CN105534418B - A kind of sweeping robot intelligent adaptive walking mechanism - Google Patents
A kind of sweeping robot intelligent adaptive walking mechanism Download PDFInfo
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- CN105534418B CN105534418B CN201610055860.4A CN201610055860A CN105534418B CN 105534418 B CN105534418 B CN 105534418B CN 201610055860 A CN201610055860 A CN 201610055860A CN 105534418 B CN105534418 B CN 105534418B
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4072—Arrangement of castors or wheels
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The present invention relates to a kind of sweeping robot intelligent adaptive walking mechanism, walking mechanism including being arranged at sweeping robot body (1) lower surface, walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism includes poor position bar (2), rotary electric machine (4), travelling control module (6), two distance measuring sensors (5) and two Electric Motor Wheels (3) of preset length respectively；The technical scheme designed based on the present invention, it is attached for above-mentioned each device, form the sweeping robot intelligent adaptive walking mechanism that the present invention designs, substantially increase the passing through property in sweeping robot walking process, larger range of cleaning can be realized, the cleaning works efficiency of sweeping robot has been effectively ensured.
Description
Technical field
The present invention relates to a kind of sweeping robot intelligent adaptive walking mechanism, belong to Smart Home technical field.
Background technology
Continuous development and people's living standards continue to improve with technical level of science and technology, increasing household electrical appliance
Just develop towards intelligentized direction, such as in the last few years, sweeping robot occur in increasing family, it can be
Without in the case of any control, being cleaned automatically for ground, and with the continuous improvement of sweeping robot utilization rate,
Manufacturer constantly does improvement and innovation, such as patent No. also for existing sweeping robot：201320537462.8；It is public
A kind of sweeping robot, including main frame and dirt box are opened, main frame is provided with cavity, and dirt box is embedded in the cavity, dirt box
The dust channel ash hole of ash inlet and main frame is correspondingly arranged, in the side wall of cavity, positioned at the both ends of dust channel ash hole
Place, an optical signal transmitter is set respectively and received for exporting dust concentration signal to one first optical signal of control unit
Device；And dirt box is transparent material.The sweeping robot of above-mentioned technical proposal design, cavity side is arranged on by dust concentration sensor
On wall, user can cleaning of the photocell of dust sensor and the light-passing board of light receiving element simultaneously when cleaning dirt box,
Solve the problems, such as that prior art can not effectively clean dust sensor light-passing board.
Also number of patent application：201410752789.6 a kind of Intelligent robot for sweeping floor is disclosed, including：Between default
Multiple obstacle sensors away from setting, and each obstacle sensor is correspondingly arranged a steering angle, when obstacle sensor quilt
During triggering, the angle steering angle corresponding with the obstacle sensor that this is triggered that robot is turned to associates.Above-mentioned technology
The sweeping robot of conceptual design, the angle that it is turned to when detecting barrier and default turn of obstacle sensor being triggered
To angle relation, so as to optimize robot motion path, cleaning efficiency is improved.
Moreover, the patent No.：201520042353.8 disclosing a kind of sweeping robot, the sweeping robot includes：
Sweeping robot body, the sweeping robot body include shell, side brush assemblies, motor and elastic construction, the side
Brush assemblies are located at the bottom of the shell, and the motor is connected and for brush assemblies when driving described with described in brush assemblies
Rotation axis around the side brush assemblies rotates, and the elastic construction is arranged to flexibly compress the side brush assemblies downwards.On
The sweeping robot of Technical Design is stated, its robot body can extend side brush service life, and effectively ground-to-ground face is carried out
Cleaning, so as to improve cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot is with rapid changepl. never-ending changes and improvements, and function is also constantly changing
Enter with perfect, operation is also more intelligent, but existing sweeping robot, in the application process of reality, still there is a little
Weak point, such as existing sweeping robot are pursued on exquisite compact direction continuous, the volume of product in itself are constantly done
It is small, to adapt to more narrow spaces, ground property is espespecially pasted among these, it is necessary to realize the shifting of product using smaller road wheel
It is dynamic, but such a design direction, had a strong impact on existing sweeping robot by property, i.e., once running into some high points relatively
Object just can not be by, such as carpet etc., and existing sweeping robot is difficult to by that and then can not be directed to carpet surface and carry out
Clean.
