CN104287676B - Control device of automatic separation functional module applied to multifunctional robot - Google Patents
Control device of automatic separation functional module applied to multifunctional robot Download PDFInfo
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- CN104287676B CN104287676B CN201410464476.0A CN201410464476A CN104287676B CN 104287676 B CN104287676 B CN 104287676B CN 201410464476 A CN201410464476 A CN 201410464476A CN 104287676 B CN104287676 B CN 104287676B
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Abstract
The invention provides a multifunctional robot and a control device and method for an automatic separation functional module of the multifunctional robot. The multifunctional robot comprises a body (1, 1'), a plurality of functional modules (2) and at least one automatic separation mechanism (13), wherein the functional modules (2) are arranged on the body (1, 1'), the body (1, 1') comprises a walking mechanism (11) and a control unit (12), each automatic separation mechanism (13) is correspondingly connected with the corresponding functional module (2), and the control unit (12) controls the automatic separation mechanisms (13) to make the functional modules (2) connected with the automatic separation mechanisms (13) separated from or combined together with the body (1, 1'). According to the technical scheme, one or more functional modules can be separated from the body of the multifunctional robot according to requirements, the work of the robot is not influenced under the condition that loads of the robot are reduced, and therefore the effective working time of the robot is prolonged.
Description
This case is Application No. 201110091558.1, and the applying date is on 03 31st, 2011, invention entitled " multi-functional
The divisional application of the control device of robot and its automatic separation module and method ".
Technical field
The present invention relates to a kind of control device, especially one kind apply automatic separation module in multi-function robot
Control device.
Background technology
With scientific and technological progress, robot has become as a kind of common intelligent apparatus, plays important in all trades and professions
Effect.Generally, a kind of robot has one or more related functions.Taking clean this function as a example, for cleaning room
Interior environment, people generally clean ground with floor cleaners such as vacuum cleaner, sweeper, mops, and with air purifier Lai net
Change room air, but floor cleaner and air purifier only have single floor cleaning and air-cleaning function respectively.In order to
So that floor cleaner and air purifier is simultaneously operable, occur in that in prior art with floor cleaning and air-cleaning function
Multifunctional intellectual clean robot, as shown in figure 1, Fig. 1 be prior art in multifunctional intellectual clean robot functional block diagram,
Multifunctional intellectual clean robot includes floor cleaning unit 100a, air cleaning member 200a, travel mechanism 12a and controls single
First 13a.Described floor cleaning unit 100a is used for cleaning ground, and described air cleaning member 200a is used for purify air, mobile
Mechanism 12a is used for driving multifunctional intellectual clean robot to move indoors, and control unit 13a is used for controlling floor cleaning unit
The co-ordination of 100a, air cleaning member 200a and travel mechanism 12a.
Specifically, as shown in Fig. 2 being the generalized section of multifunctional intellectual clean robot in prior art.Described many
Function intelligent robot 1a includes housing 11a and travel mechanism 12a, and described travel mechanism 12a includes driving wheel 121a and servo-actuated
Wheel 122a.Wherein said housing 11a is internally provided with floor cleaning unit 100a, air cleaning member 200a.Described ground is clear
Clean unit 100a is internally provided with dirt cup 102a, and the bottom of floor cleaning unit 100a is provided with ash inlet 103a, this ash inlet
103a is connected with dirt cup 102a by air intake passage 104a, and the corresponding position of described ash inlet 103a is provided with round brush
105a, described dirt cup 102a is connected with air-out passage 107a by filtering dust net 106a；When ground cleaning unit 100a work
When, control unit (not shown) controls dust sucting motor 109a to drive round brush 105a to rotate, by the foul on ground from entering ash
Mouth 103a, air intake passage 104a collect in described dirt cup 102a, the gas in floor cleaning unit 100a runs, with foul
Stream A enters dirt cup 102a and in the direction of the arrow to the flowing of air-out passage 107a direction, when foul runs into filtering dust net 106a,
It is blocked and is slipped in dirt cup 102a, the no air-flow A of foul passes through air-out passage 107a, from air outlet 108a blowout.
Referring again to Fig. 2, air cleaning member 200a, it is internally provided with air mass sensor 201a, air mistake
Filter screen 202a is tightly connected with air channel 203a, is provided with centrifugal type wind wheel 204a inside described air channel 203a.Work as air cleaning member
During 200a work, described air mass sensor 201a detects air quality, and the value detecting is sent to control unit (figure
In do not show), after control unit receives signal, judge whether air quality up to standard, if not up to standard, controlled motor 205a drive
Centrifugal type wind wheel 204a rotates, and contaminated gas is drawn in air cleaning member 200a from air inlet 206a, and adsorbs
Filtered on airstrainer 202a, pollutant are trapped in airstrainer 202a, and the gas after filtration is along B side
Discharge to from gas outlet 207a.
The concrete structure of above floor cleaning unit 100a and air cleaning member 200a is only an example, acceptable
It is any one concrete structure of the prior art.
Above-mentioned multifunctional intellectual clean robot is usually used rechargeable battery powered work, due to having floor cleaning simultaneously
Unit and air cleaning member, weight is larger, drives the driving electric of intelligent robot walking to consume big.Carrying out indoor cleaning
When, typically will not simultaneously face cleaning and air cleaning work, if only carry out floor cleaning, because air will be brought
Cleaning module, thus compare waste driving electric, if only carry out air cleaning work, also need to carry upper ground surface cleaning module, with
Sample wastes electric power, and the energy of rechargeable battery is certain, thus, greatly shorten the effective time of robot it is impossible to well
Complete indoor cleaning work.
Content of the invention
The technical problem to be solved is, for the deficiencies in the prior art provide a kind of multi-function robot and
The control device of its automatic separation module and method it is provided that several functions, and as needed, can be automatically separated or
Combine a certain functional module, mitigate the heavy burden of robot while other functions module completes work, extend having of robot
The effect working time.
The technical problem to be solved is achieved by the following technical solution：
The invention provides a kind of control device applying automatic separation module in above-mentioned multi-function robot, institute
State control device and include separating the controlling organization of control unit and telescoping mechanism, the described control unit that separates is arranged at described body
In；The controlling organization of described telescoping mechanism and telescoping mechanism are arranged in described functional module, separate control unit no with described
Line connects；The described control unit that separates determines functional module to be separated according to the signal receiving, and to work(to be separated this described
The controlling organization of the telescoping mechanism in energy module sends separation/combined command；The controlling organization of described telescoping mechanism accepts described
Separate the separation command of control unit, control described telescoping mechanism to stretch, described functional module is lifted up, thus will be described
Functional module is separated from described body, or the controlling organization of described telescoping mechanism accepts described separation control unit
Combined command, controls described telescoping mechanism to shrink, described functional module is moved down, thus described functional module is combined to
On described body.
By above technical scheme, can as needed, by one or more functions module from the basis of multi-function robot
Separating on body, in the case of the heavy burden alleviating robot, and not affecting the work of multi-function robot, thus extending
Effective time of robot.
With specific embodiment, technical scheme is described in detail below in conjunction with the accompanying drawings.
Brief description
Fig. 1 is multifunctional intellectual clean robot functional block diagram in prior art；
Fig. 2 is multifunctional intellectual clean robot structural profile schematic diagram in prior art；
Fig. 3 is multi-function robot overall structure block diagram of the present invention；
Fig. 4 is the functional block diagram of multi-function robot automatic-separation mechanism of the present invention；
Fig. 5 is the method flow diagram of multi-function robot automatic separation module of the present invention；
Fig. 6 is the part-structure schematic diagram of one specific embodiment of multi-function robot of the present invention；
Fig. 7 is the detached structural representation of two functional modules in one specific embodiment of multi-function robot of the present invention
Figure；
Fig. 8 is a kind of structural representation of the telescoping mechanism in automatic-separation mechanism of the present invention；
Fig. 9 is the functional block diagram of the controlling organization embodiment one of telescoping mechanism shown in Fig. 8；
Figure 10 is the functional block diagram of the controlling organization embodiment two of telescoping mechanism shown in Fig. 8；
Figure 11 is another kind of structural representation of the telescoping mechanism of automatic-separation mechanism of the present invention；
Figure 12 is the functional block diagram of the controlling organization of telescoping mechanism shown in Figure 11；
Figure 13 is the structural representation of the main body of multi-function robot embodiment two of the present invention.
Figure 14 is apply the control device of automatic separation module in multi-function robot one of the present invention
The functional block diagram of embodiment.
Specific embodiment
Fig. 3 is multi-function robot overall structure block diagram of the present invention, as shown in figure 3, Multi Role Aircraft provided by the present invention
Device people includes main body 1, multiple functional module 2 and at least one automatic-separation mechanism 13, and multiple functional modules 2 are arranged on described
Above body 1, (in figure is not shown to be additionally provided with walking mechanism 11, control unit 12 and the first energy supply unit on described body 1
Go out), described first energy supply unit is electrically connected with each functional module 2 walking mechanism 11 by interface respectively, for for institute
State functional module 2 and walking mechanism 11 provides work capacity, described control unit 12 is multi-functional by controlling walking mechanism 11 to make
Robot can move.Second energy supply unit is additionally provided with automatic-separation mechanism 13 or functional module, for for automatically
Separating mechanism 13 provides work capacity.The plurality of functional module, in one particular embodiment of the present invention for floor cleaning
Module 20 and air-purifying module 21, described floor cleaning module 20 and air-purifying module 21 are folded successively and are located on body 1, and
It is operated by the work order of reception control unit 12.Each described automatic-separation mechanism 13 and one corresponding
Described functional module 2 is connected, and described control unit 12 controls described automatic-separation mechanism 13 by connected described function
Module 2 is separated from described body 1, or described functional module 2 and described body 1 are combined.
In one particular embodiment of the present invention, described control unit 12 includes the first signal receiving unit 121, central authorities
Processing unit 122 and the first signal transmitting unit 123, the signal that described first signal receiving unit 121 receives includes, user
By the control signal of the control panel input on body 1, or the status signal that each functional module sends, or come from described
The status signal of automatic-separation mechanism 13, or the status signal being detected by body.
Because common robot all has for providing interactive control panel, therefore, control unit 12 is permissible
The instruction inputting by this control panel is received by the first signal receiving unit 121, for example, this instruction can serve to indicate that tool
Which functional module body separates.Concrete operations such as, arrange an inventory, stating clearly thereon can be with detached functional module, Yong Hutong
Cross control panel and may browse through this inventory, and select one or more functions module, after determining choices made, control unit
12 will receive this instruction, and know separated which functional module.Again for example, user can force to select by control panel
Which worked by functional module, e.g., user can select to control floor cleaning module 20 to work in a certain period, in a certain period
Air-purifying module 21 is controlled to work.
Each functional module 2 can send status signal to control unit 12, for example, when described functional module 2 is that air is net
When changing module 21, described status signal is air quality status signal, and control unit 12 is sentenced according to this air quality status signal
Break the need of carrying out air cleaning, that is, the need of starting air-purifying module 21, if it is not required, then not needing moving
When with air-purifying module 21.
When described functional module 2 is floor cleaning module 20, described status signal is state of ground signal, control unit
12 judge whether to need to carry out floor cleaning according to this state of ground signal, that is, the need of starting air-purifying module 21, such as
Fruit does not need, then do not need when mobile with floor cleaning module 20.
Certainly, the invention is not limited in above two operational module, functional module can also be air wetting module, when
When functional module is air wetting module, described status signal is humidity of air signal etc..
In addition, automatic-separation mechanism 13 can send status signal to described control unit 12, represent working condition good, different
The content such as normal, according to this status signal, control unit 12 determines whether this automatic-separation mechanism can use, if it is available, again to it
Send instruction separately or in combination, if it is not then not being sent to instruction separately or in combination, that is, no longer execution is combined or divided
From action.At this point it is possible to reporting to the police or carrying out other work.Certainly, automatic-separation mechanism 13 can send state letter always
Number it is also possible to retransmit signal when abnormal (as electrical fault, telescoping mechanism fault etc.) occurs.
The various sensors corresponding to difference in functionality module are additionally provided with multi-purpose machine human body, such as air quality passes
Sensor and dust sensor etc..When the status signal being detected by the sensor on body is to be not required to corresponding to a functional module
The signal of work, this multi-function robot can determine now to be needed to separate this functional module it is possible to determine and this this health check-up
The corresponding functional module of status signal measuring is functional module to be separated.
In addition, the multi-function robot that the present invention provides can also judge combination by the signal that body detects or replace
A certain functional module.For example, in the specific embodiment providing for the present invention, functional module is respectively floor cleaning module 20 He
Air-purifying module 21, is provided with air mass sensor and dust sensor on body, in only floor cleaning mould
It is also possible to air mass signal is detected during block 20 work, when the air mass signal value detecting on body is more than predetermined value
When, this robot can determine needs startup air-purifying module 21 to work, and now, will stop the work of ground cleaning module 20
Make, find air-purifying module 21, start air-purifying module 21 and work.Conversely, when air-purifying module 21 works, if
When body detects dust signal value more than predetermined value, this robot can determine needs startup floor cleaning module 20 to work,
Now, the work of air-purifying module 21 will be stopped, finding floor cleaning module 20, start floor cleaning module 20 and work.
Fig. 4 is the functional block diagram of multi-function robot automatic-separation mechanism of the present invention, as shown in Figure 4 with reference to Figure 3, this
Bright offer one kind applies automatic-separation mechanism 13 in multi-function robot, and it includes telescoping mechanism 131 and controlling organization 132,
Described telescoping mechanism 131 is fixed in functional module 2, and during work, described control unit 12 determines according to the signal receiving to be treated
Separate functional blocks, and the controlling organization 132 to the telescoping mechanism in functional module to be separated this described sends wireless separation finger
Make signal, the controlling organization 132 of described telescoping mechanism, according to the separation command signal receiving, controls described telescoping mechanism 131
Stretch, described functional module 2 is lifted up, so that this functional module 2 and body 1 are separated；Or in described function mould
When block 2 and body 1 released state, described control unit 12 determines functional module to be combined according to the signal receiving, and to
The controlling organization 132 of the telescoping mechanism in this described functional module to be combined sends wireless combination command signal, described telescopic machine
Structure 131 shrinks, and described functional module 2 is moved down, thus described functional module is combined on described body 1.
Fig. 5 is the method flow diagram of multi-function robot automatic separation module of the present invention, as shown in fig. 6, multi-functional
The method flow of robot automatic separation module is as follows：
Method one：The method can only include step S100, S101 in Fig. 5, S102, S105 and S107.In this method
In, these steps are executed successively by sequence number size.
Step S100, control unit 12 receipt signal, it should be noted that this signal includes user pass through on body 1
The control signal of control panel input, or the status signal that each functional module sends, or come from the state letter of body detection
Number.
Step S101, judges whether to need separate functional blocks, if it is desired, execution step S102, if it is not needed, returning
Return step S100.
Step S102, determines functional module to be separated.
Step S105, controls automatic-separation mechanism 13 action being connected with functional module to be separated, by described automatic point
Described functional module to be separated is separated by structure 13 of disembarking with the body of described multi-function robot or other functions module.Need
Illustrate, step S105 also includes two such step, first, the first signal transmitting unit in control unit 12
123 send separation command to the controlling organization 132 of the telescoping mechanism in automatic-separation mechanism；Then, the control of described telescoping mechanism
Mechanism 132 processed according to separation command, controls telescoping mechanism 131 to stretch, from described telescoping mechanism 131 by functional module to be separated to
On lift.
Step S107, control unit 12 controls walking mechanism 11 action of multi-function robot, by described walking mechanism 11
Multi-function robot is driven to leave described functional module to be separated.
Method two：
The method in addition to step S100, S101 that inclusion method one is in Fig. 5, S102, S105 and S107, in step
Also include before S105：
Step S104, separates adjacent functional module, will the adjacent functional module above of functional module to be separated and institute
The body 1 stating multi-function robot is separated.
Also include after step S105：
Step S106, adjacent for described functional module to be separated functional module above is recombined into described Multi Role Aircraft
On the body 1 of device people.
By the flow process described in method two, if functional module to be separated be located at multiple functional modules middle when, permissible
Functional module in an intermediate position is separated.
In the above described two methods, after determining functional module to be separated, if comprise step S103 also have received
Come from the status signal of described automatic-separation mechanism, if this status signal is abnormal, send warning simultaneously in step S108
Stop separating the action of this functional module；If not abnormal, execution step S105.By this step, can be in separation function
Determine before module in good condition with the automatic-separation mechanism that this functional module is connected it is ensured that detached accuracy.
Fig. 6 is the part-structure schematic diagram of multi-function robot embodiment one of the present invention, and Fig. 7 is multi-purpose machine of the present invention
The detached structural representation of two functional modules of people's embodiment one, such as shown in Fig. 6 reference Fig. 7, in the present embodiment, has
Two functional modules, one is floor cleaning module 20, and one is air-purifying module 21, and floor cleaning module 20 is located at air
The lower section of cleaning module 21, and integrate with main body 1, its principles and structure is identical with background technology, and here is no longer
Repeat.Referring to Fig. 7, two adjacent functional modules are folded and are located at together, and each functional module is designed with the first bindiny mechanism, described
Multiple guide pillars 70 that bindiny mechanism includes being uniformly arranged in One function module and be arranged on adjacent function modules with multiple
The corresponding guide groove of guide pillar 70 71.When two functional modules merge, the functional module with multiple guide pillars 70 is gradually reduced, and makes
Described guide pillar 70 inserts the guide groove 71 of setting on adjacent function modules, when guide pillar 70 fully-inserted guide groove 71, merges work complete
Become, two functional modules can be made to merge and fix.In the figure 7, described functional module above, such as air-purifying module 21 is provided with
Automatic-separation mechanism 13, described automatic-separation mechanism 13 includes telescoping mechanism and its controlling organization.Wherein, Multi Role Aircraft of the present invention
A kind of structural representation of the telescoping mechanism of automatic-separation mechanism in device people's embodiment one is as shown in Figure 8.
Referring to Fig. 8, it is a kind of structural representation of the telescoping mechanism in automatic-separation mechanism of the present invention；In the present embodiment
The telescoping mechanism 131 of automatic-separation mechanism includes air pump (1320) and support feet 131a, and wherein, support feet 131a includes air chamber
1310th, piston 1311 and expansion link 1312, described piston 1311 located at the inside of described air chamber 1310, by 1310 points of described air chamber
For upper and lower two chambers 1314,1315, one end of described expansion link 1312 is connected with described piston 1311, and the other end stretches out institute
State air chamber 1310；On described air chamber 1310, corresponding upper chamber 1314 is provided with entry/exit QI KOU 1313；Or in described air chamber
On 1310, corresponding upper and lower chamber 1314,1315 is respectively equipped with air inlet and gas outlet (another kind of embodiment, not shown).
When multi-function robot carries out functional module mask work, air-flow passes through entry/exit from air pump 1320 along D direction
QI KOU 1313 enters air inlet chamber 1310, and the air pressure in upper chamber 1314 increases, and promotes piston 1311 to drive expansion link 1312 along E direction
Motion, can lift functional module to be separated so as to depart from multi-purpose machine human body.When multi-function robot carries out function mould
During merged block work, air-flow flows out air chamber 1310, the gas in upper chamber 1314 along the opposite direction of D by entry/exit QI KOU 1313
Pressure reduce, because the functional module to be combined gravity of itself makes expansion link 1312 be supported power F, thus drive piston 1311 and
Expansion link 1312 moves along the opposite direction of E, so that functional module to be combined is declined, thus with multi-function robot ontology merging.
Fig. 9 is the functional block diagram of the controlling organization embodiment one of telescoping mechanism shown in Fig. 8, such as shown in Fig. 9 reference Fig. 8,
The controlling organization 132 of telescoping mechanism includes being arranged between described air pump 1320 and entry/exit QI KOU 1313 or described air pump 1320
Air valve 1321 on pipeline and air inlet between, air valve controller 1323 and secondary signal receiving unit 1322.Described second
Signal receiving unit 1322 is connected to the instruction of control unit 12 transmission, and this instruction is sent to air valve controller 1323, described
Air valve controller 1323 sends control signal air-supply valve 1321, and described air valve 1321 is according to this instruction unpack or closing so that gas
Pump 1320 is inflated in air chamber 1310, thus controlling stretching out of expansion link 1312, or makes in air chamber 1310 gas from air valve
1321 spill in air.
In the present embodiment, telescoping mechanism is controlled by pneumatic mode, air pump therein can be a minitype pump,
And air valve, air valve controller can adopt any one of the prior art, for example, when carrying control function in air valve, can
With without single controller, but, if simply common air valve, need to increase a controller, can be specifically collection
Become to have a fritter circuit board of control element.Because this technology belongs to existing mature technology, therefore, will not be described here.
Figure 10 is the functional block diagram of the controlling organization embodiment two of telescoping mechanism shown in Fig. 8, as Figure 10 reference Fig. 8 institute
Show, the present embodiment is with embodiment one difference, the air-flow import/export of blower fan 103 is connected with entry/exit QI KOU 1313,
The instruction of the control unit 12 that controller of fan 102 is received by secondary signal receiving unit 101, and send control signal to
Described blower fan 103, controls steering and the rotating speed of blower fan 103, thus controlling the retracted position of expansion link 832.
Figure 11 is another kind of structural representation of the telescoping mechanism of automatic-separation mechanism of the present invention, as shown in figure 11, at this
In embodiment, automatic-separation mechanism 110 includes, motor 115, rotation section, fork 111 and push rod 112.Rotation section is to slow down
Gear 114, the output shaft of motor 115 is provided with little travelling gear 113, the wheel of reduction gearing 114 and travelling gear 113
Tooth is meshed, and thus, reduction gearing 114 is connected with the output shaft of motor 115 by travelling gear 113.The one of fork 111
End is hinged on the wheel body one side of reduction gearing 114, and the pin joint of fork 111 and reduction gearing 114 is in reduction gearing 114
The distance of the heart is R, and described fork 111 other end is hinged with one end of push rod 112, and the stroke of push rod 112 is r, then r=2R, pushes away
The free end of bar 112 opposite side is coaxially disposed a guiding mechanism (not shown), makes push rod free end keep linear motion.When many work(
When energy robot carries out functional module mask work, motor 115 starts, and drives little gear 113 to rotate, little gear 113 carries
Dynamic reduction gearing 114 rotates, and reduction gearing 114 band driven fork 111 moves in a circle, and fork 111 drives push rod 112 to do straight line fortune
Dynamic.Whenever reduction gearing 114 half revolution, fork 111 drives push rod 112 straight trip travel distance S, S=2R.The row of push rod 112
Journey be r, if r=S=2R, push rod 112 just take action apart from S when, functional module to be separated rise to peak so as to depart from many
Function robot body.When multi-function robot carries out functional module merging, motor 115 reversely rotates, and makes little tooth
Wheel 113 driving reduction gearing 114 band driven fork 111 does reverse circular motion, and fork 111 drives push rod 112 straight trip to return distance
S, S=2R, make functional module to be combined decline, thus with multi-function robot ontology merging.
Certainly, if not needing the output speed of motor is slowed down, rotation section can be any revolution
Part, it is directly connected with the output shaft of motor.One end of fork is hinged on the one side of rotation section, fork and rotation section
The distance at pin joint to rotation section center be R, the fork other end is hinged with one end of push rod, and the stroke of push rod is r, then r=
2R, the free end of push rod opposite side is coaxially disposed a guiding mechanism, makes push rod free end keep linear motion.Remaining work side
Formula is identical with above-mentioned employing ways of deceleration, will not be described here.
Figure 12 is the functional block diagram of the controlling organization of telescoping mechanism shown in Figure 11, and such as Figure 12 simultaneously combines shown in Figure 11, described
The controlling organization 120 of telescoping mechanism include electric machine controller 122 and secondary signal receiving unit 121, described electric machine controller
122 receive the instruction of described control unit 12 by secondary signal receiving unit 121, and send control signal to described driving electricity
Machine 115, for controlling steering and the rotating speed of motor 155, thus control the retracted position of push rod 112.
In the embodiment above, nethermost floor cleaning module is integrated with main body, inseparable, certainly owns
Functional module all can separate with main body, including nethermost functional module, a kind of wherein simplest structure is that main body is only
For a framework, as shown in figure 13, Figure 13 is that the structure of the main body of another embodiment of multi-function robot of the present invention is shown to this framework
It is intended to, main body 1 ' includes two driving wheels 11 ', a driven pulley 12 ' and two motors 13 ', described two motors
The signal of 13 ' reception control unit (not shown), by driving two driving wheels 11 ' and driving driven pulley 12 ' so that main body 1 ' is transported
Dynamic.The plurality of functional module stacks above and fixes in main body 1 ', and operationally, main body 1 ' delivers multiple functional modules and carries out work
Make, its method of work is identical with embodiment one, will not be described here.
In the embodiment above, the control unit in multi-function robot can be to be individually used for realizing separate functional blocks
Separation control unit, now, this control unit does not have other control functions, such as the control of walking mode, to each work(
Control of energy module coordination work etc..On the other hand, in the embodiment above, the control unit in multi-function robot also may be used
To be used to control the control parts of this multi-function robot all orthofunctions work, i.e. total control unit.For example, except
Have outside the control function of foregoing separate functional blocks, also include other various relevant control functions.In order to improve
The autgmentability of this multi-function robot, in one embodiment of the invention, in total control unit of this multi-function robot
Include separating the such a functional module of control unit, this separates the telescoping mechanism in control unit and foregoing embodiments
Controlling organization (taking the controlling organization 132 of telescoping mechanism as a example, the controlling organization 100 of the telescoping mechanism in other each embodiments,
120 is similar) constitute automatic separation module control device.The functional block diagram of this control device as shown in figure 14, divides
It is arranged in body from control unit 140, it can be one of control unit 12 functional module.The control of described telescoping mechanism
Mechanism 132 processed is arranged in functional module with telescoping mechanism, wirelessly connects with the described control unit 140 that separates.Described telescopic machine
The controlling organization 132 of structure accepts the described separation command separating control unit, controls described telescoping mechanism to stretch, by described function
Module is lifted up, thus described functional module is separated from described body 1, or by described functional module to moving down
Dynamic, thus described functional module is combined on described body 1.Detailed process, as described in above-described embodiment, will not be described here.
Below taking have the multi-function robot of two functional modules as a example, described functional module one is floor cleaning
Module, one is air-purifying module, is provided with automatic-separation mechanism on air-purifying module, and its work process is illustrated such as
Under：
When this multi-function robot is started working, first determine whether room air the need of purification.Multi-function robot can
Simply run a circle around indoor wall, interior in the air is detected by the air mass sensor loading on air-purifying module
Whether concentration of narmful substance is exceeded.If concentration of narmful substance is exceeded, robot is with floor cleaning module and air-purifying module
The integrated mode combined is operated.Robot, while cleaning ground, purifies the air of a room；If harmful substance is dense
Degree is not exceeded, then robot starts clastotype, and control unit (or separate control unit) controls automatic-separation mechanism by air
Cleaning module separates from robot body, and robot only carries out flooring cleaning, thus mitigating robot
Bear a heavy burden, extend the effective time of robot.
When needing to execute again integrated mode work, this multi-function robot finds this air-purifying module, by control
Unit processed sends instruction to automatic-separation mechanism, to have the telescoping mechanism 131 of air chamber 1310, piston 1311 and expansion link 1312
As a example, as shown in figure 8, air-flow along D opposite direction by entry/exit QI KOU 1313 flow out air chamber 1310, in upper chamber 1314
Air pressure reduce, because the gravity of air-purifying module itself makes expansion link 1312 be supported power F, thus drive piston 1311 and
Expansion link 1312 moves along the opposite direction of E, so that the height of air-purifying module is constantly declined, until setting on air-purifying module
The guide pillar groove of setting in the guide pillar fully-inserted floor cleaning module put.
In addition, the automatic-separation mechanism in the present embodiment also can be loaded on Robot cleaning module, or on ground
It is respectively provided with automatic-separation mechanism on face cleaning module and air-purifying module.
By above example, the multi-function robot that the present invention provides has at least one automatic-separation mechanism, passes through
A certain temporarily idle functional module is separated from main body by automatic-separation mechanism, neither affects the work of other functions module
Make, alleviate the heavy burden of robot again, saved energy, improve the effective time of robot.
Claims (6)
1. a kind of control device applying automatic separation module in multi-function robot, described multi-function robot includes
Body (1,1 ') and multiple functional module (2), the plurality of functional module (2) is arranged on described body (1,1 '), described
Body (1,1 ') is provided with walking mechanism (11)；
It is characterized in that, described control device include separate control unit (140) and telescoping mechanism controlling organization (132,100,
120), the described control unit (140) that separates is arranged in described body (1,1 ')；Described telescoping mechanism controlling organization (132,
100,120) it is arranged in described functional module (2) with telescoping mechanism (131), wirelessly connect with the described control unit (140) that separates
Connect；
The described control unit (140) that separates determines functional module to be separated according to the signal receiving, and to described work(to be separated
The controlling organization (132,100,120) of the telescoping mechanism in energy module sends separation/combined command；
The controlling organization (132,100,120) of described telescoping mechanism accepts the described separation command separating control unit (140), control
Make described telescoping mechanism to stretch, described functional module (2) be lifted up, thus by described functional module from described body (1,
1 ') separate on, or the controlling organization (132,100,120) of described telescoping mechanism accepts described separation control unit
(140) combined command, controls described telescoping mechanism to shrink, described functional module (2) is moved down, thus by described function
Module (2) is combined on described body (1,1 ').
2. the control device of automatic separation module as claimed in claim 1 is it is characterised in that described telescoping mechanism
(131) source of the gas, air chamber (1310), piston (1311) and expansion link (1312) are included；Described piston (1311) is located at described air chamber
(1310) internal, described air chamber (1310) is divided into upper and lower two chambers (1314,1315)；One end of described expansion link (1312)
It is connected with described piston (1311), the other end stretches out described air chamber (1310)；On described air chamber (1310), corresponding upper and lower two
Individual chamber is respectively equipped with air inlet and gas outlet；Described source of the gas is communicated with described air inlet and described gas outlet respectively；
Described source of the gas is air pump (1320), and the controlling organization (132) of described telescoping mechanism includes being arranged on described air pump (1320)
Air valve (1321) and air inlet between, on pipeline and gas outlet between for the described air pump (1320) and secondary signal receiving unit
(1322), described secondary signal receiving unit (1322) receives the instruction that described separation control unit (140) sends, and this is referred to
Order sends air-supply valve (1321), described air valve (1321) according to this instruction unpack and closing, from described air pump (1320) to described
Inflate in air chamber (1310) or exit from described air chamber (1310), thus controlling the retracted position of expansion link (1312).
3. the control device of automatic separation module as claimed in claim 2 is it is characterised in that the control of described telescoping mechanism
Mechanism processed also includes air valve controller (1323)；Described air valve controller (1323) is by described secondary signal receiving unit
(1322) receive the described instruction separating control unit (140), and send control signal to described air valve (1321).
4. the control device of automatic separation module as claimed in claim 1 is it is characterised in that described telescoping mechanism
(131) source of the gas, air chamber (1310), piston (1311) and expansion link (1312) are included；Described piston (1311) is located at described air chamber
(1310) internal, described air chamber (1310) is divided into upper and lower two chambers (1314,1315)；One end of described expansion link (1312)
It is connected with described piston (1311), the other end stretches out described air chamber (1310)；On described air chamber (1310), a corresponding chamber
Room is provided with entry/exit QI KOU (1313)；Described source of the gas is communicated with described entry/exit QI KOU (1313)；
Described source of the gas is blower fan (103), and the controlling organization (100) of described telescoping mechanism includes controller of fan (102) and second
The gas import/export of signal receiving unit (101), the air-flow import/export of described blower fan (103) and described air chamber (1310)
(1313) it is connected, described controller of fan (102) is passed through secondary signal receiving unit (101) and received described separation control unit
(140) instruction, and send control signal to described blower fan (103), for controlling steering and the rotating speed of blower fan (103), thus
Control the retracted position of expansion link (1312).
5. the control device of automatic separation module as claimed in claim 1 is it is characterised in that described separate control unit
(140) the first signal receiving unit (141), CPU (142) and the first signal transmitting unit (143) are included, described
The signal receiving is sent to described CPU (142) by the first signal receiving unit (141), and described central authorities process single
First (142) judge the functional module needing to separate/combine according to received signal, and pass through the first signal transmitting unit
(143) send a signal to and the described automatic-separation mechanism needing the functional module separating/combining to be connected.
6. the control device of automatic separation module as claimed in claim 1 is it is characterised in that described multi-function robot
Including control unit (12), described separation control unit (140) is the One function module of described control unit (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410464476.0A CN104287676B (en) | 2011-03-31 | 2011-03-31 | Control device of automatic separation functional module applied to multifunctional robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410464476.0A CN104287676B (en) | 2011-03-31 | 2011-03-31 | Control device of automatic separation functional module applied to multifunctional robot |
| CN201110091558.1A CN102727144B (en) | 2011-03-31 | 2011-03-31 | The control device of multi-function robot and automatic separation module thereof and method |
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| CN201110091558.1A Division CN102727144B (en) | 2011-03-31 | 2011-03-31 | The control device of multi-function robot and automatic separation module thereof and method |
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| CN104287676B true CN104287676B (en) | 2017-02-15 |
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| CN201410464476.0A Active CN104287676B (en) | 2011-03-31 | 2011-03-31 | Control device of automatic separation functional module applied to multifunctional robot |
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| CN103162060B (en) * | 2013-03-06 | 2014-10-22 | 北京隆科兴非开挖工程有限公司 | Steering mechanism of pipeline walking robot |
| CN105573311A (en) * | 2014-10-11 | 2016-05-11 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN105982621B (en) * | 2016-04-14 | 2019-12-13 | 北京小米移动软件有限公司 | Automatic cleaning equipment's wind path structure and automatic cleaning equipment |
| CN111973085B (en) * | 2016-04-14 | 2022-09-30 | 北京小米移动软件有限公司 | Autonomous cleaning device |
| CN107397512B (en) * | 2016-05-19 | 2023-09-15 | 科沃斯机器人股份有限公司 | Combined robot and combined control method thereof |
| CN106175606B (en) * | 2016-08-16 | 2019-02-19 | 北京小米移动软件有限公司 | The method, apparatus that robot and its realization independently manipulate |
| CN109556200A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556238A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556252A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556199A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556197A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556201A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109556198A (en) * | 2017-09-22 | 2019-04-02 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN109539420A (en) * | 2017-09-22 | 2019-03-29 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification system and method |
| CN114711673B (en) * | 2020-12-22 | 2023-07-07 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| CN115067802A (en) * | 2021-03-15 | 2022-09-20 | 科沃斯机器人股份有限公司 | Self-moving equipment, system, module and control method |
| CN115836822A (en) * | 2023-02-17 | 2023-03-24 | 长春电子科技学院 | Inside automatic cleaning device for cleaning robot |
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|---|---|
| CN104287676A (en) | 2015-01-21 |
| CN102727144B (en) | 2015-10-14 |
| CN102727144A (en) | 2012-10-17 |
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