CN113303718A - Sweeping robot system with carrying function and control method thereof - Google Patents

Sweeping robot system with carrying function and control method thereof Download PDF

Info

Publication number
CN113303718A
CN113303718A CN202110566086.4A CN202110566086A CN113303718A CN 113303718 A CN113303718 A CN 113303718A CN 202110566086 A CN202110566086 A CN 202110566086A CN 113303718 A CN113303718 A CN 113303718A
Authority
CN
China
Prior art keywords
sweeping robot
carrier
charging pile
lifting platform
move
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110566086.4A
Other languages
Chinese (zh)
Other versions
CN113303718B (en
Inventor
魏年勇
王永超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Barnes & Noble Robot Co ltd
Original Assignee
Shenzhen Barnes & Noble Robot Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Barnes & Noble Robot Co ltd filed Critical Shenzhen Barnes & Noble Robot Co ltd
Priority to CN202110566086.4A priority Critical patent/CN113303718B/en
Publication of CN113303718A publication Critical patent/CN113303718A/en
Application granted granted Critical
Publication of CN113303718B publication Critical patent/CN113303718B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • 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
    • A47L2201/02—Docking stations; Docking operations

Landscapes

  • Manipulator (AREA)

Abstract

The application provides a sweeping robot system with a carrying function and a control method thereof; the robot system of sweeping the floor includes: the sweeping robot comprises a carrier, a sweeping robot assembly and a charging pile assembly; the sweeping robot assembly comprises a sweeping robot and an adsorption structure arranged on the surface of the sweeping robot; the carrier is detachably connected with the sweeping robot through an adsorption structure; the charging pile assembly comprises a charging pile for supplying power to the sweeping robot and a lifting platform which is arranged on the charging pile and used for loading and unloading the carrier; when the lifting platform loads the carrier on the sweeping robot, the charging pile drives the lifting platform to move downwards, and the carrier is loaded on the sweeping robot; when the lifting platform unloads the carrier on the sweeping robot, the charging pile drives the lifting platform to move upwards, and the carrier is separated from the sweeping robot. This application makes the robot of sweeping the floor possess the delivery function, when needs were taken by the transport object, only need control the robot motion of sweeping the floor and can transport it in front of the user for it is more convenient at home life.