The content of the invention
For above-mentioned technical problem, it is intelligently adaptive that the technical problems to be solved by the invention are to provide a kind of sweeping robot
Walking mechanism is answered, employs the structure design of brand-new walking mechanism, and introduces Intelligent Measurement, intelligent control structure, can be significantly
Improve sweeping robot by property, ensure the operating efficiency of sweeping robot.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme：The present invention devises a kind of sweeping robot
Intelligent adaptive walking mechanism, including it is arranged at the walking mechanism of sweeping robot body lower surface；The walking mechanism includes
At least four sub- walking mechanisms, each sub- walking mechanism array distribution are arranged on the lower surface of sweeping robot body, wherein, respectively
Individual sub- walking mechanism includes poor position bar, rotary electric machine, travelling control module, two distance measuring sensors and two of preset length respectively
Individual Electric Motor Wheel；Rotary electric machine and two distance measuring sensors in each sub- walking mechanism are connected with travelling control module respectively；
Travelling control module in each sub- walking mechanism is connected with the power end in sweeping robot body respectively, and power end is through each
Travelling control module in individual sub- walking mechanism is respectively that corresponding rotary electric machine and corresponding each two distance measuring sensors enter
Row power supply；Each Electric Motor Wheel in each sub- walking mechanism is connected with the control terminal in sweeping robot body；Each sub-line
The end of rotary electric machine drive rod in mechanism is walked mutually to be fixedly connected with the middle part of corresponding poor position bar, and where rotary electric machine drive rod
Straight line and straight line where poor position bar are perpendicular；Rotary electric machine is fixedly installed under sweeping robot body in each sub- walking mechanism
Surface corresponds to the position where sub- walking mechanism, and straight line where poor position bar and sweeping robot sheet in each sub- walking mechanism
Straight line where body direction of travel is coplanar, and poor position bar is put under the corresponding control for connecting rotary electric machine in each sub- walking mechanism
It is dynamic；Two Electric Motor Wheels in each sub- walking mechanism are connected to the both ends of corresponding poor position bar, and positioned at corresponding poor position bar two
The lower section at end, and the place face of two Electric Motor Wheels is coplanar, and the coplanar and sweeping robot body walking side of two Electric Motor Wheels
It is parallel to place straight line；Two distance measuring sensors in each sub- walking mechanism are connected under corresponding poor position bar both ends
Surface, straight down, and the ranging direction of each distance measuring sensor is not hidden by Electric Motor Wheel in the ranging direction of each distance measuring sensor
Gear.
As a preferred technical solution of the present invention：Rotary electric machine in each sub- walking mechanism is brushless rotary
Motor.
As a preferred technical solution of the present invention：Each Electric Motor Wheel in each sub- walking mechanism is brushless electricity
Machine driving wheel.
As a preferred technical solution of the present invention：Travelling control module in each sub- walking mechanism is monolithic
Machine.
As a preferred technical solution of the present invention：The length of poor position bar is Electric Motor Wheel in each sub- walking mechanism
(3) 3 times to 4 times of diameter.
As a preferred technical solution of the present invention：Poor position bar in each sub- walking mechanism uses aluminium alloy material
Material is made.
