing ways of deceleration, does not repeat them here.
Figure 12 is the functional block diagram of the control gear of telescoping mechanism shown in Figure 11, as Figure 12 and in conjunction with shown in Figure 11, the control gear 120 of described telescoping mechanism comprises electric machine controller 122 and secondary signal receiving element 121, described electric machine controller 122 receives the instruction of described control module 12 by secondary signal receiving element 121, and transmit control signal to described drive motor 115, for controlling turning to and rotating speed of drive motor 155, thus control the retracted position of push rod 112.
In the embodiment above, nethermost floor cleaning module and main body integrate, inseparable, certainly all functional modules and main body all can be separated, comprise nethermost functional module, wherein the simplest a kind of structure is, main body is only a framework, this framework as shown in figure 13, Figure 13 is the structural representation of the main body of another embodiment of multi-function robot of the present invention, main body 1 ' comprises two driving wheels 11 ', an engaged wheel 12 ' and two drive motor 13 ', the signal of described two drive motor 13 ' reception control unit (not shown), by driving two driving wheels 11 ' and driving engaged wheel 12 ' to make main body 1 ' move.Described multiple functional module stacks and to go up in main body 1 ' and to fix, and operationally, main body 1 ' delivers multiple functional module and carries out work, and its method of work is identical with embodiment one, does not repeat them here.
In the embodiment above, control module in multi-function robot can be separately for realizing the separation control module of separate functional blocks, now, this control module does not have other controlling functions, the control as walking mode, the control to each functional module co-ordination etc.On the other hand, in the embodiment above, the control module in multi-function robot also can be used to the control assembly controlling this multi-function robot all functions co-ordination, namely total control module.Such as, except there is the controlling functions of foregoing separate functional blocks, also comprise other various relevant control functions.In order to improve the extendability of this multi-function robot, in one embodiment of the invention, comprise at total control module of this multi-function robot and be separated the such functional module of control module, the control gear of the telescoping mechanism in this separation control module and foregoing embodiments is (for the control gear 132 of telescoping mechanism, the control gear 100 of the telescoping mechanism in other each embodiments, 120 is similar) form the control device of automatic separation module.As shown in figure 14, be separated control module 140 and be arranged in body, it can be a functional module in control module 12 to the functional block diagram of this control device.Control gear 132 and the telescoping mechanism of described telescoping mechanism are arranged in functional module, are separated control module 140 wireless connections with described.The control gear 132 of described telescoping mechanism accepts the separation command of described separation control module, control described telescoping mechanism to stretch, described functional module is upwards lifted, thus described functional module is separated from described body 1, or described functional module is moved down, thus described functional module is combined on described body 1.Detailed process, as described in above-described embodiment, does not repeat them here.
Artificially routine with the multi-purpose machine with two functional modules below, described functional module one is floor cleaning module, and one is air-purifying module, and air-purifying module is provided with automatic-separation mechanism, is described as follows its course of work:
When this multi-function robot is started working, first judge that room air is the need of purification.Multi-function robot simply can run a circle around indoor wall, and whether the concentration of narmful substance detected in room air by the air mass sensor that air-purifying module loads is exceeded standard.If concentration of narmful substance exceeds standard, then the integrated mode that robot combines with floor cleaning module and air-purifying module carries out work.Robot, while clean ground, purifies the air of a room; If concentration of narmful substance does not exceed standard, then robot starts clastotype, control module (or being separated control module) controls automatic-separation mechanism and is separated from robot body by air-purifying module, robot only carries out flooring cleaning, thus alleviate the heavy burden of robot, extend the operational use time of robot.
When needs perform integrated mode work again, this multi-function robot finds this air-purifying module, instruction is sent to automatic-separation mechanism by control module, to have air chamber 1310, the telescoping mechanism 131 of piston 1311 and expansion link 1312 is example, as shown in Figure 8, air-flow flows out air chamber 1310 along the opposite direction of D by entry/exit gas port 1313, air pressure in upper chamber 1314 reduces, gravity due to air-purifying module itself makes expansion link 1312 be subject to anchorage force F, thus driven plunger 1311 and expansion link 1312 move along the opposite direction of E, the height of air-purifying module is constantly declined, until the guide pillar that air-purifying module is arranged inserts the guide pillar groove that floor cleaning module is arranged completely.