Description

Sweeping robot system with carrying function and control method thereof
Technical Field
The application relates to the technical field of sweeping robots, in particular to a sweeping robot system with a carrying function and a control method thereof.
Background
The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, generally adopts a brushing and vacuum mode, firstly absorbs the impurities on the ground into a garbage storage box of the floor sweeping robot, and accordingly the function of cleaning the ground is achieved.
The existing sweeping robot can automatically complete floor cleaning work in a room by means of certain artificial intelligence, has the functions of voice control, automatic recharging, sound source positioning, movement obstacle avoidance and the like, and can reach a specified place through a voice instruction.
However, the existing sweeping robot has a single function, can only complete the ground cleaning work, and cannot provide a carrying function as a carrier. For the household equipment with daily use requirements, a user needs to walk to a position where the equipment is placed every time to take the equipment. Access to such devices is particularly difficult when there are more rooms or when the user is not mobile.
Disclosure of Invention
In view of the above problems, the present application is proposed to provide a sweeping robot system with a carrying function and a control method thereof, which overcome or at least partially solve the problems, and comprises:
a sweeping robot system with a carrying function comprises: the sweeping robot comprises a carrier, a sweeping robot assembly and a charging pile assembly;
the sweeping robot assembly comprises a sweeping robot and an adsorption structure arranged on the surface of the sweeping robot; the carrier is detachably connected with the sweeping robot through the adsorption structure; the charging pile assembly comprises a charging pile for supplying power to the sweeping robot and a lifting platform which is arranged on the charging pile and used for loading and unloading the carrier;
when the carrier is loaded on the sweeping robot by the lifting platform, the charging pile drives the lifting platform to move downwards, and the carrier is loaded on the sweeping robot;
when the lifting platform unloads the carrier on the sweeping robot, the charging pile drives the lifting platform to move upwards, and the carrier is separated from the sweeping robot.
Preferably, an electric push rod for driving the lifting platform to move is arranged inside the charging pile;
one end of the lifting platform is connected with the movable end of the electric push rod, and the other end of the lifting platform penetrates through the wall layer of the charging pile and extends to the outside of the charging pile;
when the lifting platform loads the carrier on the sweeping robot, the electric push rod drives the lifting platform to move downwards to load the carrier on the sweeping robot;
when the lifting platform unloads the carrier on the sweeping robot, the electric push rod drives the lifting platform to move upwards, so that the carrier is separated from the sweeping robot.
Preferably, the lifting platform comprises a first fork and a second fork which are positioned on the same horizontal plane; the end parts of the first pallet fork and the second pallet fork are respectively and fixedly connected with the movable end of the electric push rod.
Preferably, the lifting platform further comprises a connecting rod; the end of the connecting rod is connected with the first fork and the second fork respectively.
Preferably, the surfaces of the first fork, the second fork and the connecting rod are provided with anti-slip layers for preventing the vehicle from slipping.
Preferably, the carrier is a barrel structure with an upward opening.
Preferably, the adsorption structure comprises two or more; the adsorption structure is symmetrically arranged on the surface of the sweeping robot.
A control method of the sweeping robot system relates to the sweeping robot and the charging pile;
the method comprises the following steps:
the sweeping robot receives a voice signal, and determines a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal;
if the control instruction is loading, the sweeping robot sends a first moving instruction to the charging pile; the charging pile is used for receiving the first moving instruction sent by the sweeping robot and driving the lifting platform to move to a preset loading position according to the first moving instruction;
the sweeping robot moves to a preset target position; after the sweeping robot moves to the target position, the charging pile is also used for driving the lifting platform to move, and the carrier is loaded on the sweeping robot;
after the carrier is loaded, the sweeping robot drives the carrier to move to the sound source position;
or;
if the control instruction is unloading, the sweeping robot sends a second moving instruction to the charging pile; the charging pile is used for receiving the second moving instruction sent by the sweeping robot and driving the lifting platform to move to a preset unloading position according to the second moving instruction;
the sweeping robot moves to a preset target position; when the sweeping robot moves to the target position, the charging pile is further used for driving the lifting platform to move, and the carrier is separated from the sweeping robot.
A control method of the sweeping robot system relates to the sweeping robot and the charging pile; the sweeping robot is used for receiving a voice signal, and determining a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal; the sweeping robot is further used for sending a first moving instruction or a second moving instruction to the charging pile according to the control instruction;
the method comprises the following steps:
if the control instruction is loading, the charging pile receives the first moving instruction sent by the sweeping robot, and drives the lifting platform to move to a preset loading position according to the first moving instruction;
after the sweeping robot moves to a preset target position, the charging pile drives the lifting platform to move, and the carrier is loaded on the sweeping robot; after the carrier is loaded, the sweeping robot is further used for driving the carrier to move to the sound source position;
or;
