CN113303718B - Sweeping robot system with carrying function and control method thereof - Google Patents

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

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Publication number
CN113303718B
CN113303718B CN202110566086.4A CN202110566086A CN113303718B CN 113303718 B CN113303718 B CN 113303718B CN 202110566086 A CN202110566086 A CN 202110566086A CN 113303718 B CN113303718 B CN 113303718B
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CN
China
Prior art keywords
sweeping robot
carrier
charging pile
lifting platform
move
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Active
Application number
CN202110566086.4A
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Chinese (zh)
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CN113303718A (en
Inventor
魏年勇
王永超
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Shenzhen Barnes & Noble Robot Co ltd
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Shenzhen Barnes & Noble Robot Co ltd
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Priority to CN202110566086.4A priority Critical patent/CN113303718B/en
Publication of CN113303718A publication Critical patent/CN113303718A/en
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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

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Abstract

The application provides a sweeping robot system with a carrying function and a control method thereof; the robot system for sweeping floor includes: carrier, sweeping robot assembly and 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 table arranged on the charging pile and used for loading and unloading tools; 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. The application ensures that the sweeping robot has a carrying function, and when a carried object needs to be taken, the sweeping robot can be carried to the front of a user only by controlling the movement of the sweeping robot, so that the living at home is more convenient.