A kind of sweeping robot intelligent adaptive walking mechanism of the present invention uses above technical scheme and prior art
Compare, there is following technique effect：
(1) the sweeping robot intelligent adaptive walking mechanism that the present invention designs, under existing sweeping robot body
Each sub- walking mechanism on surface, devises brand-new electric control structure, by the way that ranging passes on poor position bar both ends in sub- walking mechanism
The design of sensor, Intelligent Measurement judge the change of difference in height between poor position bar both ends, thus directed towards sweeping robot direction of travel
Barrier on face realizes Intelligent Measurement, and combines designed intelligent control structure, passes through the design of rotary electric machine, intelligence control
The swing of poor position bar in each sub- walking mechanism is made, using front and rear Electric Motor Wheel in each sub- walking mechanism with high under poor position bar weave control
The design of lower position difference, it can effectively improve and grab ground effect for height walking surface, substantially increase sweeping robot walking
During by property, larger range of cleaning can be realized, the cleaning works efficiency of sweeping robot has been effectively ensured；
(2) in the sweeping robot intelligent adaptive walking mechanism that the present invention designs, in each sub- walking mechanism
Rotary electric machine, further design uses brushless rotary motor, and for each Electric Motor Wheel in each sub- walking mechanism, enters one
Step design uses brushless electric machine driving wheel so that the sweeping robot intelligent adaptive walking mechanism that the present invention designs is in actual work
During work, Jing Yin work can be realized, both ensure that designed sweeping robot intelligent adaptive walking mechanism has high pass
The property crossed, and can ensure that its course of work does not impact to surrounding environment, embody the human oriented design in design process；
(3) in the sweeping robot intelligent adaptive walking mechanism that the present invention designs, in each sub- walking mechanism
Travelling control module, further design use single-chip microcomputer, and it is intelligently adaptive for sweeping robot on the one hand can be applied to the later stage
The extension demand of walking mechanism is answered, on the other hand, succinct control architecture mode can be easy to the maintenance in later stage；
(4) in the sweeping robot intelligent adaptive walking mechanism that the present invention designs, in each sub- walking mechanism
Poor position bar, further design are made of aluminum alloy materials, while poor position bar high intensity is ensured, effectively control poor position bar
Weight, ensure that the portability of sweeping robot.
Brief description of the drawings
Fig. 1 is the structural representation of present invention design sweeping robot intelligent adaptive walking mechanism；
Fig. 2 is the side view structure signal of present invention design sweeping robot intelligent adaptive walking mechanism neutron walking mechanism
Figure.
Wherein, 1. sweeping robot body, a 2. poor bar, 3. Electric Motor Wheels, 4. rotary electric machines, 5. distance measuring sensors, 6. rows
Walk control module.
Embodiment
It is described in further detail with reference to embodiment of the Figure of description for the present invention.
As shown in figure 1, a kind of sweeping robot intelligent adaptive walking mechanism that the present invention designs, including be arranged at and sweep the floor
The walking mechanism of the lower surface of robot body 1；The walking mechanism includes at least four sub- walking mechanisms, each sub- walking mechanism
Array distribution is arranged on the lower surface of sweeping robot body 1, wherein, as shown in Fig. 2 each sub- walking mechanism is included in advance respectively
If the poor position bar 2 of length, rotary electric machine 4,6, two distance measuring sensors 5 of travelling control module and two Electric Motor Wheels 3；Each sub-line
Walk the rotary electric machine 4 in mechanism and two distance measuring sensors 5 are connected with travelling control module 6 respectively；Each sub- walking mechanism
In travelling control module 6 be connected respectively with the power end in sweeping robot body 1, power end is through each sub- walking mechanism
In travelling control module 6 be respectively corresponding to rotary electric machine 4 and corresponding each two distance measuring sensors 5 be powered；Respectively
Each Electric Motor Wheel 3 in individual sub- walking mechanism is connected with the control terminal in sweeping robot body 1；In each sub- walking mechanism
The end of the drive rod of rotary electric machine 4 is mutually fixedly connected with the middle part of corresponding poor position bar 2, and straight line where the drive rod of rotary electric machine 4
It is perpendicular with the poor place straight line of position bar 2；Rotary electric machine 4 is fixedly installed under sweeping robot body 1 in each sub- walking mechanism
Surface corresponds to the position where sub- walking mechanism, and poor the place straight line of position bar 2 and sweeping robot in each sub- walking mechanism
Straight line where the direction of travel of body 1 is coplanar, and poor position bar 2 connects under the control of rotary electric machine 4 corresponding in each sub- walking mechanism
Swung；Two Electric Motor Wheels 3 in each sub- walking mechanism are connected to the both ends of corresponding poor position bar 2, and positioned at corresponding
The lower section at the poor both ends of position bar 2, and the place face of two Electric Motor Wheels 3 is coplanar, and the coplanar and sweeping robot of two Electric Motor Wheels 3
Straight line where the direction of travel of body 1 is parallel；Two distance measuring sensors 5 in each sub- walking mechanism are connected to corresponding poor
The lower surface at position bar 2 both ends, the ranging direction of each distance measuring sensor 5 straight down, and the ranging side of each distance measuring sensor 5
To not blocked by Electric Motor Wheel 3.The sweeping robot intelligent adaptive walking mechanism of above-mentioned technical proposal design, sweeps the floor for existing
Each sub- walking mechanism of the lower surface of robot body 1, devises brand-new electric control structure, passes through poor position bar in sub- walking mechanism
The design of distance measuring sensor 5 on 2 both ends, Intelligent Measurement judges the change of difference in height between the poor both ends of position bar 2, thus directed towards sweeper
Barrier on device people's direction of travel ground realizes Intelligent Measurement, and combines designed intelligent control structure, by rotating electricity
The design of machine 4, the swing of poor position bar 3 in each sub- walking mechanism of intelligent control, using front and rear Electric Motor Wheel 3 in each sub- walking mechanism with
The design of high and low position difference under the poor weave control of position bar 2, it can effectively improve and grab ground effect for height walking surface, carry significantly
In high sweeping robot walking process by property, larger range of cleaning can be realized, sweeping robot has been effectively ensured
Cleaning works efficiency.
On basis based on above-mentioned design sweeping robot intelligent adaptive walking mechanism technical scheme, the present invention also enters
One step devises following optimal technical scheme：For the rotary electric machine 4 in each sub- walking mechanism, further design is using brushless
Rotary electric machine, and brushless electric machine driving wheel is used for each Electric Motor Wheel 3 in each sub- walking mechanism, further design,
So that the sweeping robot intelligent adaptive walking mechanism that the present invention designs can realize Jing Yin work in practical work process
Make, both ensure that designed sweeping robot intelligent adaptive walking mechanism had cross-country traveling ability, and can ensures its course of work
Surrounding environment is not impacted, embody the human oriented design in design process；And in each sub- walking mechanism
Travelling control module 6, further design use single-chip microcomputer, and it is intelligently adaptive for sweeping robot on the one hand can be applied to the later stage
The extension demand of walking mechanism is answered, on the other hand, succinct control architecture mode can be easy to the maintenance in later stage；In addition,
For the poor position bar 2 in each sub- walking mechanism, further design is made of aluminum alloy materials, is ensureing that poor position bar 2 is high-strength
While spending, the weight of poor position bar 2 is effectively controlled, ensure that the portability of sweeping robot.
The sweeping robot intelligent adaptive walking mechanism that the present invention designs is among actual application, including is arranged at
The walking mechanism of the lower surface of sweeping robot body 1；The walking mechanism includes at least four sub- walking mechanisms, and each sub-line is walked
Mechanism array distribution is arranged on the lower surface of sweeping robot body 1, wherein, each sub- walking mechanism includes preset length respectively
Poor position bar 2, brushless rotary motor, single-chip microcomputer, two distance measuring sensors 5 and two brushless electric machine driving wheels；Each sub-line is walked
The length of poor position bar 2 is 3 times to 4 times of the diameter of Electric Motor Wheel 3 in mechanism, and poor position bar 2 is made of aluminum alloy materials；Each height
Brushless rotary motor and two distance measuring sensors 5 in walking mechanism are connected with single-chip microcomputer respectively；In each sub- walking mechanism
Single-chip microcomputer be connected respectively with the power end in sweeping robot body 1, power end is through the monolithic in each sub- walking mechanism
Machine is respectively that corresponding brushless rotary motor and corresponding each two distance measuring sensors 5 are powered；Each sub- walking mechanism
In each brushless electric machine driving wheel be connected with the control terminal in sweeping robot body 1；It is brushless in each sub- walking mechanism
The end of rotary electric machine drive rod is mutually fixedly connected with the middle part of corresponding poor position bar 2, and straight where brushless rotary motor drive rod
Line and the poor place straight line of position bar 2 are perpendicular；Brushless rotary motor is fixedly installed on sweeping robot sheet in each sub- walking mechanism
The lower surface of body 1 corresponds to the position where sub- walking mechanism, and poor the place straight line of position bar 2 and sweeper in each sub- walking mechanism
Straight line where the direction of travel of device human body 1 is coplanar, and poor position bar 2 connects brushless rotary motor corresponding in each sub- walking mechanism
Swung under control；Two brushless electric machine driving wheels in each sub- walking mechanism are connected to the two of corresponding poor position bar 2
End, and positioned at the lower section at the corresponding poor both ends of position bar 2, and the place face of two brushless electric driving wheels is coplanar, and two are brushless
Straight line where the coplanar and direction of travel of sweeping robot body 1 of motor driving wheel is parallel；Two in each sub- walking mechanism
Individual distance measuring sensor 5 is connected to the lower surface at the corresponding poor both ends of position bar 2, and the ranging direction of each distance measuring sensor 5 is vertical
Downwards, and the ranging direction of each distance measuring sensor 5 is not blocked by brushless electric machine driving wheel.Among actual application, first
Initialized for being arranged at each sub- walking mechanism in the lower surface of sweeping robot body 1, the list in each sub- walking mechanism
Piece machine is controlled for the brushless rotary motor being attached thereto respectively so that the poor position bar 2 in each sub- walking mechanism is right
Under the control for answering brushless rotary motor, one end position that the direction of travel of sweeping robot body 1 is corresponded on poor position bar 2 is higher than
Its other end position so that be located at two brushless electric machine driving wheels at the poor both ends of position bar 2 in each sub- walking mechanism respectively
Between difference in height drive wheel diameter 1/2 for brushless electric machine, i.e., be located at two nothings of front and back in each sub- walking mechanism
Difference in height between brush motor driving wheel drives wheel diameter 1/2 for brushless electric machine, thus forms poor position in each sub- walking mechanism
The initial angle of bar 2；At the same time, the single-chip microcomputer in each sub- walking mechanism obtains respectively is attached thereto two distance measuring sensors
5 distance measurement result, the difference in height between two distance measurement results of distance measuring sensor 5 is obtained as corresponding to the poor initial angle of position bar 2
Elemental height it is poor；In, two brushless electricity being arranged in each sub- walking mechanism of the lower surface of sweeping robot body 1
Machine driving wheel is rotated in sweeping robot body 1 under the control of control terminal, meanwhile, two in each sub- walking mechanism
Distance measuring sensor 5 detects its set position and the distance between body surface below in real time respectively, obtains distance measurement result, and divide
It is not uploaded among connected single-chip microcomputer, distance measurement result of the single-chip microcomputer real-time reception from corresponding two distance measuring sensors 5,
And the difference in height between two distance measurement results is obtained, and analyzed in real time for difference in height, make corresponding operating；Using
In, when sweeping robot is placed on the ground, now, rear brushless electric machine driving wheel and ground in each sub- walking mechanism
It is in contact, sweeping robot body 1 is in each sub- walking mechanism under the rotation of rear brushless electric machine driving wheel and along direction of travel
Move, now, poor position bar 2 in each sub- walking mechanism keeps initial angle, i.e., single-chip microcomputer is obtained in each sub- walking mechanism
The difference in height of distance measurement result from corresponding two distance measuring sensors 5 is poor for elemental height, then single-chip microcomputer does not do any further
Operation, sweeping robot continue to move along its direction of travel；When obstacle being present on the ground of sweeping robot direction of advance
Thing, and barrier drives wheel diameter 1/3 to 1/2 with respect to the difference in height on ground for brushless electric machine, now, sweeping robot continues edge
Its direction of travel moves, because two brushless electric machines in each sub- walking mechanism respectively positioned at the poor both ends of position bar 2 drive
Difference in height between wheel drives wheel diameter 1/2 for brushless electric machine, therefore, is located at along the direction of travel of sweeping robot body 1 under it
Front brushless electric machine driving wheel can first be moved to barrier with the movement of sweeping robot in each sub- walking mechanism in surface forefront
Upper surface, due to the real-time working of distance measuring sensor 5 in each sub- walking mechanism, obtain distance measurement result and be simultaneously uploaded to phase therewith
In single-chip microcomputer even, then now, along sweeping robot direction of travel, positioned at the poor front of position bar 2 in each sub- walking mechanism
The distance measurement result of distance measuring sensor 5 can accordingly diminish, i.e., single-chip microcomputer, which obtains to come from, in each sub- walking mechanism is attached thereto two
Difference in height between the individual distance measurement result of distance measuring sensor 5 will be strained mutually greatly, poor more than elemental height, then each sub- vehicle with walking machine
Single-chip microcomputer in structure controls the brushless rotary motor being attached thereto to work immediately so that poor position bar 2 in each sub- walking mechanism
Rotated under the control of corresponding brushless rotary motor, one end of lower 2 corresponding sweeping robot direction of travel of pressure difference position bar, i.e.,
The front end of lower pressure difference position bar 2 so that the brushless electric machine driving wheel on the end is in contact with the upper surface of barrier, so, should
Two brushless electric machine driving wheels of front and back are enterprising in blocking surfaces and floor surface respectively in each sub- walking mechanism
Row movement, has an effect and drives the rear brushless electric machine driving wheel in each sub- walking mechanism to be moved on blocking surfaces jointly,
Continuation moves along sweeping robot direction of travel, when the rear brushless electric machine driving wheel movement in each sub- walking mechanism
After on to blocking surfaces, due in now each sub- walking mechanism two brushless electric machine driving wheels of front and back in obstacle
The upper surface of thing moves, then now in each sub- walking mechanism respectively positioned at distance measuring sensor 5 on the poor both ends of position bar 2
Distance measurement result is mutually the same, mutually should in each sub- walking mechanism single-chip microcomputer obtain come be attached thereto two distance measuring sensors 5
Distance measurement result between difference in height be 0, then now, the single-chip microcomputer in each sub- walking mechanism controls immediately to be attached thereto
Brushless rotary motor work so that poor position bar 2 is extensive under the control of corresponding brushless rotary motor in each sub- walking mechanism
Again to initial angle, that is, the difference in height on the poor both ends of position bar 2 between the distance measurement result of distance measuring sensor 5 is caused to return back to initial height
Degree is poor；Remaining each sub- walking mechanism for being similarly provided at the lower surface of sweeping robot 1 is moved to barrier by above-mentioned moving process
Hinder the surface of thing to move, until whole sweeping robot clears the jumps and continued to move to, substantially increase sweeping robot
By property, larger range of cleaning can be realized, the cleaning works efficiency of sweeping robot has been effectively ensured.
It is explained in detail above in conjunction with Figure of description for embodiments of the present invention, but the present invention is not limited to
Above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, present inventive concept can also not departed from
On the premise of make a variety of changes.
Claims (6)
1. a kind of sweeping robot intelligent adaptive walking mechanism, including it is arranged at the row of sweeping robot body (1) lower surface
Walk mechanism；It is characterized in that：The walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism array distribution is set
Put in the lower surface of sweeping robot body (1), wherein, each sub- walking mechanism respectively including preset length poor position bar (2),
Rotary electric machine (4), travelling control module (6), two distance measuring sensors (5) and two Electric Motor Wheels (3)；In each sub- walking mechanism
Rotary electric machine (4) and two distance measuring sensors (5) be connected respectively with travelling control module (6)；In each sub- walking mechanism
Travelling control module (6) be connected respectively with the power end in sweeping robot body (1), power end is through each sub- vehicle with walking machine
Travelling control module (6) in structure is respectively that corresponding rotary electric machine (4) and corresponding each two distance measuring sensors (5) are entered
Row power supply；Each Electric Motor Wheel (3) in each sub- walking mechanism is connected with the control terminal in sweeping robot body (1)；Respectively
The end of rotary electric machine (4) drive rod is mutually fixedly connected with the middle part of corresponding poor position bar (2) in individual sub- walking mechanism, and rotates electricity
Straight line where machine (4) drive rod and straight line where poor position bar (2) are perpendicular；Rotary electric machine (4) is fixed in each sub- walking mechanism
It is arranged on sweeping robot body (1) lower surface and corresponds to position where sub- walking mechanism, and it is poor in each sub- walking mechanism
Straight line where position bar (2) and straight line where sweeping robot body (1) direction of travel are coplanar, poor position bar in each sub- walking mechanism
(2) swung under the corresponding control for connecting rotary electric machine (4)；Two Electric Motor Wheels (3) in each sub- walking mechanism are respectively
The both ends of corresponding poor position bar (2) are connected to, and are located at the lower section at corresponding poor position bar (2) both ends, and the institute of two Electric Motor Wheels (3)
It is coplanar in face, and straight line where coplanar and sweeping robot body (1) direction of travel of two Electric Motor Wheels (3) is parallel；It is each
Two distance measuring sensors (5) in sub- walking mechanism are connected to the lower surface at corresponding poor position bar (2) both ends, and each ranging passes
Straight down, and the ranging direction of each distance measuring sensor (5) is not blocked by Electric Motor Wheel (3) in the ranging direction of sensor (5).
A kind of 2. sweeping robot intelligent adaptive walking mechanism according to claim 1, it is characterised in that：Each height
Rotary electric machine (4) in walking mechanism is brushless rotary motor.
A kind of 3. sweeping robot intelligent adaptive walking mechanism according to claim 1, it is characterised in that：Each height
Each Electric Motor Wheel (3) in walking mechanism is brushless electric machine driving wheel.
A kind of 4. sweeping robot intelligent adaptive walking mechanism according to claim 1, it is characterised in that：Each height
Travelling control module (6) in walking mechanism is single-chip microcomputer.
A kind of 5. sweeping robot intelligent adaptive walking mechanism according to claim 1, it is characterised in that：Each height
The length of poor position bar (2) is 3 times to 4 times of Electric Motor Wheel (3) diameter in walking mechanism.
A kind of 6. sweeping robot intelligent adaptive walking mechanism according to claim 1, it is characterised in that：Each height
Poor position bar (2) in walking mechanism is made of aluminum alloy materials.
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| CN101081153A (en) * | 2006-06-01 | 2007-12-05 | 财团法人工业技术研究院 | Omnidirectional cleaning device |
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| CN204236614U (en) * | 2014-12-09 | 2015-04-01 | 青岛海艺自动化技术有限公司 | A kind of comprehensive type automatic guided vehicle based on differential type all-round wheel group |
| CN205625814U (en) * | 2016-01-27 | 2016-10-12 | 苏州宏奇锐自动化有限公司 | Intelligent adaptive running gear of robot sweeps floor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7571511B2 (en) * | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101081153A (en) * | 2006-06-01 | 2007-12-05 | 财团法人工业技术研究院 | Omnidirectional cleaning device |
| CN201971077U (en) * | 2010-12-14 | 2011-09-14 | 上海师范大学 | Combined moving mechanism of robot |
| CN204236614U (en) * | 2014-12-09 | 2015-04-01 | 青岛海艺自动化技术有限公司 | A kind of comprehensive type automatic guided vehicle based on differential type all-round wheel group |
| CN205625814U (en) * | 2016-01-27 | 2016-10-12 | 苏州宏奇锐自动化有限公司 | Intelligent adaptive running gear of robot sweeps floor |
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