if the control instruction is unloading, the charging pile receives the second moving instruction sent by the sweeping robot, and drives the lifting platform to move to a preset unloading position according to the second moving instruction;
when the sweeping robot moves to a preset target position, the charging pile drives the lifting platform to move, and the carrier is separated from the sweeping robot.
The application has the following advantages:
in the embodiment of the application, the vehicle, the sweeping robot assembly and the charging pile assembly are used; the sweeping robot assembly comprises a sweeping robot and an adsorption structure arranged on the surface of the sweeping robot; the carrier is detachably connected with the sweeping robot through the adsorption structure; the charging pile assembly comprises a charging pile for supplying power to the sweeping robot and a lifting platform which is arranged on the charging pile and used for loading and unloading the carrier; when the carrier is loaded on the sweeping robot by the lifting platform, the charging pile drives the lifting platform to move downwards, and the carrier is loaded on the sweeping robot; work as the elevating platform uninstallation on the robot of sweeping the floor during the carrier, fill electric pile drive the elevating platform rebound, will the carrier with the robot separation of sweeping the floor for the robot of sweeping the floor possesses the delivery function, when the user need take by the carrier, need not walk to the parking position by the carrier in person, only need control the robot motion of sweeping the floor and can transport it user place, makes the life at home more convenient.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a sweeping robot system with a carrying function according to an embodiment of the present application.
The reference numbers in the drawings of the specification are as follows:
1. a sweeping robot; 11. a microphone array; 2. an adsorption structure; 3. charging piles; 4. a lifting platform; 41. a first fork; 42. a second fork; 43. a connecting rod.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, the present application is described in further detail with reference to the accompanying drawings and the detailed description. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, in any embodiment of the present application, the sweeping robot 1 is a voice-controlled intelligent sweeping robot 1, a controller and a wireless communication module are arranged in the sweeping robot 1, a camera and a voice interaction module (including a speaker and a microphone array 11) are arranged on the surface of the sweeping robot, and the sweeping robot 1 can realize functions of sweeping the ground, returning to charge the charging pile 3, moving along with a user, and the like under the voice control of the user; fill electric pile 3 and install in fixed position, be used for doing 1 power supply of robot sweeps floor is equipped with controller and wireless communication module inside. The robot 1 of sweeping the floor with fill and to realize 433 MHz's two-way data communication between the electric pile 3, the signal wall-piercing ability is stronger, and communication distance is far away (can reach 1000 meters at most), can guarantee the normal communication under the family environment.
Referring to fig. 1, a sweeping robot system with a carrying function according to an embodiment of the present application is shown, which may specifically include: the sweeping robot comprises a carrier, a sweeping robot 1 assembly and a charging pile 3 assembly;
the sweeping robot 1 comprises a sweeping robot 1 and an adsorption structure 2 arranged on the surface of the sweeping robot 1; the carrier is detachably connected with the sweeping robot 1 through the adsorption structure 2; the charging pile 3 assembly comprises a charging pile 3 for supplying power to the sweeping robot 1 and a lifting platform 4 which is arranged on the charging pile 3 and used for loading and unloading the carrier;
when the lifting platform 4 loads the carrier on the sweeping robot 1, the charging pile 3 drives the lifting platform 4 to move downwards, so that the carrier is loaded on the sweeping robot 1;
when the lifting platform 4 unloads the carrier on the sweeping robot 1, the charging pile 3 drives the lifting platform 4 to move upwards, so that the carrier is separated from the sweeping robot 1.
In the embodiment of the application, the vehicle, the sweeping robot 1 assembly and the charging pile 3 assembly are used; the sweeping robot 1 comprises a sweeping robot 1 and an adsorption structure 2 arranged on the surface of the sweeping robot 1; the carrier is detachably connected with the sweeping robot 1 through the adsorption structure 2; the charging pile 3 assembly comprises a charging pile 3 for supplying power to the sweeping robot 1 and a lifting platform 4 which is arranged on the charging pile 3 and used for loading and unloading the carrier; when the lifting platform 4 loads the carrier on the sweeping robot 1, the charging pile 3 drives the lifting platform 4 to move downwards, so that the carrier is loaded on the sweeping robot 1; work as 4 uninstallations of elevating platform 1 last the robot that sweeps floor during the carrier, fill 3 drives of electric pile 4 rebound of elevating platform will the carrier with 1 separation of robot that sweeps floor for 1 possesses the delivery function of sweeping floor, when the user need take by the transport object, need not walk to the parking position by the transport object in person, only need control 1 motion of robot that sweeps floor and can transport it user place, make the life at home more convenient.
Next, a sweeping robot system having a carrying function in the present exemplary embodiment will be further described.
As an example, the sweeping robot 1 is a flat cylinder in shape, and the adsorption structure 2 is disposed on the upper surface of the sweeping robot 1; fill electric pile 3's appearance is the cuboid, elevating platform 4 set up in fill electric pile 3 is equipped with the side of the interface that charges.
In the process of loading the carrier, the initial position of elevating platform 4 is located adsorption structure 2 top, afterwards fill electric pile 3 drive elevating platform 4 moves down, drive set up in on elevating platform 4 the carrier moves down, when the carrier move to with adsorption structure 2 top contact, the carrier pass through adsorption structure 2 with robot 1 is swept the floor is connected.
In the process of unloading the carrier, the initial position of the lifting table 4 is located above the sweeping robot 1 and lower than the bottom of the carrier, then the charging pile 3 drives the lifting table 4 to move upwards, and the lifting table 4 is moved to contact with the bottom of the carrier and then drives the carrier to move upwards, so that the carrier is separated from the sweeping robot 1.
In this embodiment, an electric push rod for driving the lifting platform to move is arranged inside the charging pile 3;
one end of the lifting platform 4 is connected with the movable end of the electric push rod, and the other end of the lifting platform passes through the wall layer of the charging pile 3 and extends to the outside of the charging pile 3;
when the lifting platform 4 loads the carrier on the sweeping robot 1, the electric push rod drives the lifting platform 4 to move downwards, so that the carrier is loaded on the sweeping robot 1;
when the lifting platform 4 unloads the carrier on the sweeping robot 1, the electric push rod drives the lifting platform 4 to move upwards, so that the carrier is separated from the sweeping robot 1.
As an example, the electric push rod comprises a motor, a screw rod, a sliding seat, a push rod and a guide sleeve; the motor is electrically connected with the controller of the charging pile 3; the output end of the motor is connected with the end part of the screw rod; the sliding seat is sleeved outside the screw rod and is in threaded connection with the screw rod; the push rod is sleeved outside the screw rod and is fixedly connected with the sliding seat; the guide sleeve is sleeved outside the push rod and fixed on the inner wall of the charging pile 3; one end of the lifting platform 4 is fixedly connected with the push rod, and the other end of the lifting platform passes through the wall layer of the charging pile 3 and extends to the outside of the charging pile 3; when the motor drives the screw rod to rotate, the push rod and the guide sleeve are matched and cannot rotate, so that the slide base drives the push rod to reciprocate along the axial direction of the screw rod.
Loading the in-process of carrier, the initial position of elevating platform 4 is located adsorption structure 2 top, afterwards motor drive the lead screw rotates, the slide is followed the lead screw slides down, drives the push rod downstream, and then drive with the push rod is connected elevating platform 4 with set up in on elevating platform 4 the carrier downstream, work as the carrier move to with when the contact of adsorption structure 2 top, the carrier pass through adsorption structure 2 with robot 1 that sweeps the floor is connected.
In the process of uninstalling the carrier, the initial position of elevating platform 4 is located 1 top of robot of sweeping the floor is less than the position of carrier bottom, afterwards motor drive the lead screw rotates, the slide is followed the lead screw lapse drives the push rod rebound, and then drive with the push rod is connected elevating platform 4 rebound, elevating platform 4 remove to with the carrier bottom contacts the back and drives the carrier rebound, thereby makes the carrier with robot of sweeping the floor 1 separation.
It should be noted that a groove matched with the shape of the lifting table 4 is formed at the bottom of the carrier; and the depth of the groove is greater than the thickness of the lifting table 4; the groove is arranged, so that the lifting table 4 is clamped in the groove in the process of driving the carrier to move, and the carrier is stably connected with the lifting table 4; in addition, because the depth of the groove is greater than the thickness of the lifting table 4, after the carrier is loaded on the sweeping robot 1, the lifting table 4 can continuously move downwards, so that the top of the lifting table 4 is separated from the bottom of the carrier, and the sweeping robot 1 can drive the carrier to leave the charging pile 3 conveniently.
In this embodiment, the lifting table 4 includes a first fork 41 and a second fork 42 on the same horizontal plane; the end parts of the first fork 41 and the second fork 42 are respectively fixedly connected with the movable end of the electric push rod. Specifically, the first fork 41 and the second fork 42 are symmetrically arranged and parallel to the upper surface of the robot cleaner 1, so that the carrier can be stably placed on the upper surface of the robot cleaner 1 when the carrier is loaded, or the carrier can be stably lifted from the surface of the robot cleaner 1 when the carrier is unloaded.
In this embodiment, the lifting platform 4 further comprises a connecting rod 43; the ends of the connecting rod 43 are connected to the first fork 41 and the second fork 42, respectively. Specifically, the connecting rod 43 is disposed at the end portions of the first fork 41 and the second fork 42 close to the charging pile 3; the stability and the load-bearing capacity of the lifting platform 4 can be improved by providing the connecting rods 43.
In this embodiment, the surfaces of the first fork 41, the second fork 42 and the connecting rod 43 are all provided with anti-slip layers for preventing the vehicle from slipping. Specifically, the anti-skid layer is made of a silica gel material; through setting up the skid resistant course, can prevent that the carrier from taking place to slide in the in-process along with elevating platform 4 motion.
In this embodiment, the carrier has a barrel-shaped structure with an upward opening. In particular, the carrier may be an open trash can; the carrier can store household garbage or other household equipment according to the requirement.
In this embodiment, the adsorption structure 2 includes two or more; the adsorption structures 2 are symmetrically arranged on the surface of the sweeping robot 1. Specifically, the adsorption structure 2 is three cylindrical magnets with the same size; the bottom of the carrier is made of metal; the carrier is magnetically adsorbed on the surface of the sweeping robot 1 through the adsorption structure 2. By arranging two or more than two adsorption structures 2, the stability of connection between the carrier and the sweeping robot 1 is improved conveniently, and the carrier is prevented from toppling over in the movement process of the sweeping robot 1; in addition, through will adsorption structure 2 sets up to magnet, makes the carrier with sweeping robot 1 can the quick separation, and the person of being convenient for lifts as required the carrier.