In addition, the automatic-separation mechanism in the present embodiment also can be loaded on Robot cleaning module, or arranges automatic-separation mechanism respectively in floor cleaning module and air-purifying module.
By above embodiment, multi-function robot provided by the invention has at least one automatic-separation mechanism, by automatic-separation mechanism, a certain temporary idle functional module is separated from main body, neither affect the work of other functional modules, alleviate again the heavy burden of robot, save energy, improve the operational use time of robot.
Claims (26)
1. a multi-function robot, comprise body (1,1 ') and multiple functional module (2), described multiple functional module (2) is arranged on described body (1,1 ') on, described body (1,1 ') is provided with travel mechanism (11) and control module (12);
It is characterized in that, also comprise at least one automatic-separation mechanism (13), each automatic-separation mechanism (13) is corresponding with functional module (2) to be connected, described control module (12) controls described automatic-separation mechanism (13) by connected described functional module (2) from described body (1,1 ') separate on, or described functional module (2) and described body (1,1 ') are grouped together.
2. multi-function robot as claimed in claim 1, it is characterized in that, described automatic-separation mechanism (13) comprises telescoping mechanism (131,110) and control gear (132,100,120), described telescoping mechanism (131,110) be fixed in functional module (2), the control gear (132,100,120) of described telescoping mechanism receives the separation/combined command of described control module (12), control the flexible of described telescoping mechanism (131,110); When described functional module (2) is with described body (1) assembled state, described telescoping mechanism (131,110) stretch out, described functional module (2) is upwards lifted, thus described functional module (2) is separated from described body (1); When described functional module (2) is with described body (1) released state, described telescoping mechanism (131,110) shrink, described functional module (2) is moved down, thus described functional module is combined on described body (1).
3. multi-function robot as claimed in claim 2, it is characterized in that, described telescoping mechanism (131) comprises source of the gas, air chamber (1310), piston (1311) and expansion link (1312); It is inner that described piston (1311) is located at described air chamber (1310), described air chamber (1310) is divided into upper and lower two chambers (1314,1315); One end of described expansion link (1312) is connected with described piston (1311), and the other end stretches out described air chamber (1310); On described air chamber (1310), corresponding upper and lower two chambers are respectively equipped with air intake opening and gas outlet; Or on described air chamber (1310), a corresponding chamber is provided with entry/exit gas port (1313); Described source of the gas communicates with described air intake opening, or described source of the gas communicates with described gas outlet, or described source of the gas communicates with described entry/exit gas port (1313).
4. multi-function robot as claimed in claim 3, it is characterized in that, described source of the gas is air pump (1320), the control gear (132) of described telescoping mechanism comprises and is arranged between described air pump (1320) and air intake opening, air valve (1321) on pipeline between described air pump (1320) and gas outlet or between described air pump (1320) and entry/exit gas port (1313) and secondary signal receiving element (1322), described secondary signal receiving element (1322) receives the instruction that described control module (12) sends, and this instruction is sent to air valve (1321), described air valve (1321) is according to this instruction unpack and closedown, inflated in described air chamber (1310) by described air pump (1320) or exit from described air chamber (1310), thus control the retracted position of expansion link (1312).
5. multi-function robot as claimed in claim 4, it is characterized in that, the control gear of described telescoping mechanism also comprises air valve controller (1323); Described air valve controller (1323) receives the instruction of described control module (12) by described secondary signal receiving element (1322), and transmits control signal to described air valve (1321).
6. multi-function robot as claimed in claim 3, it is characterized in that, described source of the gas is blower fan (103), the control gear (100) of described telescoping mechanism comprises controller of fan (102) and secondary signal receiving element (101), the air-flow import/export of described blower fan (103) is connected with the gas import/export (1313) of described air chamber (1310), described controller of fan (102) receives the instruction of described control module (12) by secondary signal receiving element (101), and transmit control signal to described blower fan (103), for controlling turning to and rotating speed of blower fan (103), thus control the retracted position of expansion link (1312).
7. multi-function robot as claimed in claim 2, it is characterized in that, described telescoping mechanism (110) comprises drive motor (115), rotation section, fork (111) and push rod (112), described rotation section is connected with the output shaft of described drive motor (115), one end of described fork (111) is hinged on a side of described rotation section, the other end of described fork (111) and one end of described push rod (112) hinged; The centre of gyration interval of the pin joint of described fork (111) on rotation section and rotation section is arranged.
8. multi-function robot as claimed in claim 7, it is characterized in that, described rotation section is reduction gearing (114), the output shaft of described drive motor (115) is provided with transmission gear (113), and described reduction gearing (114) is meshed with the gear teeth of described transmission gear (113).
9. multi-function robot as claimed in claim 7, it is characterized in that, described push rod (112) is provided with guiding mechanism, and the free end of described guiding mechanism and push rod (112) is coaxially arranged, and makes the free end of push rod (112) keep rectilinear motion.
10. the multi-function robot as described in any one of claim 7-9, it is characterized in that, the control gear (120) of described telescoping mechanism comprises electric machine controller (122) and secondary signal receiving element (121), described electric machine controller (122) receives the instruction of described control module (12) by secondary signal receiving element (121), and transmit control signal to described drive motor (115), for controlling turning to and rotating speed of drive motor (115), thus control the retracted position of push rod (112).
11. multi-function robots as claimed in claim 1, it is characterized in that, described control module (12) comprises the first signal receiving unit (121), CPU (central processing unit) (122) and the first signal transmitting unit (123), the signal received is sent to described CPU (central processing unit) (122) by described first signal receiving unit (121), described CPU (central processing unit) (122) judges the functional module needing to be separated/to combine according to received signal, and by the first signal transmitting unit (123), control signal is sent to and the described automatic-separation mechanism needing the functional module being separated/combining to be connected.
12. multi-function robots as claimed in claim 11, is characterized in that, first signal transmitting unit (123) of described control module (12) is wireless signal to the control signal that described automatic-separation mechanism sends.
13. multi-function robots as claimed in claim 11, it is characterized in that, the signal that described first signal receiving unit (121) receives comprises the control signal of user by the control panel input on body, or the status signal that each functional module sends, or come from the status signal of described automatic-separation mechanism, or the status signal that body (1) detects.
14. multi-function robots as claimed in claim 13, is characterized in that, when described functional module comprises air-purifying module, the status signal that described functional module sends comprises air quality status signal; When described functional module comprises floor cleaning module, the status signal that described functional module sends comprises floor cleaning status signal; When described functional module comprises air wetting module, the status signal that described functional module sends comprises humidity of air signal.
15. multi-function robots as claimed in claim 13, is characterized in that, the status signal that described automatic-separation mechanism sends to described first signal receiving unit is wireless signal.
16. multi-function robots as claimed in claim 1, it is characterized in that, described functional module is provided with the first bindiny mechanism, and for making, adjacent functional module is folded to be located at together.
17. multi-function robots as claimed in claim 16, it is characterized in that, described first bindiny mechanism comprises the guide pillar (70) be arranged in a functional module and the guide groove (71) be arranged on adjacent function modules, and described guide pillar (70) and described guide groove (71) cooperatively interact.
18. multi-function robots as claimed in claim 1, it is characterized in that, (1) also comprises the first energy supply unit to described body, described first energy supply unit is electrically connected with each functional module and travel mechanism respectively by interface, for providing work capacity for described functional module and travel mechanism; Described functional module or automatic-separation mechanism are provided with the second energy supply unit, for providing work capacity for described automatic-separation mechanism.
19. multi-function robots as claimed in claim 1, it is characterized in that, described functional module comprises the function control unit of this functional module, and described function control unit is connected with the control module signal on described body.
20. 1 kinds of methods being applied in automatic separation module in multi-function robot, is characterized in that, comprise the steps:
Step S105, controls the automatic-separation mechanism action be connected with functional module to be separated, described functional module to be separated is separated from the body of described multi-function robot by described automatic-separation mechanism;
Step S107, controls the travel mechanism action of described multi-function robot, drives described multi-function robot to leave described functional module to be separated by described travel mechanism.
The method of 21. automatic separation modules as claimed in claim 20, it is characterized in that, when described automatic-separation mechanism comprises telescoping mechanism and control gear thereof, the automatic-separation mechanism action that the control in described step S105 is connected with functional module to be separated specifically comprises the following steps:
Step S1051, the control gear to described telescoping mechanism sends separation command;
Step S1052, the control gear of described telescoping mechanism, according to described separation command, controls described telescoping mechanism and stretches, functional module to be separated upwards lifted by described telescoping mechanism.
The method of 22. automatic separation modules as claimed in claim 20, is characterized in that, before step S105, further comprising the steps of:
Step S100, Received signal strength, described signal comprises the control signal of user by the control panel input on body, or the status signal that each functional module sends, or the status signal that body detects;
Step S101, judges whether to need separate functional blocks, if needed, performs step S102, if do not needed, returns step S100;
Step S102, determines functional module to be separated.
The method of 23. automatic separation modules as claimed in claim 22, it is characterized in that, if the signal received comprises the status signal that each functional module sends, in step S101, if the status signal that functional module sends is the signal not needing work, then determine to need to be separated this functional module, in step s 102, determine that sending this does not need the functional module of working signal to be functional module to be separated.
The method of 24. automatic separation modules as claimed in claim 22, it is characterized in that, if the signal received comprises the status signal that body detects, in step S101, if the status signal that body detects is correspond to the signal that a functional module does not need work, then determine to need to be separated this functional module, in step s 102, determine that the functional module that the status signal that detects with this body is corresponding is functional module to be separated.
The method of 25. automatic separation modules as claimed in claim 22, is characterized in that, after step s 102, comprise step S103:
Step S103, judges whether to receive the status signal coming from described automatic-separation mechanism, and judges that whether this status signal is abnormal, if be abnormal, sends and reports to the police and stop the action of this functional module of separation; If not abnormal, then perform step S105.
26. as arbitrary in claim 20-25 as described in the method for automatic separation module, it is characterized in that, when functional module to be separated is positioned at multiple functional module middle, also comprised the steps: before step S105
Step S104, is separated the body of the functional module above adjacent for functional module to be separated and described multi-function robot;
Also step S106 is comprised between step S105 and step S107:
Step S106, is recombined into the functional module above adjacent for described functional module to be separated on the body of described multi-function robot.
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| CN201110091558.1A CN102727144B (en) | 2011-03-31 | 2011-03-31 | The control device of multi-function robot and automatic separation module thereof and method |
| CN201410464476.0A CN104287676B (en) | 2011-03-31 | 2011-03-31 | Control device of automatic separation functional module applied to multifunctional robot |
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| CN103162060B (en) * | 2013-03-06 | 2014-10-22 | 北京隆科兴非开挖工程有限公司 | Steering mechanism of pipeline walking robot |
| CN105573311A (en) * | 2014-10-11 | 2016-05-11 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN105982621B (en) * | 2016-04-14 | 2019-12-13 | 北京小米移动软件有限公司 | Automatic cleaning equipment's wind path structure and automatic cleaning equipment |
| CN111973085B (en) * | 2016-04-14 | 2022-09-30 | 北京小米移动软件有限公司 | Autonomous cleaning device |
| CN107397512B (en) * | 2016-05-19 | 2023-09-15 | 科沃斯机器人股份有限公司 | Combined robot and combined control method thereof |
| CN106175606B (en) * | 2016-08-16 | 2019-02-19 | 北京小米移动软件有限公司 | The method, apparatus that robot and its realization independently manipulate |
| CN109556200A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556252A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556238A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556197A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556199A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556198A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
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| CN115067802A (en) * | 2021-03-15 | 2022-09-20 | 科沃斯机器人股份有限公司 | Self-moving equipment, system, module and control method |
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| CN102727144A (en) | 2012-10-17 |
| CN104287676B (en) | 2017-02-15 |
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