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, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance, and adopts brushing and vacuum mode to absorb the ground sundries into its garbage storing box to complete the floor cleaning function.
The existing floor sweeping robot can automatically finish floor cleaning work in a room by means of certain artificial intelligence, and has the functions of voice control, automatic recharging, sound source positioning, moving obstacle avoidance and the like, and can reach a designated place through voice instructions.
However, the existing sweeping robot has single function, can only finish ground cleaning work, and cannot provide carrying functions as a carrier. For household equipment with daily use requirements, a user needs to walk to a position where the equipment is placed every time, so that the equipment can be taken. Access to such devices is particularly difficult when there are many rooms or the user is not mobility-friendly.
Disclosure of Invention
In view of the above problems, the present application has been made to provide a robot cleaner system having a carrying function and a control method thereof, which overcome the above problems or at least partially solve the above problems, including:
a robot sweeper system with carry function, comprising: carrier, sweeping robot assembly and 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 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 so as to separate the carrier 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 table is connected with the movable end of the electric push rod, and the other end of the lifting table 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, and the carrier is loaded 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 ends of the first fork and the second 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 parts of the connecting rods are respectively connected with the first fork and the second fork.
Preferably, the surfaces of the first fork, the second fork and the connecting rod are all provided with an anti-slip layer for preventing the carrier from sliding.
Preferably, the carrier is a barrel-shaped structure with an upward opening.
Preferably, the adsorption structure comprises two or more; the adsorption structures are symmetrically arranged on the surface of the sweeping robot.
A control method of the sweeping robot system as described above, the method involving the sweeping robot and the charging pile;
The method comprises the following steps:
The floor 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; when 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;
When the loading of the carrier is completed, 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; and after the sweeping robot moves to the target position, the charging pile is also used for driving the lifting platform to move so as to separate the carrier from the sweeping robot.
A control method of the sweeping robot system as described above, the method involving 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;
when 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; when the loading of the carrier is completed, the sweeping robot is also 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 an embodiment of the application, the vehicle, the sweeping robot assembly and the charging pile assembly are used for driving the sweeping robot 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 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, so that the sweeping robot has a carrying function, when a user needs to take a carried object, the user does not need to walk to a storage position of the carried object in person, and the user can be transported to a place where the user is located only by controlling the movement of the sweeping robot, so that the living is more convenient.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the description of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic structural diagram of a sweeping robot system with a carrying function according to an embodiment of the present application.
Reference numerals 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 table; 41. a first fork; 42. a second fork; 43. and (5) connecting a rod.
Detailed Description
In order that the manner in which the above recited objects, features and advantages of the present application are obtained will become more readily apparent, a more particular description of the application briefly described above will be rendered by reference to the appended drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, in any embodiment of the present application, the sweeping robot 1 is an intelligent sweeping robot 1 controlled by voice, a controller and a wireless communication module are disposed in the sweeping robot 1, a camera and a voice interaction module (including a speaker and a microphone array 11) are disposed on the surface of the sweeping robot 1, and the sweeping robot 1 can achieve the functions of sweeping the ground, returning to the charging pile 3 for charging, moving along with the user under the control of the voice of the user; the charging pile 3 is installed at a fixed position and is used for supplying power to the sweeping robot 1, and a controller and a wireless communication module are arranged in the charging pile. The robot 1 sweeps floor with fill and can realize 433 MHz's two-way data communication between the electric pile 3, the signal is worn the wall ability stronger, and communication distance is farther (can reach 1000 meters maximum), can guarantee the normal communication under the home environment.
Referring to fig. 1, a sweeping robot system with a carrying function according to an embodiment of the present application may specifically include: a carrier, a sweeping robot 1 assembly and a charging pile 3 assembly;
The sweeping robot 1 assembly 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 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, and 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 loading tool, the sweeping robot 1 component and the charging pile 3 component are used for carrying out the cleaning operation; the sweeping robot 1 assembly 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 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, and 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, and the carrier is separated from the sweeping robot 1, so that the sweeping robot 1 has a carrying function, when a user needs to take a carried object, the user does not need to walk to a storage position of the carried object in person, and the user can be transported to a place where the user is located only by controlling the movement of the sweeping robot 1, so that the living is more convenient.
Next, a description will be further given of a sweeping robot system having a carrying function in the present exemplary embodiment.
As an example, the sweeping robot 1 has a flat cylindrical shape, and the adsorption structure 2 is disposed on the upper surface of the sweeping robot 1; the appearance of charging pile 3 is the cuboid, elevating platform 4 set up in charging pile 3 is equipped with the side of interface that charges.
In the process of loading the carrier, the initial position of the lifting platform 4 is located above the adsorption structure 2, then the charging pile 3 drives the lifting platform 4 to move downwards, drives 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.
In the process of unloading the carrier, the initial position of the lifting platform 4 is positioned above the sweeping robot 1 and lower than the bottom of the carrier, then the charging pile 3 drives the lifting platform 4 to move upwards, and the lifting platform 4 is contacted 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 table 4 is connected with the movable end of the electric push rod, and the other end of the lifting table penetrates 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, and 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 connected with the screw rod through threads; the push rod is sleeved outside the screw rod and fixedly connected with the sliding seat; the guide sleeve is sleeved outside the push rod and is fixed on the inner wall of the charging pile 3; one end of the lifting table 4 is fixedly connected with the push rod, and the other end of the lifting table penetrates 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 to be unable to rotate, so that the sliding seat drives the push rod to reciprocate along the axial direction of the screw rod.
In the process of loading the carrier, the initial position of the lifting platform 4 is located above the adsorption structure 2, then the motor drives the screw rod to rotate, the sliding seat slides downwards along the screw rod to drive the push rod to move downwards, so as to drive the lifting platform 4 connected with the push rod and 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.
In the process of unloading the carrier, the initial position of the lifting platform 4 is positioned at a position lower than the bottom of the carrier above the sweeping robot 1, then the motor drives the screw rod to rotate, the sliding seat slides upwards along the screw rod to drive the push rod to move upwards, and then the lifting platform 4 connected with the push rod is driven to move upwards, and the lifting platform 4 is driven to move upwards after being contacted with the bottom of the carrier, so that the carrier is separated from the sweeping robot 1.
It should be noted that, the bottom of the carrier is provided with a groove adapted to the shape of the lifting platform 4; and the depth of the groove is larger than the thickness of the lifting platform 4; the grooves are arranged so that the lifting platform 4 can be conveniently clamped inside the grooves in the process of driving the carrier to move, so that the carrier is stably connected with the lifting platform 4; in addition, since the depth of the groove is greater than the thickness of the lifting platform 4, after the vehicle is loaded on the sweeping robot 1, the lifting platform 4 can continue to move downwards, so that the top of the lifting platform 4 is separated from the bottom of the vehicle, and the sweeping robot 1 can conveniently drive the vehicle to leave the charging pile 3.
In this embodiment, the lifting platform 4 includes a first fork 41 and a second fork 42 that are located on the same horizontal plane; the ends of the first fork 41 and the second fork 42 are respectively and fixedly connected with the movable end of the electric push rod. Specifically, the first fork 41 and the second fork 42 are symmetrically disposed and parallel to the upper surface of the robot 1, so that the vehicle is smoothly placed on the upper surface of the robot 1 when the vehicle is loaded or is smoothly lifted from the surface of the robot 1 when the vehicle is unloaded.