In an embodiment of the present application, a control method of a sweeping robot system according to any one of the above embodiments is provided, where the method involves the sweeping robot 1 and the charging pile 3;
the method may specifically comprise the steps of:
the sweeping robot 1 receives a voice signal, and determines a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal;
if the control instruction is loading, the sweeping robot 1 sends a first moving instruction to the charging pile 3; the charging pile 3 is used for receiving the first moving instruction sent by the sweeping robot 1 and driving the lifting platform 4 to move to a preset loading position according to the first moving instruction;
the sweeping robot 1 moves to a preset target position; after the sweeping robot 1 moves to the target position, the charging pile 3 is further used for driving the lifting platform 4 to move, and loading the carrier on the sweeping robot 1;
after the carrier is loaded, the sweeping robot 1 drives the carrier to move to the sound source position;
or;
if the control instruction is unloading, the sweeping robot 1 sends a second moving instruction to the charging pile 3; the charging pile 3 is used for receiving the second moving instruction sent by the sweeping robot 1 and driving the lifting platform 4 to move to a preset unloading position according to the second moving instruction;
the sweeping robot 1 moves to a preset target position; when the sweeping robot 1 moves to the target position, the charging pile 3 is further used for driving the lifting platform 4 to move, and the carrier is separated from the sweeping robot 1.
Next, a control method of the sweeping robot system according to any one of the above embodiments in the present exemplary embodiment will be further described.
As described in the above steps, the sweeping robot 1 receives a voice signal, and determines a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal.
Specifically, the sweeping robot 1 receives a voice signal, wherein the voice signal includes a plurality of sections of voice signals collected by a microphone array 11 on the surface of the sweeping robot 1; the sweeping robot 1 obtains the sound source position sending the voice signal by calculation according to the voice signal (the calculation method of the sound source position is a conventional technology and is not repeated here), and finds the control instruction corresponding to the voice signal according to a preset rule, wherein the control instruction includes but is not limited to loading, unloading, sweeping, charging, following and the like.
As described in the above step, if the control instruction is loading, the sweeping robot 1 sends a first moving instruction to the charging pile 3; the charging pile 3 is used for receiving the first moving instruction sent by the sweeping robot 1 and driving the lifting platform 4 to move to a preset loading position according to the first moving instruction.
Specifically, if the control instruction is loading, the sweeping robot 1 sends a first moving instruction to the charging pile 3; the charging pile 3 is configured to receive the first moving instruction sent by the sweeping robot 1, drive the lifting table 4 to move to a preset loading position according to the first moving instruction, and drive the carrier arranged on the lifting table 4 to move to the loading position, where the loading position may be a preset position above the adsorption structure 2; and then the charging pile 3 enters a waiting state, so that the loading operation can be conveniently carried out after the sweeping robot 1 is in place.
As described in the above steps, the sweeping robot 1 moves to a preset target position; when the sweeping robot 1 moves to the target position, the charging pile 3 is further used for driving the lifting platform 4 to move, and the carrier is loaded on the sweeping robot 1.
Specifically, the sweeping robot 1 moves to a preset target position, wherein the target position may be a preset position close to one side of the charging pile 3 where the lifting platform 4 is arranged; when the robot of sweeping the floor 1 remove to behind the target location, it still is used for the drive to fill electric pile 3 the elevating platform 4 removes downwards, drive set up in on the elevating platform 4 the carrier removes downwards, work as the carrier remove to with when the contact of 2 tops of adsorption structure, the carrier pass through adsorption structure 2 with robot of sweeping the floor 1 is connected.
As described in the above step, after the carrier is loaded, the sweeping robot 1 drives the carrier to move to the sound source position.
Specifically, the surface of the sweeping robot 1 is provided with an induction device (for example, a pressure sensor) for detecting the carrier in-position state, and when the carrier loading is detected to be completed, the sweeping robot 1 drives the carrier to move to the sound source position.
Or;
as described in the above step, if the control instruction is unloading, the sweeping robot 1 sends a second moving instruction to the charging pile 3; the charging pile 3 is used for receiving the second moving instruction sent by the sweeping robot 1 and driving the lifting platform 4 to move to a preset unloading position according to the second moving instruction.
Specifically, if the control instruction is unloading, the sweeping robot 1 sends a second moving instruction to the charging pile 3; the charging pile 3 is configured to receive the second moving instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset unloading position according to the second moving instruction, where the unloading position may be a preset position located above the sweeping robot 1 and lower than the bottom of the carrier; and then the charging pile 3 enters a waiting state, so that the unloading operation can be conveniently carried out after the sweeping robot 1 is in place.
As described in the above steps, the sweeping robot 1 moves to a preset target position; when the sweeping robot 1 moves to the target position, the charging pile 3 is further used for driving the lifting platform 4 to move, and the carrier is separated from the sweeping robot 1.
