CN105479464A - Intelligent filtering adaptive travelling mechanism for floor sweeping robot - Google Patents
Intelligent filtering adaptive travelling mechanism for floor sweeping robot Download PDFInfo
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- CN105479464A CN105479464A CN201610056026.7A CN201610056026A CN105479464A CN 105479464 A CN105479464 A CN 105479464A CN 201610056026 A CN201610056026 A CN 201610056026A CN 105479464 A CN105479464 A CN 105479464A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an intelligent filtering adaptive travelling mechanism for a floor sweeping robot. The intelligent filtering adaptive travelling mechanism comprises a travelling mechanism body arranged on the lower surface of a floor sweeping robot body (1), wherein the travelling mechanism body comprises at least four sub travelling mechanisms; each sub travelling mechanism comprises a position difference rod (2) with preset length, a rotary motor (4), a travelling control module (6), a filter circuit (7), two distance measuring sensors (5) and two electric wheels (3); according to the designed technical scheme, all devices are connected to constitute the designed intelligent filtering adaptive travelling mechanism for the floor sweeping robot, the passing ability of the floor sweeping robot in the travelling process is improved greatly and sweeping with a larger range can be realized, so that the sweeping working efficiency of the floor sweeping robot is effectively guaranteed.
Description
Technical field
The present invention relates to a kind of sweeping robot intelligent filter self adaptation walking mechanism, belong to Smart Home technical field.
Background technology
Along with the development of science and technology level and improving constantly of people's living standard, increasing household electrical appliance are just towards intelligentized future development, such as in the last few years, sweeping robot has been there is in increasing family, it can when without the need to any control, automatically clean for ground, and along with improving constantly of sweeping robot utilization rate, mend gene also constantly does for existing sweeping robot in manufacturer, such as the patent No.: 201320537462.8; Disclose a kind of sweeping robot, comprise main frame and dirt box, main frame is provided with cavity, dirt box is embedded in described cavity, the ash inlet of dirt box and the dust channel ash hole correspondence of main frame are arranged, on the sidewall of cavity, be positioned at the two ends place of dust channel ash hole, an optical signal transmitter is set respectively and for exporting dust concentration signal to one first optical signal receiver of control unit; And dirt box is transparent material.The sweeping robot of technique scheme design, by dust concentration sensor setting in cavity side walls, user can cleaning of the photocell of dust sensor and the light-passing board of light receiving element when cleaning dirt box simultaneously, solves the problem that prior art effectively cannot clean dust sensor light-passing board.
Also has number of patent application: 201410752789.6, disclose a kind of Intelligent robot for sweeping floor, comprise: the multiple obstacle sensors arranged with preset pitch, and each described obstacle sensor correspondence arranges a steering angle, when obstacle sensor is triggered, the angle that robot carries out the turning to steering angle corresponding with the obstacle sensor that this is triggered associates.The sweeping robot of technique scheme design, the steering angle that when barrier being detected, its angle turned to and the obstacle sensor be triggered are preset associates, thus can optimize robot motion path, raising cleaning efficiency.
Moreover, the patent No.: 201520042353.8, disclose a kind of sweeping robot, this sweeping robot comprises: sweeping robot body, described sweeping robot body comprises shell, limit brush assemblies, drive motors and elastic construction, described limit brush assemblies is located at the bottom of described shell, described drive motors is connected with described limit brush assemblies and for driving described limit brush assemblies to rotate around the rotation of described limit brush assemblies, described elastic construction is arranged to flexibly compress described limit brush assemblies downwards.The sweeping robot of technique scheme design, its robot body can extend limit and brush service life, effectively cleans ground, thus improves cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot is with rapid changepl. never-ending changes and improvements, function is also being updated with perfect, operate also more intelligent, but existing sweeping robot is in the application process of reality, still there is a little weak point, such as existing sweeping robot is constantly being pursued on exquisite small and exquisite direction, the volume of product itself is constantly done little, can more narrow space be adapted to, this wherein espespecially pastes ground property, need to adopt less road wheel to realize the movement of product, but this kind of design direction, have a strong impact on the property passed through of existing sweeping robot, namely just cannot pass through once the object running into some relatively high points, such as carpet etc., existing sweeping robot is just difficult to pass through, and then cannot clean for carpet surface.
Summary of the invention
For above-mentioned technical problem, technical problem to be solved by this invention is to provide a kind of sweeping robot intelligent filter self adaptation walking mechanism, have employed the structural design of brand-new walking mechanism, and introduce Intelligent Measurement, Based Intelligent Control structure, can greatly improve sweeping robot by property, ensure the operating efficiency of sweeping robot.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention devises a kind of sweeping robot intelligent filter self adaptation walking mechanism, comprises the walking mechanism being arranged at sweeping robot body lower surface, described walking mechanism comprises at least four sub-walking mechanisms, each sub-walking mechanism array distribution is arranged on the lower surface of sweeping robot body, wherein, each sub-walking mechanism comprises the poor position bar of preset length, rotary electric machine, travelling control module, filter circuit, two distance measuring sensors and two Electric Motor Wheel respectively, rotary electric machine in each sub-walking mechanism and travelling control module are connected to each other, two distance measuring sensors in each sub-walking mechanism are connected with corresponding control module of walking respectively through filter circuit, travelling control module in each sub-walking mechanism is connected with the power end in sweeping robot body respectively, the rotary electric machine that the travelling control module of power end in each sub-walking mechanism is respectively corresponding is powered, simultaneously, power end is respectively through the travelling control module in each sub-walking mechanism, filter circuit is respectively each distance measuring sensor and powers, filter circuit in each sub-walking mechanism comprises transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, inverting input series resistance R3, resistance R2 and the resistance R1 successively of transport and placing device A1, on resistance R1, the other end of relative contact resistance R2 is that filter circuit input connects each distance measuring sensor corresponding, and resistance R3 is connected between the inverting input of transport and placing device A1 output and transport and placing device A1, the inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, the inverting input of transport and placing device A2 is connected with electric capacity C1, resistance R4 successively simultaneously, and ground connection, electric capacity C1 is connected between the inverting input of transport and placing device A2 and the output of transport and placing device A2, and the in-phase input end of transport and placing device A2 is connected with resistance R1, the in-phase input end of transport and placing device A3 is connected with electric capacity C2, and ground connection, and resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, the inverting input of transport and placing device A3 is connected with output, and the output of transport and placing device A3 is filter circuit output is connected to corresponding travelling control module, each Electric Motor Wheel in each sub-walking mechanism is connected with the control end in sweeping robot body, in each sub-walking mechanism, the end of rotary electric machine drive rod is fixedly connected with the middle part of corresponding difference position bar, and rotary electric machine drive rod place straight line is perpendicular with difference bar place, position straight line, in each sub-walking mechanism, rotary electric machine is fixedly installed on the position at the corresponding sub-walking mechanism place of sweeping robot body lower surface, and difference position bar place straight line and sweeping robot body direction of travel place straight line is coplanar in each sub-walking mechanism, in each sub-walking mechanism difference position bar correspondence connect the control of rotary electric machine under swing, two Electric Motor Wheel in each sub-walking mechanism are connected to the two ends of corresponding difference position bar, and are positioned at the below at corresponding difference bar two ends, position, and the face, place of two Electric Motor Wheel is coplanar, and this is coplanar parallels with sweeping robot body direction of travel place straight line, two distance measuring sensors in each sub-walking mechanism are connected to the lower surface at corresponding difference bar two ends, position, and straight down, and the range finding direction of each distance measuring sensor is not blocked by Electric Motor Wheel in the range finding direction of each distance measuring sensor.
As a preferred technical solution of the present invention: the rotary electric machine in each sub-walking mechanism described is brushless rotary motor.
As a preferred technical solution of the present invention: each Electric Motor Wheel in each sub-walking mechanism described is brushless electric machine driving wheel.
As a preferred technical solution of the present invention: the travelling control module in each sub-walking mechanism described is single-chip microcomputer.
As a preferred technical solution of the present invention: in each sub-walking mechanism described, the length of difference position bar is 3 times of Electric Motor Wheel diameter to 4 times.
As a preferred technical solution of the present invention: the poor position bar in each sub-walking mechanism described adopts aluminum alloy materials to make.
A kind of sweeping robot intelligent filter self adaptation walking mechanism of the present invention adopts above technical scheme compared with prior art, has following technique effect:
(1) the sweeping robot intelligent filter self adaptation walking mechanism of the present invention's design, for each sub-walking mechanism of existing sweeping robot body lower surface, devise brand-new electric control structure, by the design of distance measuring sensor on difference bar two ends, position in sub-walking mechanism, Intelligent Measurement judges the change of difference in height between difference bar two ends, position, and this is designed further to the concrete structure of filter circuit, testing result for distance measuring sensor carries out filtering process, leach noise data wherein, improve corresponding walking control module obtain the accuracy of range measurement, ensure for follow-up further Based Intelligent Control provides data, Intelligent Measurement is realized for the ground barrier of sweeping robot direction of travel based on above-mentioned, and the Based Intelligent Control structure designed by combining, by the design of rotary electric machine, the swing of difference position bar in each sub-walking mechanism of Based Intelligent Control, before and after utilizing in each sub-walking mechanism, Electric Motor Wheel is with the design of high and low position difference under the bar weave control of difference position, can effectively improve for height walking surface grab ground effect, substantially increase the property passed through in sweeping robot walking process, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot,
(2) in the sweeping robot intelligent filter self adaptation walking mechanism that the present invention designs, for the rotary electric machine in each sub-walking mechanism, further design adopts brushless rotary motor, and for each Electric Motor Wheel in each sub-walking mechanism, further design adopts brushless electric machine driving wheel, the sweeping robot intelligent filter self adaptation walking mechanism that the present invention is designed is in practical work process, quiet work can be realized, both ensure that designed sweeping robot intelligent filter self adaptation walking mechanism had cross-country traveling ability, can ensure that again its course of work does not impact surrounding environment, embody the human oriented design in design process,
(3) in the sweeping robot intelligent filter self adaptation walking mechanism that the present invention designs, for the travelling control module in each sub-walking mechanism, further design adopts single-chip microcomputer, the expansion demand of later stage for sweeping robot intelligent filter self adaptation walking mechanism can be applicable on the one hand, on the other hand, succinct control architecture mode can be convenient to the maintenance in later stage;
(4) in the sweeping robot intelligent filter self adaptation walking mechanism that the present invention designs, for the poor position bar in each sub-walking mechanism, further design adopts aluminum alloy materials to make, while the bar high strength of guarantee difference position, effectively control the weight of poor position bar, ensure that the portability of sweeping robot.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention designs sweeping robot intelligent filter self adaptation walking mechanism;
Fig. 2 is the side-looking structural representation that the present invention designs sweeping robot intelligent filter self adaptation walking mechanism neutron walking mechanism;
Fig. 3 is the schematic diagram that the present invention designs filter circuit in sweeping robot intelligent filter self adaptation walking mechanism.
Wherein, 1. sweeping robot body, 2. differs from a bar, 3. Electric Motor Wheel, 4. rotary electric machine, 5. distance measuring sensor, 6. travelling control module, 7. filter circuit.
Detailed description of the invention
Be described in further detail for the specific embodiment of the present invention below in conjunction with Figure of description.
As shown in Figure 1, a kind of sweeping robot intelligent filter self adaptation walking mechanism of the present invention's design, comprises the walking mechanism being arranged at sweeping robot body 1 lower surface, described walking mechanism comprises at least four sub-walking mechanisms, each sub-walking mechanism array distribution is arranged on the lower surface of sweeping robot body 1, wherein, as shown in Figure 2, each sub-walking mechanism comprises the poor position bar 2 of preset length, rotary electric machine 4, travelling control module 6, filter circuit 7, two distance measuring sensors 5 and two Electric Motor Wheel 3 respectively, rotary electric machine 4 in each sub-walking mechanism is connected to each other with travelling control module 6, two distance measuring sensors 5 in each sub-walking mechanism are connected with corresponding control module 6 of walking respectively through filter circuit 7, travelling control module 6 in each sub-walking mechanism is connected with the power end in sweeping robot body 1 respectively, the rotary electric machine 4 that the travelling control module 6 of power end in each sub-walking mechanism is respectively corresponding is powered, simultaneously, power end is respectively through the travelling control module 6 in each sub-walking mechanism, filter circuit 7 is respectively each distance measuring sensor 5 and powers, as shown in Figure 3, filter circuit 7 in each sub-walking mechanism comprises transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, inverting input series resistance R3, resistance R2 and the resistance R1 successively of transport and placing device A1, on resistance R1, the other end of relative contact resistance R2 is that filter circuit 7 input connects each distance measuring sensor 5 corresponding, and resistance R3 is connected between the inverting input of transport and placing device A1 output and transport and placing device A1, the inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, the inverting input of transport and placing device A2 is connected with electric capacity C1, resistance R4 successively simultaneously, and ground connection, electric capacity C1 is connected between the inverting input of transport and placing device A2 and the output of transport and placing device A2, and the in-phase input end of transport and placing device A2 is connected with resistance R1, the in-phase input end of transport and placing device A3 is connected with electric capacity C2, and ground connection, and resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, the inverting input of transport and placing device A3 is connected with output, and the output of transport and placing device A3 is filter circuit 7 output is connected to corresponding travelling control module 6, each Electric Motor Wheel 3 in each sub-walking mechanism is connected with the control end in sweeping robot body 1, in each sub-walking mechanism, the end of rotary electric machine 4 drive rod is fixedly connected with the middle part of corresponding difference position bar 2, and rotary electric machine 4 drive rod place straight line is perpendicular with difference bar 2 place, position straight line, in each sub-walking mechanism, rotary electric machine 4 is fixedly installed on the position at the corresponding sub-walking mechanism place of sweeping robot body 1 lower surface, and difference position bar 2 place straight line and sweeping robot body 1 direction of travel place straight line is coplanar in each sub-walking mechanism, in each sub-walking mechanism difference position bar 2 correspondence connect the control of rotary electric machine 4 under swing, two Electric Motor Wheel 3 in each sub-walking mechanism are connected to the two ends of corresponding difference position bar 2, and be positioned at the below at corresponding difference bar 2 two ends, position, and the face, place of two Electric Motor Wheel 3 is coplanar, this is coplanar parallels with sweeping robot body 1 direction of travel place straight line, two distance measuring sensors 5 in each sub-walking mechanism are connected to the lower surface at corresponding difference bar 2 two ends, position, and straight down, and the range finding direction of each distance measuring sensor 5 is not blocked by Electric Motor Wheel 3 in the range finding direction of each distance measuring sensor 5.The sweeping robot intelligent filter self adaptation walking mechanism of technique scheme design, for each sub-walking mechanism of existing sweeping robot body 1 lower surface, devise brand-new electric control structure, by the design of distance measuring sensor 5 on difference bar 2 two ends, position in sub-walking mechanism, Intelligent Measurement judges the change of difference in height between difference bar 2 two ends, position, and this is designed further to the concrete structure of filter circuit 7, testing result for distance measuring sensor 5 carries out filtering process, leach noise data wherein, improve corresponding walking control module 6 obtain the accuracy of range measurement, ensure for follow-up further Based Intelligent Control provides data, Intelligent Measurement is realized for the ground barrier of sweeping robot direction of travel based on above-mentioned, and the Based Intelligent Control structure designed by combining, by the design of rotary electric machine 4, the swing of difference position bar 3 in each sub-walking mechanism of Based Intelligent Control, before and after utilizing in each sub-walking mechanism, Electric Motor Wheel 3 is with the design of high and low position difference under bar 2 weave control of difference position, can effectively improve for height walking surface grab ground effect, substantially increase the property passed through in sweeping robot walking process, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot.
On basis based on above-mentioned design sweeping robot intelligent filter self adaptation walking mechanism technical scheme, the present invention also devises following optimal technical scheme further: for the rotary electric machine 4 in each sub-walking mechanism, further design adopts brushless rotary motor, and for each Electric Motor Wheel 3 in each sub-walking mechanism, further design adopts brushless electric machine driving wheel, the sweeping robot intelligent filter self adaptation walking mechanism that the present invention is designed is in practical work process, quiet work can be realized, both ensure that designed sweeping robot intelligent filter self adaptation walking mechanism had cross-country traveling ability, can ensure that again its course of work does not impact surrounding environment, embody the human oriented design in design process, and for the travelling control module 6 in each sub-walking mechanism, further design adopts single-chip microcomputer, can be applicable to the expansion demand of later stage for sweeping robot intelligent filter self adaptation walking mechanism on the one hand, on the other hand, succinct control architecture mode can be convenient to the maintenance in later stage, in addition, for the poor position bar 2 in each sub-walking mechanism, design adopts aluminum alloy materials to make further, while bar 2 high strength of guarantee difference position, effectively controls the weight of poor position bar 2, ensure that the portability of sweeping robot.
The sweeping robot intelligent filter self adaptation walking mechanism of the present invention's design, in the middle of actual application, comprises the walking mechanism being arranged at sweeping robot body 1 lower surface; Described walking mechanism comprises at least four sub-walking mechanisms, each sub-walking mechanism array distribution is arranged on the lower surface of sweeping robot body 1, wherein, each sub-walking mechanism comprises the poor position bar 2 of preset length, brushless rotary motor, single-chip microcomputer, filter circuit 7, two distance measuring sensors 5 and two brushless electric machine driving wheels respectively; In each sub-walking mechanism, the length of difference position bar 2 is 3 times of Electric Motor Wheel 3 diameter to 4 times, and difference position bar 2 adopts aluminum alloy materials to make; Brushless rotary motor in each sub-walking mechanism and single-chip microcomputer are connected to each other, two distance measuring sensors 5 in each sub-walking mechanism are connected with corresponding single-chip microcomputer respectively through filter circuit 7, single-chip microcomputer in each sub-walking mechanism is connected with the power end in sweeping robot body 1 respectively, the brushless rotary motor that the single-chip microcomputer of power end in each sub-walking mechanism is respectively corresponding is powered, meanwhile, power end is respectively each distance measuring sensor 5 powers respectively through the single-chip microcomputer in each sub-walking mechanism, filter circuit 7; As shown in Figure 3, filter circuit 7 in each sub-walking mechanism comprises transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, inverting input series resistance R3, resistance R2 and the resistance R1 successively of transport and placing device A1, on resistance R1, the other end of relative contact resistance R2 is that filter circuit 7 input connects each distance measuring sensor 5 corresponding, and resistance R3 is connected between the inverting input of transport and placing device A1 output and transport and placing device A1; The inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, the inverting input of transport and placing device A2 is connected with electric capacity C1, resistance R4 successively simultaneously, and ground connection, electric capacity C1 is connected between the inverting input of transport and placing device A2 and the output of transport and placing device A2, and the in-phase input end of transport and placing device A2 is connected with resistance R1; The in-phase input end of transport and placing device A3 is connected with electric capacity C2, and ground connection, and resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, the inverting input of transport and placing device A3 is connected with output, and the output of transport and placing device A3 is filter circuit 7 output is connected to corresponding single-chip microcomputer; Each brushless electric machine driving wheel in each sub-walking mechanism is connected with the control end in sweeping robot body 1; In each sub-walking mechanism, the end of brushless rotary motor drive rod is fixedly connected with the middle part of corresponding difference position bar 2, and brushless rotary motor drive rod place straight line is perpendicular with difference bar 2 place, position straight line; In each sub-walking mechanism, brushless rotary motor is fixedly installed on the position at the corresponding sub-walking mechanism place of sweeping robot body 1 lower surface, and difference position bar 2 place straight line and sweeping robot body 1 direction of travel place straight line is coplanar in each sub-walking mechanism, in each sub-walking mechanism difference position bar 2 correspondence connect the control of brushless rotary motor under swing; Two brushless electric machine driving wheels in each sub-walking mechanism are connected to the two ends of corresponding difference position bar 2, and be positioned at the below at corresponding difference bar 2 two ends, position, and the face, place of two brushless electric machine driving wheels is coplanar, this is coplanar parallels with sweeping robot body 1 direction of travel place straight line; Two distance measuring sensors 5 in each sub-walking mechanism are connected to the lower surface at corresponding difference bar 2 two ends, position, and straight down, and the range finding direction of each distance measuring sensor 5 is not blocked by brushless electric machine driving wheel in the range finding direction of each distance measuring sensor 5.In the middle of actual application, first initialize for being arranged at each sub-walking mechanism of sweeping robot body 1 lower surface, single-chip microcomputer in each sub-walking mechanism controls for the brushless rotary motor be attached thereto respectively, make poor position bar 2 in each sub-walking mechanism under the control of corresponding brushless rotary motor, on difference position bar 2, the position, one end of corresponding sweeping robot body 1 direction of travel is higher than its other end position, the difference in height laid respectively in each sub-walking mechanism between two brushless electric machine driving wheels at bar 2 two ends, poor position is made to be brushless electric machine driving wheel diameter 1/2, namely the difference in height in each sub-walking mechanism between front and two brushless electric machine driving wheels at rear is brushless electric machine driving wheel diameter 1/2, form the initial angle of difference position bar 2 in each sub-walking mechanism thus, meanwhile, two distance measuring sensor 5 real-time workings in each sub-walking mechanism, obtain the range measurement between its position and its vertical underlying object upper surface respectively, and be uploaded in the middle of the single-chip microcomputer that is attached thereto in real time through corresponding filter circuit 7, wherein, filter circuit 7 receives the range measurement from being attached thereto two distance measuring sensors 5, and carry out filtering process for it, filtering noise data wherein, follow-up monolithic function is made to obtain more accurate range measurement, for follow-up for the Based Intelligent Control of brushless rotary motor, provide strong data to ensure, the filtered circuit 7 of the range measurement processed after filtering is uploaded in the middle of corresponding single-chip microcomputer, single-chip microcomputer in each sub-walking mechanism obtains the range measurement of two distance measuring sensors 5 respectively, the difference in height obtained between two distance measuring sensor 5 range measurement is poor as the elemental height corresponding to bar 2 initial angle of difference position, in application, rotate under being arranged at the control of two the brushless electric machine driving wheels control end in sweeping robot body 1 in each sub-walking mechanism of sweeping robot body 1 lower surface, simultaneously, two distance measuring sensors 5 in each sub-walking mechanism detect the distance set by it between position and its underlying object surface respectively in real time, obtain range measurement, and be uploaded in the middle of the single-chip microcomputer that is attached thereto and connects respectively through corresponding filter circuit 7, single-chip microcomputer receives the range measurement from corresponding two distance measuring sensors 5 through corresponding filter circuit 7 in real time, and the difference in height obtained between these two range measurement, and carry out real-time analysis for difference in height, make corresponding operating, in application, when sweeping robot is placed on the ground, now, in each sub-walking mechanism, rear brushless electric machine driving wheel and ground touch, move along direction of travel under the rotation of sweeping robot body 1 rear brushless electric machine driving wheel in each sub-walking mechanism, now, poor position bar 2 in each sub-walking mechanism keeps initial angle, namely in each sub-walking mechanism single-chip microcomputer the difference in height obtained from the range measurement of corresponding two distance measuring sensors 5 be that elemental height is poor, then single-chip microcomputer does not do any further operation, sweeping robot continues to move along its direction of travel, barrier is there is on the ground of sweeping robot direction of advance, and the difference in height on the relative ground of barrier is brushless electric machine driving wheel diameter 1/3 to 1/2, now, sweeping robot continues to move along its direction of travel, due to lay respectively at bar 2 two ends, poor position in each sub-walking mechanism two brushless electric machine driving wheels between difference in height be brushless electric machine driving wheel diameter 1/2, therefore, being arranged in each sub-walking mechanism front, its lower surface forefront brushless electric machine driving wheel along sweeping robot body 1 direction of travel can with the movement of sweeping robot, first move to the upper surface of barrier, due to distance measuring sensor 5 real-time working in each sub-walking mechanism, obtain range measurement and be uploaded in the single-chip microcomputer be attached thereto through corresponding filter circuit 7, then now, along sweeping robot direction of travel, the range measurement being positioned at the distance measuring sensor 5 in bar 2 front, poor position in this each sub-walking mechanism can correspondingly diminish, namely in this each sub-walking mechanism single-chip microcomputer through corresponding filter circuit 7 obtain and will strain greatly mutually from the difference in height be attached thereto between two distance measuring sensor 5 range measurement, be greater than elemental height difference, single-chip microcomputer then in this each sub-walking mechanism controls the brushless rotary motor work be attached thereto immediately, difference position bar 2 in this each sub-walking mechanism is rotated under the control of corresponding brushless rotary motor, one end of the corresponding sweeping robot direction of travel of lower pressure reduction position bar 2, namely the front end of pressure reduction position bar 2 is descended, brushless electric machine driving wheel on this end is contacted with the upper surface of barrier, like this, in this each sub-walking mechanism, two brushless electric machine driving wheels at front and rear move respectively on blocking surfaces and floor surface, the rear brushless electric machine driving wheel jointly had an effect in the sub-walking mechanism of drive this each moves on blocking surfaces, continue to move along sweeping robot direction of travel, rear brushless electric machine driving wheel in this each sub-walking mechanism moves to after on blocking surfaces, because front in now each sub-walking mechanism and two, rear brushless electric machine driving wheel all move at the upper surface of barrier, the range measurement then now laying respectively at distance measuring sensor 5 on bar 2 two ends, poor position in this each sub-walking mechanism is mutually the same, mutually should in each sub-walking mechanism single-chip microcomputer through corresponding filter circuit 7 the difference in height obtained between the range measurement being attached thereto two distance measuring sensors 5 that comes be 0, then now, single-chip microcomputer in this each sub-walking mechanism controls the brushless rotary motor work be attached thereto immediately, to make in this each sub-walking mechanism difference position bar 2 under the control of corresponding brushless rotary motor, return to initial angle, namely the difference in height on these bar 2 two ends, difference position between distance measuring sensor 5 range measurement is made to return back to elemental height difference, the surface that all the other each the sub-walking mechanisms being arranged at sweeping robot 1 lower surface equally all move to barrier by above-mentioned moving process is moved, continue to move until whole sweeping robot clears the jumps, substantially increase the property passed through of sweeping robot, wider cleaning can be realized, effectively ensure that the cleaning works efficiency of sweeping robot.
Be explained in detail for embodiments of the present invention in conjunction with Figure of description above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from present inventive concept.
Claims (6)
1. a sweeping robot intelligent filter self adaptation walking mechanism, comprises the walking mechanism being arranged at sweeping robot body (1) lower surface, it is characterized in that: described walking mechanism comprises at least four sub-walking mechanisms, each sub-walking mechanism array distribution is arranged on the lower surface of sweeping robot body (1), wherein, each sub-walking mechanism comprises poor position bar (2) of preset length, rotary electric machine (4), travelling control module (6), filter circuit (7), two distance measuring sensors (5) and two Electric Motor Wheel (3) respectively, rotary electric machine (4) in each sub-walking mechanism and travelling control module (6) are connected to each other, two distance measuring sensors (5) in each sub-walking mechanism are connected with corresponding control module (6) of walking respectively through filter circuit (7), travelling control module (6) in each sub-walking mechanism is connected with the power end in sweeping robot body (1) respectively, the rotary electric machine (4) that the travelling control module (6) of power end in each sub-walking mechanism is respectively corresponding is powered, simultaneously, power end is respectively through the travelling control module (6) in each sub-walking mechanism, filter circuit (7) is respectively each distance measuring sensor (5) and powers, filter circuit (7) in each sub-walking mechanism comprises transport and placing device A1, transport and placing device A2 and transport and placing device A3, the in-phase input end ground connection of transport and placing device A1, inverting input series resistance R3, resistance R2 and the resistance R1 successively of transport and placing device A1, on resistance R1, the other end of relative contact resistance R2 is that filter circuit (7) input connects corresponding each distance measuring sensor (5), and resistance R3 is connected between the inverting input of transport and placing device A1 output and transport and placing device A1, the inverting input of transport and placing device A2 is connected with the inverting input of transport and placing device A1, the inverting input of transport and placing device A2 is connected with electric capacity C1, resistance R4 successively simultaneously, and ground connection, electric capacity C1 is connected between the inverting input of transport and placing device A2 and the output of transport and placing device A2, and the in-phase input end of transport and placing device A2 is connected with resistance R1, the in-phase input end of transport and placing device A3 is connected with electric capacity C2, and ground connection, and resistance R5 is connected between the in-phase input end of transport and placing device A3 and the in-phase input end of transport and placing device A2, the inverting input of transport and placing device A3 is connected with output, and the output of transport and placing device A3 is filter circuit (7) output is connected to corresponding travelling control module (6), each Electric Motor Wheel (3) in each sub-walking mechanism is connected with the control end in sweeping robot body (1), in each sub-walking mechanism, the end of rotary electric machine (4) drive rod is fixedly connected with the middle part of corresponding difference position bar (2), and rotary electric machine (4) drive rod place straight line is perpendicular with difference bar (2) place, position straight line, in each sub-walking mechanism, rotary electric machine (4) is fixedly installed on the position at the corresponding sub-walking mechanism place of sweeping robot body (1) lower surface, and difference position bar (2) place straight line and sweeping robot body (1) direction of travel place straight line is coplanar in each sub-walking mechanism, in each sub-walking mechanism difference position bar (2) correspondence connect the control of rotary electric machine (4) under swing, two Electric Motor Wheel (3) in each sub-walking mechanism are connected to the two ends of corresponding difference position bar (2), and be positioned at the below at corresponding difference bar (2) two ends, position, and the face, place of two Electric Motor Wheel (3) is coplanar, this is coplanar parallels with sweeping robot body (1) direction of travel place straight line, two distance measuring sensors (5) in each sub-walking mechanism are connected to the lower surface at corresponding difference bar (2) two ends, position, straight down, and the range finding direction of each distance measuring sensor (5) is not blocked by Electric Motor Wheel (3) in the range finding direction of each distance measuring sensor (5).
2. a kind of sweeping robot intelligent filter self adaptation walking mechanism according to claim 1, is characterized in that: the rotary electric machine (4) in each sub-walking mechanism described is brushless rotary motor.
3. a kind of sweeping robot intelligent filter self adaptation walking mechanism according to claim 1, is characterized in that: each Electric Motor Wheel (3) in each sub-walking mechanism described is brushless electric machine driving wheel.
4. a kind of sweeping robot intelligent filter self adaptation walking mechanism according to claim 1, is characterized in that: the travelling control module (6) in each sub-walking mechanism described is single-chip microcomputer.
5. a kind of sweeping robot intelligent filter self adaptation walking mechanism according to claim 1, is characterized in that: in each sub-walking mechanism described, the length of difference position bar (2) is 3 times of Electric Motor Wheel (3) diameter to 4 times.
6. a kind of sweeping robot intelligent filter self adaptation walking mechanism according to claim 1, is characterized in that: poor position bar (2) in each sub-walking mechanism described adopts aluminum alloy materials to make.
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