In this embodiment, the lifting platform 4 further includes 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 ends of the first fork 41 and the second fork 42 near the charging pile 3; by providing the connecting rod 43, the stability and the load-bearing capacity of the lifting platform 4 can be improved.
In this embodiment, the surfaces of the first fork 41, the second fork 42 and the connecting rod 43 are all provided with an anti-slip layer for preventing the carrier from slipping. Specifically, the anti-slip layer is made of silica gel; by providing the anti-slip layer, the carrier can be prevented from slipping during movement with the lifting table 4.
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 inside of the carrier can store household garbage or other household equipment according to the needs.
In this embodiment, the adsorption structure 2 includes two or more; the adsorption structure 2 is 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 adsorption structures 2, the stability of the connection between the carrier and the sweeping robot 1 is conveniently improved, and the carrier is prevented from toppling in the movement process of the sweeping robot 1; in addition, by setting the adsorption structure 2 as a magnet, the carrier and the sweeping robot 1 can be rapidly separated, so that a user can lift the carrier as required.
In an embodiment of the present application, there is provided a control method of the sweeping robot system according to any one of the above embodiments, the method involving the sweeping robot 1 and the charging pile 3;
The method specifically comprises the following steps:
the robot cleaner 1 receives a voice signal and determines a sound source position for emitting 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 configured to receive the first movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset loading position according to the first movement 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 loaded on the sweeping robot 1;
when the loading of the carrier is completed, 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 configured to receive the second movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset unloading position according to the second movement 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, so that 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 robot cleaner 1 receives a voice signal and determines a sound source position from which the voice signal is emitted 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 comprises a plurality of sections of voice signals collected by a microphone array 11 on the surface of the sweeping robot 1; the robot 1 calculates the sound source position for emitting the voice signal according to the voice signal (the calculation method of the sound source position is a conventional technology and will not be repeated here), and searches the control command corresponding to the voice signal according to a preset rule, wherein the control command includes but is not limited to loading, unloading, sweeping, charging, following, and the like.
As described in the above steps, if the control instruction is loading, the sweeping robot 1 sends a first movement instruction to the charging pile 3; the charging pile 3 is configured to receive the first movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset loading position according to the first movement instruction.
Specifically, if the control instruction is loading, the sweeping robot 1 sends a first movement instruction to the charging pile 3; the charging pile 3 is configured to receive the first movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset loading position according to the first movement instruction, so as to drive the carrier arranged on the lifting platform 4 to move to the loading position, where the loading position may be a preset position above the adsorption structure 2; the charging pile 3 then enters a waiting state, facilitating the loading operation 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 near the side of the charging pile 3 where the lifting platform 4 is provided; after the robot 1 moves to the target position, the charging pile 3 is further configured to drive the lifting platform 4 to move downward, and drive the carrier disposed on the lifting platform 4 to move downward, and when the carrier moves to contact with the top of the adsorption structure 2, the carrier is connected with the robot 1 through the adsorption structure 2.
As described in the above steps, when the loading of the vehicle is completed, the sweeping robot 1 drives the vehicle to move to the sound source position.
Specifically, an induction device (for example, a pressure sensor) for detecting the in-place state of the carrier is arranged on the surface of the sweeping robot 1, 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 movement instruction to the charging pile 3; the charging pile 3 is configured to receive the second movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset unloading position according to the second movement instruction.
Specifically, if the control instruction is unloading, the sweeping robot 1 sends a second movement instruction to the charging pile 3; the charging pile 3 is configured to receive the second movement instruction sent by the sweeping robot 1, and drive the lifting platform 4 to move to a preset unloading position according to the second movement instruction, where the unloading position may be a preset position located above the sweeping robot 1 and lower than the bottom of the carrier; the charging pile 3 then enters a waiting state, facilitating an unloading operation 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, so that 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 near the side of the charging pile 3 where the lifting platform 4 is provided; 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 to drive 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 working mode before receiving the voice signal. Specifically, assuming that the sweeping robot 1 is in a sweeping mode before receiving the voice signal, the sweeping robot 1 may switch to the sweeping mode to continue to perform the floor sweeping work after the unloading of the vehicle is completed.
In an embodiment of the present application, there is provided a control method of the sweeping robot system according to any one of the above embodiments, the method involving the sweeping robot 1 and the charging pile 3; the robot cleaner 1 is configured to receive a voice signal, and determine a sound source position for emitting the voice signal and a control command corresponding to the voice signal according to the voice signal; the sweeping robot 1 is further configured to send a first movement instruction or a second movement instruction to the charging pile 3 according to the control instruction;
The method specifically comprises the following steps:
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; when 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;
after the sweeping robot 1 moves to a preset target position, the charging pile 3 drives the lifting platform 4 to move, so that 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, if the control instruction is loading, the charging pile 3 receives the first movement instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset loading position according to the first movement instruction.
Specifically, if the control instruction is loading, the charging pile 3 receives the first movement instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset loading position according to the first movement instruction, so as to drive the carrier arranged on the lifting platform 4 to move to the loading position, wherein the loading position can be a preset position above the adsorption structure 2; the charging pile 3 enters a waiting state, so that loading operation is facilitated 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 loads the carrier on the sweeping robot 1; when the loading of the carrier is completed, the sweeping robot 1 is further configured to drive the carrier to move to the sound source position.
Specifically, after the robot 1 moves to a preset position near the side, where the lifting platform 4 is provided, of the charging pile 3, the charging pile 3 drives the lifting platform 4 to move downward, so as to drive the carrier arranged on the lifting platform 4 to move downward, and when the carrier moves to contact with the top of the adsorption structure 2, the carrier is connected with the 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 in-place state of the carrier, 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 movement instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to a preset unloading position according to the second movement instruction.
Specifically, if the control instruction is unloading, the charging pile 3 receives the second movement instruction sent by the sweeping robot 1, and drives the lifting platform 4 to move to the unloading position according to the second movement instruction, so as to drive the carrier arranged on the lifting platform 4 to move to the unloading position, wherein the unloading position can be a preset position above the sweeping robot 1 and lower than the bottom of the carrier; the charging pile 3 enters a waiting state, so that unloading operation is conveniently performed 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 the sweeping robot 1 moves to a preset position close to one side of the lifting platform 4 where the charging pile 3 is arranged, the charging pile 3 drives the lifting platform 4 to move upwards, drives the carrier arranged on the lifting platform 4 to move upwards, and drives the carrier to move upwards after the lifting platform 4 moves to contact with the bottom of the carrier, so that the carrier is separated from the sweeping robot 1.
In other embodiments, when the unloading of the carrier is completed, the sweeping robot 1 is further configured to switch to the working mode before receiving the voice signal. Specifically, assuming that the sweeping robot 1 is in a sweeping mode before receiving the voice signal, the sweeping robot 1 may switch to the sweeping mode to continue to perform the floor sweeping work after the unloading of the vehicle is completed.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.
Finally, it is further noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or terminal device that comprises the element.
The sweeping robot system with the carrying function and the control method thereof provided by the application are described in detail, and specific examples are applied to illustrate the principle and the implementation mode of the application, and the description of the above examples is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (7)

1. A robot system for sweeping floor with a carrying function, comprising: carrier, sweeping robot assembly and charging pile assembly;
The carrier is used for storing household garbage; the sweeping robot assembly comprises a sweeping robot and an adsorption structure arranged on the surface of the sweeping robot; the adsorption structure is a magnet; 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 arranged on the charging pile and used for loading and unloading the carrier; the bottom of the carrier is provided with a groove matched with the shape of the lifting table, and the lifting table is clamped in the groove in the process of driving the carrier to move;
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 so as to separate the carrier from the sweeping robot;
the control method of the sweeping robot system comprises the following steps:
The floor 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 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; the sweeping robot moves to a preset target position; when the sweeping robot moves to the target position, the charging pile drives the lifting platform to move, and the carrier is loaded on the sweeping robot; the surface of the sweeping robot is provided with an induction device for detecting the in-place state of the carrier, and when the carrier loading is detected to be completed, 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 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; the sweeping robot moves to a preset target position; when the sweeping robot moves to the target position, the charging pile drives the lifting platform to move, and the carrier is separated from the sweeping robot; when the unloading of the carrier is completed, the sweeping robot is switched to a working mode before receiving the voice signal.
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 table is connected with the movable end of the electric push rod, and the other end of the lifting table 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, and the carrier is loaded 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 table includes a first fork and a second fork on a same horizontal plane; the ends of the first fork and the second fork are respectively and fixedly connected with the movable end of the electric push rod.
4. The floor sweeping robot system of claim 3, wherein the elevating platform further includes a connecting rod; the end parts of the connecting rods are respectively connected with the first fork and the second fork.
5. The robot cleaner system according to claim 4, wherein the first fork, the second fork and the connecting rod are each provided with an anti-slip layer on a surface thereof for preventing the carrier from slipping.
6. The robot cleaner system of claim 1, wherein the carrier is a tub-like structure with an opening facing upward.
7. The robot sweeper system of claim 1 wherein the suction structure includes two or more; the adsorption structures are symmetrically arranged on the surface of the sweeping robot.
CN202110566086.4A 2021-05-24 2021-05-24 Sweeping robot system with carrying function and control method thereof Active CN113303718B (en)

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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
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