Specifically, the sweeping robot 1 moves to a preset target position, wherein the target position may be a preset position close to one side of the charging pile 3 where the lifting platform 4 is arranged; when the sweeping robot 1 moves to the target position, the charging pile 3 is further used for driving the lifting platform 4 to move upwards, and the lifting platform 4 moves to contact with the bottom of the carrier and then drives the carrier to move upwards, so that the carrier is separated from the sweeping robot 1.
In other embodiments, after the unloading of the carrier is completed, the sweeping robot 1 switches to the operation mode before receiving the voice signal. Specifically, assuming that the sweeping robot 1 is in the sweeping mode before receiving the voice signal, after the unloading of the carrier is completed, the sweeping robot 1 may switch to the sweeping mode to continue to perform the ground sweeping operation.
In an embodiment of the present application, a control method of a sweeping robot system according to any one of the above embodiments is provided, where the method involves the sweeping robot 1 and the charging pile 3; the sweeping robot 1 is used for receiving a voice signal, and determining a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal; the sweeping robot 1 is further configured to send a first moving instruction or a second moving instruction to the charging pile 3 according to the control instruction;
the method may specifically comprise the steps of:
if the control instruction is loading, the charging pile 3 receives the first moving instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset loading position according to the first moving instruction;
after the sweeping robot 1 moves to a preset target position, the charging pile 3 drives the lifting platform 4 to move, and the carrier is loaded on the sweeping robot 1; after the charging pile 3 is loaded, the sweeping robot 1 loaded with the carrier is also used for moving to the sound source position;
or;
if the control instruction is unloading, the charging pile 3 receives the second moving instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset unloading position according to the second moving instruction;
when the sweeping robot 1 moves to a preset target position, the charging pile 3 drives the lifting platform 4 to move, and the carrier is separated from the sweeping robot 1.
Next, a control method of the sweeping robot system according to any one of the above embodiments in the present exemplary embodiment will be further described.
As described in the above step, if the control instruction is loading, the charging pile 3 receives the first moving instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset loading position according to the first moving instruction.
Specifically, if the control instruction is loading, the charging pile 3 receives the first moving instruction sent by the sweeping robot 1, and drives the lifting table 4 to move to a preset loading position according to the first moving instruction, so as to drive the carrier arranged on the lifting table 4 to move to the loading position, where the loading position may be a preset position located above the adsorption structure 2; then, the charging pile 3 enters a waiting state, so that the loading operation can be conveniently carried out after the sweeping robot 1 is in place;
as described in the above steps, after the sweeping robot 1 moves to a preset target position, the charging pile 3 drives the lifting platform 4 to move, and the vehicle is loaded on the sweeping robot 1; when the carrier is loaded, the sweeping robot 1 is further configured to drive the carrier to move to the sound source position.
Specifically, after the sweeping robot 1 moves to a preset position close to the side, where the lifting platform 4 is arranged, of the charging pile 3, the charging pile 3 drives the lifting platform 4 to move downwards to drive the carrier arranged on the lifting platform 4 to move downwards, and when the carrier moves to be in contact with the top of the adsorption structure 2, the carrier is connected with the sweeping robot 1 through the adsorption structure 2; the surface of the sweeping robot 1 is provided with an induction device (such as a pressure sensor) for detecting the carrier in-position state, and when the carrier loading is detected to be completed, the sweeping robot 1 is further used for driving the carrier to move to the sound source position.
Or;
as described in the above step, if the control instruction is unloading, the charging pile 3 receives the second moving instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset unloading position according to the second moving instruction.
Specifically, if the control instruction is unloading, the charging pile 3 receives the second moving instruction sent by the sweeping robot 1, and drives the lifting table 4 to move to the unloading position according to the second moving instruction, so as to drive the carrier arranged on the lifting table 4 to move to the unloading position, where the unloading position may be a preset position located above the sweeping robot 1 and lower than the bottom of the carrier; then, the charging pile 3 enters a waiting state, so that unloading operation can be conveniently carried out after the sweeping robot 1 is in place;
as described in the above steps, after the sweeping robot 1 moves to a preset target position, the charging pile 3 drives the lifting platform 4 to move, so as to separate the carrier from the sweeping robot 1.
Specifically, when robot 1 of sweeping the floor removes to the predetermined being close to fill electric pile 3 and be equipped with behind the position of 4 one sides of elevating platform, fill electric pile 3 drive 4 rebound of elevating platform, drive set up in on the elevating platform 4 the carrier rebound, elevating platform 4 remove to with drive after the contact of carrier bottom the carrier rebound, thereby make the carrier with robot 1 of sweeping the floor separates.
In other embodiments, after the unloading of the carrier is completed, the sweeping robot 1 is further configured to switch to a working mode before receiving the voice signal. Specifically, assuming that the sweeping robot 1 is in the sweeping mode before receiving the voice signal, after the unloading of the carrier is completed, the sweeping robot 1 may switch to the sweeping mode to continue to perform the ground sweeping operation.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The sweeping robot system with the carrying function and the control method thereof provided by the application are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (9)

1. A robot system of sweeping floor with delivery function which characterized in that includes: the sweeping robot comprises a carrier, a sweeping robot assembly and a charging pile assembly;
the sweeping robot assembly comprises a sweeping robot and an adsorption structure arranged on the surface of the sweeping robot; the carrier is detachably connected with the sweeping robot through the adsorption structure; the charging pile assembly comprises a charging pile for supplying power to the sweeping robot and a lifting platform which is arranged on the charging pile and used for loading and unloading the carrier;
when the carrier is loaded on the sweeping robot by the lifting platform, the charging pile drives the lifting platform to move downwards, and the carrier is loaded on the sweeping robot;
when the lifting platform unloads the carrier on the sweeping robot, the charging pile drives the lifting platform to move upwards, and the carrier is separated from the sweeping robot.
2. The sweeping robot system according to claim 1, wherein an electric push rod for driving the lifting platform to move is arranged inside the charging pile;
one end of the lifting platform is connected with the movable end of the electric push rod, and the other end of the lifting platform penetrates through the wall layer of the charging pile and extends to the outside of the charging pile;
when the lifting platform loads the carrier on the sweeping robot, the electric push rod drives the lifting platform to move downwards to load the carrier on the sweeping robot;
when the lifting platform unloads the carrier on the sweeping robot, the electric push rod drives the lifting platform to move upwards, so that the carrier is separated from the sweeping robot.
3. The sweeping robot system of claim 2, wherein the lift platform includes first and second forks located on the same horizontal plane; the end parts of the first pallet fork and the second pallet fork are respectively and fixedly connected with the movable end of the electric push rod.
4. The sweeping robot system of claim 3, wherein the lift table further comprises a connecting rod; the end of the connecting rod is connected with the first fork and the second fork respectively.
5. The sweeping robot system of claim 4, wherein the surfaces of the first fork, the second fork and the connecting rod are provided with anti-slip layers for preventing the carrier from slipping.
6. The sweeping robot system of claim 1, wherein the carrier is a bucket structure with an upward facing opening.
7. The sweeping robot system of claim 1, wherein the suction structure comprises two or more; the adsorption structure is symmetrically arranged on the surface of the sweeping robot.
8. A control method of a sweeping robot system according to any one of claims 1 to 7, characterized in that the method involves the sweeping robot and the charging pile;
the method comprises the following steps:
the sweeping robot receives a voice signal, and determines a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal;
if the control instruction is loading, the sweeping robot sends a first moving instruction to the charging pile; the charging pile is used for receiving the first moving instruction sent by the sweeping robot and driving the lifting platform to move to a preset loading position according to the first moving instruction;
the sweeping robot moves to a preset target position; after the sweeping robot moves to the target position, the charging pile is also used for driving the lifting platform to move, and the carrier is loaded on the sweeping robot;
after the carrier is loaded, the sweeping robot drives the carrier to move to the sound source position;
or;
if the control instruction is unloading, the sweeping robot sends a second moving instruction to the charging pile; the charging pile is used for receiving the second moving instruction sent by the sweeping robot and driving the lifting platform to move to a preset unloading position according to the second moving instruction;
the sweeping robot moves to a preset target position; when the sweeping robot moves to the target position, the charging pile is further used for driving the lifting platform to move, and the carrier is separated from the sweeping robot.
9. A control method of a sweeping robot system according to any one of claims 1 to 7, characterized in that the method involves the sweeping robot and the charging pile; the sweeping robot is used for receiving a voice signal, and determining a sound source position for sending the voice signal and a control instruction corresponding to the voice signal according to the voice signal; the sweeping robot is further used for sending a first moving instruction or a second moving instruction to the charging pile according to the control instruction;
the method comprises the following steps:
if the control instruction is loading, the charging pile receives the first moving instruction sent by the sweeping robot, and drives the lifting platform to move to a preset loading position according to the first moving instruction;
after the sweeping robot moves to a preset target position, the charging pile drives the lifting platform to move, and the carrier is loaded on the sweeping robot; after the carrier is loaded, the sweeping robot is further used for driving the carrier to move to the sound source position;
or;
if the control instruction is unloading, the charging pile receives the second moving instruction sent by the sweeping robot, and drives the lifting platform to move to a preset unloading position according to the second moving instruction;
when the sweeping robot moves to a preset target position, the charging pile drives the lifting platform to move, and the carrier is separated from the sweeping robot.
CN202110566086.4A 2021-05-24 2021-05-24 Sweeping robot system with carrying function and control method thereof Active CN113303718B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110566086.4A CN113303718B (en) 2021-05-24 2021-05-24 Sweeping robot system with carrying function and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110566086.4A CN113303718B (en) 2021-05-24 2021-05-24 Sweeping robot system with carrying function and control method thereof

Publications (2)

Publication Number Publication Date
CN113303718A true CN113303718A (en) 2021-08-27
CN113303718B CN113303718B (en) 2024-04-26

Family

ID=77374233

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110566086.4A Active CN113303718B (en) 2021-05-24 2021-05-24 Sweeping robot system with carrying function and control method thereof

Country Status (1)

Country Link
CN (1) CN113303718B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11207673A (en) * 1998-01-29 1999-08-03 Mitsubishi Electric Corp Controller for loading robot
KR20070110576A (en) * 2006-05-15 2007-11-20 엘지.필립스 엘시디 주식회사 Automatic guided vehicle and control method thereof
TWM501823U (en) * 2015-03-09 2015-06-01 zhen-xin Lin Intelligent self-propelled carrier
CN107638137A (en) * 2017-09-14 2018-01-30 广东格兰仕集团有限公司 A kind of robot of voice recognition and its recognition methods
CN108231075A (en) * 2017-12-29 2018-06-29 北京视觉世界科技有限公司 Control method, device, equipment and the storage medium of cleaning equipment
CN110652254A (en) * 2018-06-28 2020-01-07 广达电脑股份有限公司 Robot system
CN111012252A (en) * 2019-12-20 2020-04-17 小狗电器互联网科技（北京）股份有限公司 Control method and device of sweeper
CN210850287U (en) * 2019-09-04 2020-06-26 聊城大学 Intelligent household object taking robot
CN112017661A (en) * 2019-05-31 2020-12-01 江苏美的清洁电器股份有限公司 Voice control system and method of sweeping robot and sweeping robot
CN216932965U (en) * 2021-05-24 2022-07-12 深圳巴诺机器人有限公司 Sweeping robot system with carrying function

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11207673A (en) * 1998-01-29 1999-08-03 Mitsubishi Electric Corp Controller for loading robot
KR20070110576A (en) * 2006-05-15 2007-11-20 엘지.필립스 엘시디 주식회사 Automatic guided vehicle and control method thereof
TWM501823U (en) * 2015-03-09 2015-06-01 zhen-xin Lin Intelligent self-propelled carrier
CN107638137A (en) * 2017-09-14 2018-01-30 广东格兰仕集团有限公司 A kind of robot of voice recognition and its recognition methods
CN108231075A (en) * 2017-12-29 2018-06-29 北京视觉世界科技有限公司 Control method, device, equipment and the storage medium of cleaning equipment
CN110652254A (en) * 2018-06-28 2020-01-07 广达电脑股份有限公司 Robot system
CN112017661A (en) * 2019-05-31 2020-12-01 江苏美的清洁电器股份有限公司 Voice control system and method of sweeping robot and sweeping robot
CN210850287U (en) * 2019-09-04 2020-06-26 聊城大学 Intelligent household object taking robot
CN111012252A (en) * 2019-12-20 2020-04-17 小狗电器互联网科技（北京）股份有限公司 Control method and device of sweeper
CN216932965U (en) * 2021-05-24 2022-07-12 深圳巴诺机器人有限公司 Sweeping robot system with carrying function

Also Published As

Publication number Publication date
CN113303718B (en) 2024-04-26

Similar Documents

Publication Publication Date Title
WO2020125774A1 (en) Robotic cleaning system, base station, and control method
CN100518613C (en) Self-walking sweeper and charging device used thereby
CN216932965U (en) Sweeping robot system with carrying function
CN211796228U (en) Clean system of over-and-under type intelligence
WO2008002027A1 (en) Charging station having passive movement for power supply of wired and wireless self-moving robot cleaner
CN112110115B (en) Appliance recycling method
CN111429660A (en) Multifunctional container
KR101505560B1 (en) Remote control auto mode stair cleaning robot
CN113303718A (en) Sweeping robot system with carrying function and control method thereof
US20180370028A1 (en) Autonomous Robotic Aide
WO2018005304A1 (en) Autonomous robotic aide
CN112110116B (en) Storage cabinet and appliance recovery system
CN213504274U (en) Intelligent bulk picking device and cargo picking and warehousing system
CN109051422A (en) One kind is dumped rubbish robot
CN216328354U (en) Stair climbing device and robot
CN216602731U (en) Climbing cleaning robot
CN113995350A (en) Cleaning robot with stair climbing function
CN213110974U (en) Docking system is retrieved to apparatus
WO2020192590A1 (en) Sweeping robot
CN209161382U (en) Transport device and household appliance system
CN114380017A (en) Lifting conveyor that panel was cut and was used for intelligence house
CN108748186B (en) Delivery robot and application method thereof
CN209852652U (en) Slipper boxing device
CN108098772B (en) Control method and system of transport robot, control terminal and transport robot
CN112743554A (en) Appliance recycling method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant