CN115336937B - Obstacle avoidance navigation device of laboratory automatic cleaning robot - Google Patents
Obstacle avoidance navigation device of laboratory automatic cleaning robot Download PDFInfo
- Publication number
- CN115336937B CN115336937B CN202210986265.8A CN202210986265A CN115336937B CN 115336937 B CN115336937 B CN 115336937B CN 202210986265 A CN202210986265 A CN 202210986265A CN 115336937 B CN115336937 B CN 115336937B
- Authority
- CN
- China
- Prior art keywords
- obstacle avoidance
- navigation device
- ring
- pressure data
- avoidance navigation
- 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.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims description 37
- 229920000742 Cotton Polymers 0.000 claims description 23
- 238000010586 diagram Methods 0.000 claims description 11
- 238000001125 extrusion Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention discloses an obstacle avoidance navigation device of an automatic cleaning robot in a laboratory, which comprises a top cover, a chassis, a steering device, a walking device, a cleaning device and an obstacle avoidance navigation device, wherein the steering device, the walking device and the cleaning device are respectively arranged in the top cover through telescopic rods, an undercut ring sleeve is sleeved outside the top cover, the chassis is fixedly connected with the lower end of the top cover, the obstacle avoidance navigation device is arranged on the undercut ring sleeve, the obstacle avoidance navigation device further comprises a spin control device and an external spin navigation device, the spin control device is fixed on the undercut ring sleeve, the external spin navigation device is rotatably arranged with the undercut ring sleeve, the obstacle avoidance navigation device is further connected with an obstacle avoidance navigation monitoring system, and the obstacle avoidance navigation monitoring system further comprises a laser radar for spatial scanning, a GPS track recording module for recording a travelling track and a pressure sensing monitoring system for assisting the obstacle avoidance navigation device.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to an obstacle avoidance navigation device of an automatic cleaning robot in a laboratory.
Background
With the development of social science and technology, automatic cleaning robots are rapidly received and used by people. At present, because the laboratory needs to be used frequently and for a long time, and the laboratory also has more equipment and objects, certain garbage can be inevitably generated, and some cleaning robots used in the laboratory need to have the characteristics of quick and flexible response, accuracy, safety, obstacle avoidance and the like. However, in the use process of the existing cleaning robot, when an object or equipment is monitored to block a road where the object or equipment advances, obstacle avoidance is performed, however, the obstacle avoidance accuracy and effect are poor, and in the actual obstacle avoidance process, the obstacle avoidance distance from the object or equipment is large, and although the obstacle avoidance function is realized, the edge of a region where the object or equipment is close or is close cannot be sufficiently cleaned, so that manual cleaning is needed again; moreover, when some protrusions such as electrified wires and anti-picking base plates on the ground of a laboratory exist temporarily, the existing cleaning robot is difficult to span, especially flexible electrified wires, and if the area where the existing cleaning robot is located is also easy to cause the winding of the cleaning brush and the electrified wires, dangerous conditions occur.
Therefore, a person skilled in the art provides an obstacle avoidance navigation device for a laboratory robot to solve the problems set forth in the background art.
Disclosure of Invention
In order to achieve the above purpose, the present invention provides the following technical solutions: including top cap cover, chassis, turn to device, running gear, cleaning device and keep away barrier navigation device, turn to device, running gear and cleaning device install in the top cap cover through telescopic link one respectively, the cover outside cover has a undercut ring cover, chassis and top cap cover lower extreme fixed connection, it installs on undercut ring cover to keep away barrier navigation device, it still includes spin control device, outer the spin navigation device, spin control device fixes on undercut ring cover, spin navigation device and undercut ring cover rotate the installation, spin control device regulates and control spin and non-spin mode to spin navigation device, just it still is connected with keeps away barrier navigation monitoring system to keep away barrier navigation monitoring system, it still includes the laser radar that is used for spatial scanning, the GPS orbit record module that is used for taking notes the orbit and the supplementary pressure sensing monitoring system who keeps away barrier navigation device and keep away barrier navigation.
As a preferable technical scheme of the invention, the spin control device comprises an L-shaped ring, a mounting seat, a rotating motor and a fastening device, wherein the L-shaped ring is fixed on the upper end side and the lower end side of a side concave ring sleeve, the mounting seat and the rotating motor are respectively arranged in an outer concave cavity of the side concave ring sleeve, the mounting seat is provided with a plurality of groups, a gear is arranged on a bearing of the mounting seat, the outer sides of the plurality of groups of the gears are meshed with a toothed ring, the rotating motor is vertically arranged above a group of gears, the upper end of the group of gears is coaxially fixed with a fixed cylinder, the circumference of the inner cylinder wall of the fixed cylinder is uniformly fixed with an elastic rough patch, the output end of the rotating motor is fixed with a rough shaft, the rough shaft penetrates through the positions of the axes surrounded by the plurality of groups of rough patches, the edge of one side of the upper end of the group of the gears is provided with the fastening device, and the fastening device is used for controlling the rough patch to be attached to and separated from the rough shaft.
As a preferable technical scheme of the invention, the fastening device comprises a telescopic rod II, a herringbone connecting rod, a X-shaped connecting rod and a locking arc ring, wherein the telescopic rod II is fixed on a group of gears, the middle part of the herringbone connecting rod is hinged to the upper end of the telescopic rod II, two ends of the lower side of the X-shaped connecting rod are respectively hinged to two ends of the herringbone connecting rod, two arc ends of the locking arc ring are respectively connected to two ends of the upper side of the X-shaped connecting rod, and the locking arc ring is sleeved on the outer sides of a plurality of groups of rough sticking blocks.
As a preferable technical scheme of the invention, the obstacle avoidance navigation device comprises a mounting shell ring and an obstacle avoidance guiding traveling ring sleeve, wherein the mounting shell ring is fixedly sleeved on a toothed ring, a containing ring cavity is formed in the mounting shell ring, a first annular groove and a second annular groove are respectively formed in the mounting shell ring, the second annular groove is used for being rotationally connected with an L-shaped ring, the obstacle avoidance guiding traveling ring sleeve comprises an arc sheet plate and a flexible cotton ring, a plurality of groups are uniformly distributed on the circumference of the arc sheet plate, raised strip blocks are respectively fixed at the upper end and the lower end of the arc sheet plate and are embedded in the first annular groove for sliding connection, the arc sheet plate is further connected on the cavity wall of the containing ring cavity through buffer springs, the flexible cotton ring is sleeved on the outer sides of a plurality of groups of the arc sheet plates, and radial monitoring springs are also embedded in the flexible cotton ring and are uniformly distributed in a plurality of groups on the circumference and the axial direction respectively.
As a preferable technical scheme of the invention, the upper end and the lower end of the outer side of the flexible cotton ring are provided with chamfer surfaces, and silica gel ring strips are attached to the chamfer surfaces.
As a preferable technical scheme of the invention, the laser radar scans the space in a laboratory, scans equipment objects stored in the laboratory, acquires a laboratory space model diagram, an obstacle model block of the equipment objects, coordinates of the obstacle model block in the space model diagram and acquires a space travelling path with the height lower than the height between the top of the cleaning robot and the laboratory ground.
As a preferable technical scheme of the invention, the GPS track recording module is respectively used for recording and updating a first travelling track when the GPS track recording module is not contacted with the equipment object and recording a second travelling track when the GPS track recording module is contacted with the equipment object, the first travelling track and the second travelling track are used for cleaning a cleaning route for laboratory cleaning, and the second travelling track is used for guiding and cleaning an area close to the outer edge of the equipment object, and is used as an obstacle avoidance route of the cleaning route and a deceleration signal when the GPS track recording module is contacted with the equipment object.
As a preferable technical scheme of the invention, the pressure sensing monitoring system comprises a pressure sensing unit, partial pressure data processing units and total pressure data processing units, wherein the pressure sensing units are provided with a plurality of groups and are respectively arranged in one-to-one correspondence with monitoring springs, so as to monitor the pressure conditions of touch and micro pressure of the flexible cotton ring and the equipment object, the pressure data monitored by the pressure sensing units in the same vertical direction are recorded as a pressure data group from bottom to top, one pressure data group corresponds to one partial pressure data processing unit, the partial pressure data processing units dynamically monitor the pressure data in the pressure data group and monitor the fluctuation conditions of the pressure data, the total pressure data processing units correspond to all the partial pressure data processing units, and the total pressure data processing units dynamically monitor the pressure data of the partial pressure data processing units so as to judge the extrusion conditions of the flexible cotton ring and the surface of the equipment object, maintain the extrusion conditions in a range of a certain extrusion degree, feed back the surface entity conditions of the equipment object in the same layer as the flexible cotton ring, and avoid obstacle in time.
As a preferable technical scheme of the invention, the partial pressure data processing element processes and analyzes the fluctuation condition of one pressure data to obtain the concave-convex condition of the longitudinal surface of the equipment object, and the pressure data processed by a plurality of partial pressure data processing elements contacted with the equipment object and the pressure data processed by a plurality of partial pressure data processing elements on the adjacent side of the total pressure data processing element are subjected to strength comparison in different time periods, so that the steering device is fed back to regulate and control the steering.
As a preferable technical scheme of the invention, when the obstacle avoidance navigation device is not in contact with an equipment object, the fastening device controls the rough sticking block to be in a separated state with the rough shaft so as to enable the obstacle avoidance navigation device to passively spin and rotate when encountering a movable obstacle and buffer the impact force of the movable obstacle, and when the obstacle avoidance navigation device is in contact with the equipment object and is extruded, the fastening device controls the rough sticking block to be in a sticking state with the rough shaft so as to control the obstacle avoidance navigation device to roll along the surface of the equipment object.
Compared with the prior art, the invention provides the obstacle avoidance navigation device of the automatic cleaning robot in the laboratory, which has the following beneficial effects:
according to the invention, the space model diagram of a laboratory is firstly scanned through a laser radar, the space model diagram is recorded for a long term, equipment objects in the laboratory are recorded for a short term to be an obstacle model block, so that the first travelling track and the second travelling track, especially the second travelling track, are obtained, the situation that the lighter equipment objects are forced to move or topple when the leaning equipment objects are light equipment objects can be avoided when the leaning equipment objects are leaning on the obstacle in the moving process while the obstacle is avoided, the obstacle avoidance navigation device and the obstacle avoidance navigation monitoring system are matched for use, the cleaning robot can be closely attached to the surface of the obstacle to move, the area which is close to the obstacle to be represented is comprehensively cleaned, and the situation that the lighter equipment objects are forced to move due to the overlarge impact force of the leaning on the lighter equipment objects can be prevented when the obstacle is met through the use of the external rotation navigation device in the obstacle avoidance navigation device, and the robot can be prevented from being suddenly unloaded when the robot is contacted with the moving obstacle, so that the robot can be more stable in the moving state.
Drawings
FIG. 1 is a schematic diagram of an obstacle avoidance navigation device according to the present invention;
FIG. 2 is an enlarged schematic view of a partial structure of an obstacle avoidance guiding traveling loop of the present invention;
FIG. 3 is an enlarged schematic view of a partial structure of a spin control apparatus of the present invention;
in the figure: 1. a top cover; 2. a chassis; 3. a steering device; 4. a walking device; 5. a cleaning device; 6. a first telescopic rod; 7. obstacle avoidance navigation device; 8. a side concave ring sleeve; 9. an L-ring; 10. installing a shell ring; 11. a first ring groove; 12. a second ring groove; 13. obstacle avoidance guiding traveling loop; 14. a male bar block; 15. a buffer spring; 16. spin control means; 17. an arc plate; 18. a flexible cotton ring; 19. monitoring the spring; 20. a silica gel ring strip; 21. a pressure sensing monitoring system; 22. a mounting base; 23. a rotating electric machine; 24. a rough shaft; 25. a gear; 26. a fixed cylinder; 27. a second telescopic rod; 28. a herringbone connecting rod; 29. a x-type connecting rod; 30. locking the arc ring; 31. rough sticking blocks; 32. a toothed ring.
Detailed Description
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an obstacle avoidance navigation device of laboratory self-cleaning robot, includes top cap 1, chassis 2, turns to device 3, running gear 4, cleaning device 5 and keeps away obstacle navigation device 7, turn to device 3, running gear 4 and cleaning device 5 install respectively in top cap 1 through telescopic link one 6, top cap 1 outside cover has side concave ring cover 8, chassis 2 and top cap 1 lower extreme fixed connection, keep away obstacle navigation device 7 and install on side concave ring cover 8, it still includes spin control device 16, outer the spin navigation device to keep away obstacle navigation device 7, spin control device 16 is fixed on side concave ring cover 8, outer spin navigation device and side concave ring cover 8 rotate the installation, spin control device 16 regulates and control to spin and non-spin mode of outer the spin navigation device, just obstacle avoidance navigation device 7 still is connected with and keeps away obstacle navigation monitoring system, keep away obstacle navigation monitoring system still including the laser radar that is used for the space scanning, be used for recording the GPS orbit record and keep away obstacle navigation device 7 pressure sensing navigation system 21 that keeps away the obstacle navigation device.
In this embodiment, spin controlling means 16 includes L type ring 9, mount pad 22, rotating electrical machines 23 and fastener, L type ring 9 is fixed in the upper and lower end side of side concave ring cover 8, mount pad 22, rotating electrical machines 23 are installed respectively in the outer cavity of side concave ring cover 8, mount pad 22 is equipped with the multiunit, mount pad 22 bearing installs gear 25, multiunit the outside meshing of gear 25 has ring gear 32, rotating electrical machines 23 vertical setting is in the top of a set of gear, the upper end coaxial fixed with fixed cylinder 26 of a set of gear, circumference evenly is fixed with elastic coarse patch 31 on the inner tube wall of fixed cylinder 26, the rotating electrical machines 23 output is fixed with coarse axle 24, coarse axle 24 runs through multiunit coarse patch 31 confined axle center department, fastener is installed to the upper end one side edge of a set of gear, fastener is used for controlling coarse patch 31 and coarse axle 24 laminating and separation.
In this embodiment, the fastening device includes a second telescopic rod 27, a herringbone connecting rod 28, a x-shaped connecting rod 29, and a locking arc ring 30, where the second telescopic rod 27 is fixed on a set of gears, the middle part of the herringbone connecting rod 28 is hinged on the upper end of the second telescopic rod 27, two ends of the lower side of the x-shaped connecting rod 29 are hinged with two ends of the herringbone connecting rod 28, two arc ends of the locking arc ring 30 are connected with two ends of the upper side of the x-shaped connecting rod 29, and the locking arc ring 30 is sleeved on the outer sides of the plurality of groups of rough patches 31.
In this embodiment, the obstacle avoidance navigation device 7 includes a mounting shell ring 10 and an obstacle avoidance guiding traveling ring sleeve 13, the mounting shell ring 10 is fixedly sleeved on a toothed ring 32, a holding ring cavity is provided in the mounting shell ring 10, a first ring groove 11 and a second ring groove 12 are provided on the mounting shell ring 10, the second ring groove 12 is used for being rotationally connected with the L-shaped ring 9, the obstacle avoidance guiding traveling ring sleeve 13 includes an arc plate 17 and a flexible cotton ring 18, multiple groups are uniformly distributed on the circumference of the arc plate 17, the upper end and the lower end of the arc plate 17 are respectively fixed with a convex strip block 14, the convex strip blocks 14 are embedded into the first ring groove 11 for sliding connection, the arc plate 17 is also connected on the cavity wall of the holding ring cavity through a buffer spring 15, the flexible cotton ring 18 is sleeved on the outer side of the multiple groups of the arc plate 17, a radial monitoring spring 19 is also embedded in the flexible cotton ring 18, and the multiple groups are uniformly distributed on the circumference and the axial direction.
In this embodiment, the upper and lower ends of the outer side of the flexible cotton ring 18 are provided with chamfer surfaces, and the chamfer surfaces are attached with silica gel ring strips 20.
In this embodiment, the laser radar scans the size of the laboratory space, scans the laboratory space in which the equipment object is stored, obtains a laboratory space model diagram, an obstacle model block of the equipment object, coordinates of the obstacle model block in the space model diagram, and obtains a space travelling path with a height lower than a distance between the top height of the cleaning robot and the laboratory ground.
In this embodiment, the GPS track recording module is configured to record a first travel track when the GPS track recording module is not in contact with the device object, and record a second travel track when the GPS track recording module is in contact with the device object, where the first travel track and the second travel track are used for cleaning a cleaning path of laboratory cleaning, and the second travel track is used for guiding cleaning an area abutted against an outer edge of the device object, and is used as an obstacle avoidance path of the cleaning path and a deceleration signal when the GPS track recording module is abutted against a surface of the device object.
In this embodiment, the pressure sensing monitoring system 21 includes a plurality of pressure sensing units, a partial pressure data processing unit and a total pressure data processing unit, where the pressure sensing units are set in a plurality of groups and are respectively set in a one-to-one correspondence with the monitoring springs 19, so as to monitor the pressure conditions of the flexible cotton ring and the device object, and the pressure data monitored by the pressure sensing units in the same vertical direction is recorded from bottom to top as a pressure data set, one of the pressure data sets corresponds to one partial pressure data processing unit, the partial pressure data processing unit dynamically monitors the pressure data in the pressure data set and monitors the fluctuation conditions of the pressure data, the total pressure data processing unit corresponds to all the partial pressure data processing units, and the total pressure data processing unit dynamically monitors the pressure data of the partial pressure data processing unit, so as to determine the extrusion conditions of the flexible cotton ring and the device object surface, and maintain in a range of a certain extrusion degree, feed back the surface entity conditions of the device object in the same layer as the flexible cotton ring, and timely regulate and control the obstacle avoidance line.
In this embodiment, in the same time period, the partial pressure data processing unit processes and analyzes a fluctuation condition of one pressure data to obtain a concave-convex condition of a longitudinal surface of a surface of an equipment object, and in different time periods, the total pressure data processing unit compares the pressure data processed by the partial pressure data processing units in contact with the equipment object with the pressure data processed by the partial pressure data processing units on adjacent sides thereof, so as to feedback, regulate and control and turn to the turning device.
In this embodiment, when the obstacle avoidance navigation device 7 is not in contact with the equipment object, the fastening device controls the rough patch 31 and the rough shaft 24 to be in a separated state, so that when the obstacle avoidance navigation device encounters an active obstacle, the passive spin rotates to buffer the impact force of the active obstacle, and when the obstacle avoidance navigation device 7 is in contact with and extrusion with the equipment object, the fastening device controls the rough patch 31 and the rough shaft 24 to be in a fitting state, so as to control the obstacle avoidance navigation device 7 to roll along the surface of the equipment object.
In the implementation, the space model diagram stored for a long time is obtained through the laser radar scanning of the space size of a laboratory, the equipment object stored in the laboratory is scanned, the obstacle model block of the equipment object stored for a short time and the coordinates of the obstacle model block in the space model diagram are obtained, the space with the height lower than the top height of the cleaning robot and the space between the ground of the laboratory are obtained, the route of a travelling path is obtained, when the laser radar scanning type multifunctional robot is used for the first time, a travelling device, a steering device and a cleaning device are started to clean the laboratory, and in the cleaning process, a travelling track I and a travelling track II are obtained through the recording of a GPS track recording module, wherein when the obstacle avoidance navigation device touches the surface of the equipment object, such as a table leg, the monitoring feedback of a pressure sensing monitoring system is used for guaranteeing that a flexible cotton ring is tightly attached to the surface of the table leg, the processing analysis of pressure data is fed back and the steering device in real time, so that a region close to the surface of the table leg is tightly wound around the table leg to clean the nearby area, when the robot is used again, the travelling track I is directly hit, the travelling track I is monitored and judged, the travelling track I is updated, the travelling track I, the travelling track II is updated, the travelling track I is recorded, the travelling track II is obtained, the travelling track I is regulated and the travelling track I is capable of lifting the obstacle to the chassis.
The above description is only of the preferred embodiments of the invention, but the protection scope of the invention is not limited thereto, and any person skilled in the art who is skilled in the art to which the invention pertains should make equivalent substitutions or modifications according to the technical solution of the invention and its inventive concept within the scope of the invention.
Claims (7)
1. The utility model provides a robot obstacle avoidance navigation device in laboratory, includes top cap cover (1), chassis (2), turns to device (3), running gear (4), cleaning device (5) and obstacle avoidance navigation device (7), its characterized in that: the steering device (3), the walking device (4) and the cleaning device (5) are respectively installed in the top cover (1) through a first telescopic rod (6), a side concave annular sleeve (8) is sleeved on the outer side of the top cover (1), the chassis (2) is fixedly connected with the lower end of the top cover (1), the obstacle avoidance navigation device (7) is installed on the side concave annular sleeve (8), the obstacle avoidance navigation device (7) further comprises a spin control device (16) and an outward rotation navigation device, the spin control device (16) is fixed on the side concave annular sleeve (8), the outward rotation navigation device is rotatably installed with the side concave annular sleeve (8), the spin control device (16) regulates and controls the spin and non-spin modes of the outward rotation navigation device, the obstacle avoidance navigation device (7) is further connected with an obstacle avoidance navigation monitoring system, and the obstacle avoidance navigation monitoring system further comprises a laser radar for space scanning, a GPS track recording module for recording a travelling track and a pressure sensing monitoring system for assisting the obstacle avoidance navigation device (7);
the spin control device (16) comprises an L-shaped ring (9), a mounting seat (22), a rotating motor (23) and a fastening device, wherein the L-shaped ring (9) is fixed on the upper end side and the lower end side of a side concave ring sleeve (8), the mounting seat (22) and the rotating motor (23) are respectively arranged in the outer concave cavity of the side concave ring sleeve (8), the mounting seat (22) is provided with a plurality of groups, the mounting seat (22) is provided with a gear (25) in a bearing manner, the outer sides of the plurality of groups of the gear (25) are meshed with a toothed ring (32), the rotating motor (23) is vertically arranged above a group of gears, the upper end of the group of gears is coaxially fixed with a fixed cylinder (26), the circumference of the inner cylinder wall of the fixed cylinder (26) is uniformly fixed with an elastic rough pasting block (31), the output end of the rotating motor (23) is fixed with a rough shaft (24), the rough shaft (24) penetrates through the shaft center surrounded by the rough pasting block (31), the edge of the upper end side of the group of the gear is provided with the fastening device, and the fastening device is used for controlling the rough pasting block (31) and separating the rough pasting block from the rough pasting block (24);
the obstacle avoidance navigation device (7) comprises a mounting shell ring (10) and an obstacle avoidance guiding traveling ring sleeve (13), wherein the mounting shell ring (10) is fixedly sleeved on a toothed ring (32), a containing ring cavity is formed in the mounting shell ring (10), a first annular groove (11) and a second annular groove (12) are further formed in the mounting shell ring (10) respectively, the second annular groove (12) is used for being rotationally connected with an L-shaped ring (9), the obstacle avoidance guiding traveling ring sleeve (13) comprises an arc sheet plate (17) and a flexible cotton ring (18), a plurality of groups of arc sheet plates (17) are uniformly distributed on the circumference, raised strip blocks (14) are respectively fixed at the upper end and the lower end of the arc sheet plates (17), the raised strip blocks (14) are embedded into the first annular groove (11) to be in sliding connection, the arc sheet plates (17) are further connected onto the cavity walls of the containing ring cavity through buffer springs (15), the flexible cotton rings (18) are sleeved on the outer sides of the arc sheet plates (17), and the flexible cotton rings (18) are further provided with a plurality of groups of monitoring springs (19) which are uniformly distributed on the circumference, and are uniformly distributed on the circumference of the arc sheet plates (19);
the pressure sensing monitoring system (21) comprises a pressure sensing unit, partial pressure data processing elements and total pressure data processing elements, wherein the pressure sensing units are provided with a plurality of groups and are respectively arranged in one-to-one correspondence with the monitoring springs (19), so that the pressure conditions of touch and micro pressure of the flexible cotton ring and the equipment object are monitored, the pressure data monitored by the pressure sensing unit in the same vertical direction are recorded into a pressure data group from bottom to top, one pressure data group corresponds to one partial pressure data processing element, the partial pressure data processing elements dynamically monitor the pressure data in the pressure data group and monitor the fluctuation conditions of the pressure data, the total pressure data processing elements correspond to all the partial pressure data processing elements, and the total pressure data processing elements dynamically monitor the pressure data of the partial pressure data processing elements so as to judge the extrusion conditions of the flexible cotton ring and the surface of the equipment object, maintain in a range of a certain extrusion degree, feed back the surface entity conditions of the equipment object in the same layer as the flexible cotton ring, and timely regulate and control the obstacle avoidance route.
2. The robot obstacle avoidance navigation device of claim 1, wherein: the fastening device comprises a telescopic rod II (27), a herringbone connecting rod (28), a X-shaped connecting rod (29) and a locking arc ring (30), wherein the telescopic rod II (27) is fixed on a group of gears, the middle part of the herringbone connecting rod (28) is hinged to the upper end of the telescopic rod II (27), two ends of the lower side of the X-shaped connecting rod (29) are respectively hinged to two ends of the herringbone connecting rod (28), two arc ends of the locking arc ring (30) are respectively connected to two ends of the upper side of the X-shaped connecting rod (29), and the locking arc ring (30) is sleeved on the outer sides of the rough pasting blocks (31).
3. The robot obstacle avoidance navigation device of claim 1, wherein: the upper end and the lower end of the outer side of the flexible cotton ring (18) are provided with chamfer faces, and silica gel ring strips (20) are attached to the chamfer faces.
4. The robot obstacle avoidance navigation device of claim 1, wherein: the laser radar scans the space of the laboratory, the equipment object exists in the laboratory, the space model diagram of the laboratory, the obstacle model block of the equipment object, the coordinates of the obstacle model block in the space model diagram and the space travelling path with the height lower than the top height of the cleaning robot and between the laboratory ground are obtained.
5. The robot obstacle avoidance navigation device of claim 1, wherein: the GPS track recording module is used for recording and updating a first travelling track when the GPS track recording module is not contacted with the equipment object and recording a second travelling track when the GPS track recording module is contacted with the equipment object, the first travelling track and the second travelling track are used for cleaning a cleaning route for laboratory cleaning, and the second travelling track is used for guiding and cleaning an area close to the outer edge of the equipment object, and is used as an obstacle avoidance route of the cleaning route and a deceleration signal when the GPS track recording module is contacted with the equipment object.
6. The robot obstacle avoidance navigation device of claim 1, wherein: and in the same time period, the partial pressure data processing element processes and analyzes the fluctuation condition of one pressure data to acquire the concave-convex condition of the longitudinal surface of the equipment object, and in different time periods, the pressure data processed by the partial pressure data processing elements, which are contacted with the equipment object, and the pressure data processed by the partial pressure data processing elements, which are adjacent to the total pressure data processing element, are subjected to strength comparison so as to feed back the regulation and control steering to the steering device.
7. The robot obstacle avoidance navigation device of claim 1, wherein: when the obstacle avoidance navigation device (7) is not in contact with the equipment object, the fastening device controls the rough sticking block (31) to be in a separation state with the rough shaft (24) so that when the obstacle avoidance navigation device encounters an active obstacle, the passive spin rotates to buffer the impact force of the active obstacle, and when the obstacle avoidance navigation device (7) is in contact with the equipment object for extrusion, the fastening device controls the rough sticking block (31) to be in a sticking state with the rough shaft (24) so as to control the obstacle avoidance navigation device (7) to roll along the surface of the equipment object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210986265.8A CN115336937B (en) | 2022-08-17 | 2022-08-17 | Obstacle avoidance navigation device of laboratory automatic cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210986265.8A CN115336937B (en) | 2022-08-17 | 2022-08-17 | Obstacle avoidance navigation device of laboratory automatic cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115336937A CN115336937A (en) | 2022-11-15 |
| CN115336937B true CN115336937B (en) | 2023-12-29 |
Family
ID=83952413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210986265.8A Active CN115336937B (en) | 2022-08-17 | 2022-08-17 | Obstacle avoidance navigation device of laboratory automatic cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115336937B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104055463A (en) * | 2013-03-23 | 2014-09-24 | 三星电子株式会社 | Robot cleaner and control method thereof |
| CN105982611A (en) * | 2016-04-14 | 2016-10-05 | 北京小米移动软件有限公司 | Self-cleaning device |
| CN108209773A (en) * | 2018-01-04 | 2018-06-29 | 深圳市银星智能科技股份有限公司 | The intelligent barrier avoiding method of clean robot and clean robot |
| CN110393482A (en) * | 2019-09-03 | 2019-11-01 | 深圳飞科机器人有限公司 | Maps processing method and clean robot |
| CN111700544A (en) * | 2020-05-07 | 2020-09-25 | 苏州品坤智能科技有限公司 | Anti-collision control system and control method of intelligent cleaning robot |
| CN113413091A (en) * | 2021-06-30 | 2021-09-21 | 科沃斯商用机器人有限公司 | Cleaning robot and obstacle avoidance method thereof |
| CN114451819A (en) * | 2022-03-02 | 2022-05-10 | 佛山市银星智能制造有限公司 | Cleaning robot and obstacle crossing method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101339513B1 (en) * | 2007-05-09 | 2013-12-10 | 아이로보트 코퍼레이션 | Autonomous coverage robot |
-
2022
- 2022-08-17 CN CN202210986265.8A patent/CN115336937B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104055463A (en) * | 2013-03-23 | 2014-09-24 | 三星电子株式会社 | Robot cleaner and control method thereof |
| CN105982611A (en) * | 2016-04-14 | 2016-10-05 | 北京小米移动软件有限公司 | Self-cleaning device |
| CN108209773A (en) * | 2018-01-04 | 2018-06-29 | 深圳市银星智能科技股份有限公司 | The intelligent barrier avoiding method of clean robot and clean robot |
| CN110393482A (en) * | 2019-09-03 | 2019-11-01 | 深圳飞科机器人有限公司 | Maps processing method and clean robot |
| CN111700544A (en) * | 2020-05-07 | 2020-09-25 | 苏州品坤智能科技有限公司 | Anti-collision control system and control method of intelligent cleaning robot |
| CN113413091A (en) * | 2021-06-30 | 2021-09-21 | 科沃斯商用机器人有限公司 | Cleaning robot and obstacle avoidance method thereof |
| CN114451819A (en) * | 2022-03-02 | 2022-05-10 | 佛山市银星智能制造有限公司 | Cleaning robot and obstacle crossing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115336937A (en) | 2022-11-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206085053U (en) | Robot is patrolled and examined to power distribution station intelligence | |
| CN108000482B (en) | Explosion-proof wheeled inspection robot system | |
| CN114394125B (en) | Automatic equipment of patrolling and examining of urban rail transit | |
| CN115336937B (en) | Obstacle avoidance navigation device of laboratory automatic cleaning robot | |
| CN110834597A (en) | Solar all-dimensional intelligent moving trolley | |
| CN116545076B (en) | Charging docking device and method for intelligent robot | |
| CN110641576A (en) | Steering wheel AGV moving platform | |
| CN112034860A (en) | Track type inspection robot | |
| CN112141239A (en) | Self-moving robot and auxiliary wheel thereof | |
| CN113100670A (en) | Chemical explosion-proof inspection robot with gas leakage detection function | |
| CN210391371U (en) | Self-moving robot and auxiliary wheel thereof | |
| CN116713969A (en) | Intelligent robot capable of monitoring inspection site in real time | |
| CN111352423A (en) | Informatization remote control device based on big data | |
| JP2008213568A (en) | Moving mechanism | |
| US20230176585A1 (en) | Personal robot | |
| CN112748184B (en) | Ultrasonic hidden trouble detection device for power distribution network | |
| CN111174109B (en) | Monitoring and early warning device for high consequence area of oil and gas pipeline | |
| CN209243642U (en) | A kind of Roadside Parking position region road cleaning equipment | |
| CN210310627U (en) | Chassis | |
| CN207388965U (en) | Substation equipment electrification cleaner device people's caterpillar chassis control system and robot | |
| CN219359484U (en) | Tunnel inspection robot | |
| CN116242406B (en) | Logistics storage inspection robot | |
| KR20210025886A (en) | Cleaning robot apparatus for solar panel dust removal | |
| CN213566214U (en) | Wheeled mobile robot | |
| Gao et al. | Floor‐cleaning robot using omni‐directional wheels |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231205 Address after: 518000 28-F18, Block A, Guanghao International Center, the intersection of Meilong Road and Zhongmei Road, Daling Community, Minzhi Street, Longhua District, Shenzhen, Guangdong Applicant after: Shenzhen Chaohuixing Technology Co.,Ltd. Address before: 518000 12F12B2, Building B, Union Square, 5022 Binhe Avenue, Fushan Community, Futian Street, Futian District, Shenzhen, Guangdong Applicant before: Shenzhen Hengmingzhi Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |