CN105534417B - A kind of adaptive walking mechanism of sweeping robot intelligent drives - Google Patents
A kind of adaptive walking mechanism of sweeping robot intelligent drives Download PDFInfo
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- CN105534417B CN105534417B CN201610055738.7A CN201610055738A CN105534417B CN 105534417 B CN105534417 B CN 105534417B CN 201610055738 A CN201610055738 A CN 201610055738A CN 105534417 B CN105534417 B CN 105534417B
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- sweeping robot
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The present invention relates to a kind of adaptive walking mechanism of sweeping robot intelligent drives, including travelling control module (6) and it is arranged at the walking mechanism of sweeping robot body (1) lower surface, walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism includes poor position bar (2), rotary electric machine (4), velocity sensor (5), motor-drive circuit (7) and two Electric Motor Wheels (3) of preset length respectively；The technical scheme designed based on the present invention, it is attached for above-mentioned each device, form the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, substantially increase the passing through property in sweeping robot walking process, larger range of cleaning can be realized, the cleaning works efficiency of sweeping robot has been effectively ensured.
Description
Technical field
The present invention relates to a kind of adaptive walking mechanism of sweeping robot intelligent drives, belong to Smart Home technical field.
Background technology
Continuous development and people's living standards continue to improve with technical level of science and technology, increasing household electrical appliance
Just develop towards intelligentized direction, such as in the last few years, sweeping robot occur in increasing family, it can be
Without in the case of any control, being cleaned automatically for ground, and with the continuous improvement of sweeping robot utilization rate,
Manufacturer constantly does improvement and innovation, such as patent No. also for existing sweeping robot：201320537462.8；It is public
A kind of sweeping robot, including main frame and dirt box are opened, main frame is provided with cavity, and dirt box is embedded in the cavity, dirt box
The dust channel ash hole of ash inlet and main frame is correspondingly arranged, in the side wall of cavity, positioned at the both ends of dust channel ash hole
Place, an optical signal transmitter is set respectively and received for exporting dust concentration signal to one first optical signal of control unit
Device；And dirt box is transparent material.The sweeping robot of above-mentioned technical proposal design, cavity side is arranged on by dust concentration sensor
On wall, user can cleaning of the photocell of dust sensor and the light-passing board of light receiving element simultaneously when cleaning dirt box,
Solve the problems, such as that prior art can not effectively clean dust sensor light-passing board.
Also number of patent application：201410752789.6 a kind of Intelligent robot for sweeping floor is disclosed, including：Between default
Multiple obstacle sensors away from setting, and each obstacle sensor is correspondingly arranged a steering angle, when obstacle sensor quilt
During triggering, the angle steering angle corresponding with the obstacle sensor that this is triggered that robot is turned to associates.Above-mentioned technology
The sweeping robot of conceptual design, the angle that it is turned to when detecting barrier and default turn of obstacle sensor being triggered
To angle relation, so as to optimize robot motion path, cleaning efficiency is improved.
Moreover, the patent No.：201520042353.8 disclosing a kind of sweeping robot, the sweeping robot includes：
Sweeping robot body, the sweeping robot body include shell, side brush assemblies, motor and elastic construction, the side
Brush assemblies are located at the bottom of the shell, and the motor is connected and for brush assemblies when driving described with described in brush assemblies
Rotation axis around the side brush assemblies rotates, and the elastic construction is arranged to flexibly compress the side brush assemblies downwards.On
The sweeping robot of Technical Design is stated, its robot body can extend side brush service life, and effectively ground-to-ground face is carried out
Cleaning, so as to improve cleaning effect.
From above-mentioned prior art, the development of existing sweeping robot is with rapid changepl. never-ending changes and improvements, and function is also constantly changing
Enter with perfect, operation is also more intelligent, but existing sweeping robot, in the application process of reality, still there is a little
Weak point, such as existing sweeping robot are pursued on exquisite compact direction continuous, the volume of product in itself are constantly done
It is small, to adapt to more narrow spaces, ground property is espespecially pasted among these, it is necessary to realize the shifting of product using smaller road wheel
It is dynamic, but such a design direction, had a strong impact on existing sweeping robot by property, i.e., once running into some high points relatively
Object just can not be by, such as carpet etc., and existing sweeping robot is difficult to by that and then can not be directed to carpet surface and carry out
Clean.
The content of the invention
For above-mentioned technical problem, the technical problems to be solved by the invention are to provide a kind of sweeping robot intelligent drives
Adaptive walking mechanism, employs the structure design of brand-new walking mechanism, and introduces Intelligent Measurement, intelligent control structure, can
Greatly improve sweeping robot by property, ensure the operating efficiency of sweeping robot.
In order to solve the above-mentioned technical problem the present invention uses following technical scheme：The present invention devises a kind of sweeping robot
The adaptive walking mechanism of intelligent drives, including it is arranged at the walking mechanism of sweeping robot body lower surface；Also include walking control
Molding block；The walking mechanism includes at least four sub- walking mechanisms, and each sub- walking mechanism array distribution is arranged on sweeper
The lower surface of device human body, wherein, the poor position bar including preset length, rotary electric machine, speed pass each sub- walking mechanism respectively
Sensor, motor-drive circuit and two Electric Motor Wheels；Rotary electric machine in each sub- walking mechanism drives by corresponding motor respectively
Circuit is connected with travelling control module, and the velocity sensor in each sub- walking mechanism is connected with travelling control module respectively
Connect；Travelling control module is connected with the power end in sweeping robot body, and power end passes through respectively after travelling control module
Motor-drive circuit in each sub- walking mechanism is that corresponding rotary electric machine is powered, meanwhile, power end is through travelling control mould
Block is respectively that the velocity sensor in each sub- walking mechanism is powered；Motor-drive circuit point in each sub- walking mechanism
Bao Kuo not the first NPN type triode Q1, the second NPN type triode Q2, the 3rd PNP type triode Q3, the 4th PNP type triode
Q4, first resistor R1, second resistance R2,3rd resistor R3 and the 4th resistance R4；Wherein, first resistor R1 one end connection walking
The positive pole feeder ear of control module, the first resistor R1 other end connect the first NPN type triode Q1 colelctor electrode, second respectively
NPN type triode Q2 colelctor electrode；First NPN type triode Q1 emitter stage and the second NPN type triode Q2 emitter stage point
It is not connected on the both ends of corresponding rotary electric machine, meanwhile, the first NPN type triode Q1 emitter stage and the 3rd PNP type triode
Q3 emitter stage is connected, and the second NPN type triode Q2 emitter stage is connected with the 4th PNP type triode Q4 emitter stage；
3rd PNP type triode Q3 colelctor electrode is connected with the 4th PNP type triode Q4 colelctor electrode, and the 3rd PNP type triode
Q3 colelctor electrodes are connected with the 4th PNP type triode Q4 colelctor electrodes holds ground connection；First NPN type triode Q1 base stage and the 3rd
PNP type triode Q3 base stage is connected, and is connected through second resistance R2 with travelling control module；Second NPN type triode
Q2 base stage is connected through 3rd resistor R3 with travelling control module；4th PNP type triode Q4 base stage is through the 4th resistance R4
It is connected with travelling control module；Each Electric Motor Wheel in each sub- walking mechanism and the control terminal phase in sweeping robot body
Connection；The end of rotary electric machine drive rod is mutually fixedly connected with the middle part of corresponding poor position bar in each sub- walking mechanism, and is rotated
Straight line where motor drive rod and straight line where poor position bar are perpendicular；Rotary electric machine, which is fixedly installed on, in each sub- walking mechanism sweeps
Floor-washing robot body lower surface corresponds to the position where sub- walking mechanism, and straight line where poor position bar in each sub- walking mechanism
Coplanar with straight line where sweeping robot body direction of travel, poor position bar connects rotary electric machine corresponding in each sub- walking mechanism
Control under swung；Two Electric Motor Wheels in each sub- walking mechanism are connected to the both ends of corresponding poor position bar, and position
In the lower section at corresponding poor position bar both ends, and the place face of two Electric Motor Wheels is coplanar, and the coplanar and sweeper of two Electric Motor Wheels
Straight line where device human body direction of travel is parallel；Along sweeping robot body direction of travel, the speed in each sub- walking mechanism
Degree sensor is arranged in the Electric Motor Wheel at rear.
As a preferred technical solution of the present invention：Rotary electric machine in each sub- walking mechanism is brushless rotary
Motor.
As a preferred technical solution of the present invention：Each Electric Motor Wheel is brushless electric machine in each sub- walking mechanism
Driving wheel.
As a preferred technical solution of the present invention：The travelling control module is single-chip microcomputer.
As a preferred technical solution of the present invention：The length of poor position bar is Electric Motor Wheel in each sub- walking mechanism
3 times to 4 times of diameter.
As a preferred technical solution of the present invention：Poor position bar in each sub- walking mechanism uses aluminium alloy material
Material is made.
A kind of adaptive walking mechanism of sweeping robot intelligent drives of the present invention using above technical scheme with it is existing
Technology is compared, and has following technique effect：
(1) the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, for existing sweeping robot sheet
Each sub- walking mechanism of body lower surface, devises brand-new electric control structure, by designed Intelligent Measurement structure, for sweeping
Barrier on floor-washing robot direction of travel ground realizes Intelligent Measurement, and combines the motor-drive circuit of specific design, and
Designed intelligent control structure, the swing of poor position bar in each sub- walking mechanism of intelligent control, before in each sub- walking mechanism
Electric Motor Wheel can effectively improve imitating with grabbing for height walking surface with the design of high and low position difference under poor position bar weave control afterwards
Fruit, substantially increase in sweeping robot walking process by property, larger range of cleaning can be realized, be effectively ensured and swept
The cleaning works efficiency of floor-washing robot；
(2) in the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, for each sub- walking mechanism
In rotary electric machine, further design uses brushless rotary motor, and for each Electric Motor Wheel in each sub- walking mechanism,
Further design uses brushless electric machine driving wheel so that the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs
In practical work process, Jing Yin work can be realized, both ensure that designed sweeping robot intelligent drives are adaptively walked
Mechanism has cross-country traveling ability, and and can ensures that its course of work does not impact to surrounding environment, embodies the people in design process
Propertyization designs；
(3) in the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, for designed walking control
Molding block, further design use single-chip microcomputer, and it is adaptive for sweeping robot intelligent drives on the one hand can be applied to the later stage
The extension demand of walking mechanism, on the other hand, succinct control architecture mode can be easy to the maintenance in later stage；
(4) in the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, for each sub- walking mechanism
In poor position bar, further design be made of aluminum alloy materials, while poor position bar high intensity is ensured, effectively control difference
The weight of position bar, ensure that the portability of sweeping robot.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention design adaptive walking mechanism of sweeping robot intelligent drives；
Fig. 2 is the side view structure of the present invention design adaptive walking mechanism neutron walking mechanism of sweeping robot intelligent drives
Schematic diagram；
Fig. 3 is the signal of motor-drive circuit in the present invention design adaptive walking mechanism of sweeping robot intelligent drives
Figure.
Wherein, 1. sweeping robot body, a 2. poor bar, 3. Electric Motor Wheels, 4. rotary electric machines, 5. velocity sensors, 6. rows
Walk control module, 7. motor-drive circuits.
Embodiment
It is described in further detail with reference to embodiment of the Figure of description for the present invention.
As shown in figure 1, a kind of adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs, including be arranged at
The walking mechanism of the lower surface of sweeping robot body 1；Also include travelling control module 6；The walking mechanism includes at least four
Sub- walking mechanism, each sub- walking mechanism array distribution are arranged on the lower surface of sweeping robot body 1, wherein, such as Fig. 2 institutes
Show, each sub- walking mechanism includes poor position bar 2, rotary electric machine 4, velocity sensor 5, the motor-drive circuit of preset length respectively
7 and two Electric Motor Wheels 3；Rotary electric machine 4 in each sub- walking mechanism is respectively by corresponding motor-drive circuit 7 and travelling control
Module 6 is connected, and the velocity sensor 5 in each sub- walking mechanism is connected with travelling control module 6 respectively；Travelling control mould
Block 6 is connected with the power end in sweeping robot body 1, and power end is walked through each sub-line respectively after travelling control module 6
Motor-drive circuit 7 in mechanism is that corresponding rotary electric machine 4 is powered, meanwhile, power end is respectively through travelling control module 6
Velocity sensor 5 in each sub- walking mechanism is powered；As shown in figure 3, the motor driving electricity in each sub- walking mechanism
Road 7 includes the first NPN type triode Q1, the second NPN type triode Q2, the 3rd PNP type triode Q3, the 4th positive-negative-positive three respectively
Pole pipe Q4, first resistor R1, second resistance R2,3rd resistor R3 and the 4th resistance R4；Wherein, first resistor R1 one end connection
The positive pole feeder ear of travelling control module 6, the first resistor R1 other end connect the first NPN type triode Q1 current collection respectively
Pole, the second NPN type triode Q2 colelctor electrode；The hair of first NPN type triode Q1 emitter stage and the second NPN type triode Q2
Emitter-base bandgap grading is connected on the both ends of corresponding rotary electric machine 4, meanwhile, the first NPN type triode Q1 emitter stage and the 3rd positive-negative-positive
Triode Q3 emitter stage is connected, the emitter stage phase of the second NPN type triode Q2 emitter stage and the 4th PNP type triode Q4
Connection；3rd PNP type triode Q3 colelctor electrode is connected with the 4th PNP type triode Q4 colelctor electrode, and the 3rd positive-negative-positive three
Pole pipe Q3 colelctor electrodes are connected with the 4th PNP type triode Q4 colelctor electrodes holds ground connection；First NPN type triode Q1 base stage and the
Three PNP type triode Q3 base stage is connected, and is connected through second resistance R2 with travelling control module 6；The pole of second NPN type three
Pipe Q2 base stage is connected through 3rd resistor R3 with travelling control module 6；4th PNP type triode Q4 base stage is through the 4th resistance
R4 is connected with travelling control module 6；Each Electric Motor Wheel 3 in each sub- walking mechanism and the control in sweeping robot body 1
End processed is connected；The middle part of the end of the drive rod of rotary electric machine 4 and corresponding poor position bar 2 is mutually fixed in each sub- walking mechanism connects
Connect, and straight line and the poor place straight line of position bar 2 are perpendicular where the drive rod of rotary electric machine 4；Rotary electric machine 4 in each sub- walking mechanism
It is fixedly installed on the lower surface of sweeping robot body 1 and corresponds to position where sub- walking mechanism, and in each sub- walking mechanism
The poor place straight line of position bar 2 and straight line where the direction of travel of sweeping robot body 1 are coplanar, poor position bar 2 in each sub- walking mechanism
Swung under the corresponding control for connecting rotary electric machine 4；Two Electric Motor Wheels 3 in each sub- walking mechanism are connected to pair
The both ends of poor position bar 2 are answered, and positioned at the lower section at the corresponding poor both ends of position bar 2, and the place face of two Electric Motor Wheels 3 is coplanar, and two
Straight line where the coplanar and direction of travel of sweeping robot body 1 of individual Electric Motor Wheel 3 is parallel；Walked along sweeping robot body 1
Direction, the velocity sensor 5 in each sub- walking mechanism are arranged in the Electric Motor Wheel 3 at rear.Above-mentioned technical proposal design is swept
The adaptive walking mechanism of floor-washing robot intelligent drives, for each sub- walking mechanism of the existing lower surface of sweeping robot body 1,
Brand-new electric control structure is devised, by designed Intelligent Measurement structure, on sweeping robot direction of travel ground
Barrier realizes Intelligent Measurement, and combines the motor-drive circuit 7 of specific design, and designed intelligent control structure, intelligence
The swing of poor position bar 3 in each sub- walking mechanism can be controlled, is swung using front and rear Electric Motor Wheel 3 in each sub- walking mechanism with poor position bar 2
The design of the lower high and low position difference of control, can effectively improve and grab ground effect for height walking surface, substantially increase sweeper
In device people's walking process by property, larger range of cleaning can be realized, the cleaning works of sweeping robot has been effectively ensured
Efficiency.
On basis based on the adaptive walking mechanism technical scheme of above-mentioned design sweeping robot intelligent drives, the present invention
Also further devise following optimal technical scheme：For the rotary electric machine 4 in each sub- walking mechanism, further design uses
Brushless rotary motor, and driven for each Electric Motor Wheel 3 in each sub- walking mechanism, further design using brushless electric machine
Wheel so that the adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs can be realized in practical work process
Jing Yin work, it both ensure that the designed adaptive walking mechanism of sweeping robot intelligent drives had cross-country traveling ability, and can ensures
Its course of work does not impact to surrounding environment, embodies the human oriented design in design process；And for designed
Travelling control module 6, further design use single-chip microcomputer, on the one hand can be directed to sweeping robot intelligent drives suitable for the later stage
The extension demand of adaptive walking mechanism, on the other hand, succinct control architecture mode can be easy to the maintenance in later stage；Except this it
Outside, it is made for the poor position bar 2 in each sub- walking mechanism, further design of aluminum alloy materials, is ensureing that poor position bar 2 is high
While intensity, the weight of poor position bar 2 is effectively controlled, ensure that the portability of sweeping robot.
The adaptive walking mechanism of sweeping robot intelligent drives that the present invention designs is among actual application, including sets
It is placed in the walking mechanism of the lower surface of sweeping robot body 1；Also include single-chip microcomputer；The walking mechanism includes at least four sub-line
Mechanism is walked, each sub- walking mechanism array distribution is arranged on the lower surface of sweeping robot body 1, wherein, each sub- vehicle with walking machine
The poor position bar 2 including preset length, brushless rotary motor, velocity sensor 5, motor-drive circuit 7 and two are brushless respectively for structure
Motor driving wheel；The length of poor position bar 2 is 3 times to 4 times of the diameter of Electric Motor Wheel 3 in each sub- walking mechanism；And poor position bar 2 uses
Aluminum alloy materials are made；Brushless rotary motor in each sub- walking mechanism is respectively by corresponding motor-drive circuit 7 and monolithic
Machine is connected, and the velocity sensor 5 in each sub- walking mechanism is connected with single-chip microcomputer respectively；Single-chip microcomputer and sweeping robot sheet
Power end in body 1 is connected, power end after single-chip microcomputer respectively through the motor-drive circuit 7 in each sub- walking mechanism for pair
Brushless rotary motor is answered to be powered, meanwhile, power end is through velocity sensor 5 that single-chip microcomputer is respectively in each sub- walking mechanism
It is powered；Motor-drive circuit 7 in each sub- walking mechanism includes the first NPN type triode Q1, the second NPN type three respectively
Pole pipe Q2, the 3rd PNP type triode Q3, the 4th PNP type triode Q4, first resistor R1, second resistance R2,3rd resistor R3 and
4th resistance R4；Wherein, the positive pole feeder ear of first resistor R1 one end connection single-chip microcomputer, first resistor R1 other end difference
Connect the first NPN type triode Q1 colelctor electrode, the second NPN type triode Q2 colelctor electrode；First NPN type triode Q1 hair
Emitter-base bandgap grading and the second NPN type triode Q2 emitter stage are connected on the both ends of corresponding brushless rotary motor, meanwhile, first
NPN type triode Q1 emitter stage is connected with the 3rd PNP type triode Q3 emitter stage, the second NPN type triode Q2 hair
Emitter-base bandgap grading is connected with the 4th PNP type triode Q4 emitter stage；3rd PNP type triode Q3 colelctor electrode and the 4th positive-negative-positive three
Pole pipe Q4 colelctor electrode is connected, and the 3rd PNP type triode Q3 colelctor electrodes are connected with the 4th PNP type triode Q4 colelctor electrodes
End ground connection；First NPN type triode Q1 base stage is connected with the 3rd PNP type triode Q3 base stage, and through second resistance R2
It is connected with single-chip microcomputer；Second NPN type triode Q2 base stage is connected through 3rd resistor R3 with single-chip microcomputer；4th positive-negative-positive three
Pole pipe Q4 base stage is connected through the 4th resistance R4 with single-chip microcomputer；Each brushless electric machine driving wheel in each sub- walking mechanism with
Control terminal in sweeping robot body 1 is connected；In each sub- walking mechanism the end of brushless rotary motor drive rod with it is right
The middle part of poor position bar 2 is answered mutually to be fixedly connected, and straight line where brushless rotary motor drive rod mutually hangs down with the poor place straight line of position bar 2
Directly；Brushless rotary motor is fixedly installed on the lower surface of sweeping robot body 1 and corresponds to sub- walking mechanism in each sub- walking mechanism
The position at place, and the poor place straight line of position bar 2 and the direction of travel of sweeping robot body 1 place are straight in each sub- walking mechanism
Line is coplanar, and poor position bar 2 is swung under the corresponding control for connecting brushless rotary motor in each sub- walking mechanism；Each sub-line
The both ends that two in mechanism brushless electric machine driving wheels are connected to corresponding poor position bar 2 are walked, and positioned at the corresponding poor both ends of position bar 2
Lower section, and the place face of two brushless electric machine driving wheels is coplanar, and the coplanar and sweeper of two brushless electric machine driving wheels
Straight line where the direction of travel of device human body 1 is parallel；Along the direction of travel of sweeping robot body 1, in each sub- walking mechanism
Velocity sensor 5 is arranged on the brushless electric machine driving wheel at rear.Among actual application, first against being arranged at sweeper
The each sub- walking mechanism in the lower surface of device human body 1 is initialized, and single-chip microcomputer drives electricity through the motor in each sub- walking mechanism
The corresponding brushless rotary motor work of the control of road 7 so that the poor position bar 2 in each sub- walking mechanism is in corresponding brushless rotary motor
Under control, one end position that the direction of travel of sweeping robot body 1 is corresponded on poor position bar 2 is in place higher than its other end institute
Put, and then cause the height being located at respectively in each sub- walking mechanism between two brushless electric machine driving wheels at the poor both ends of position bar 2
Difference drives wheel diameter 1/2 for brushless electric machine, i.e., two brushless electric machines for being located at front and back in each sub- walking mechanism drive
Difference in height between wheel drives wheel diameter 1/2 for brushless electric machine, thus forms the initial angle of poor position bar 2 in each sub- walking mechanism
Degree；In, two brushless electric machine driving wheels being arranged in each sub- walking mechanism of the lower surface of sweeping robot body 1 exist
Rotated in sweeping robot body 1 under the control of control terminal, meanwhile, the velocity sensor 5 in each sub- walking mechanism is real
When detect the velocity of rotation that brushless electric machine driving wheel is corresponded in sub- walking mechanism, and be uploaded in real time among single-chip microcomputer；When will sweep
When floor-washing robot is placed on the ground, now, rear brushless electric machine driving wheel touches with ground in each sub- walking mechanism, sweeps
Floor-washing robot body 1 moves in each sub- walking mechanism under the rotation of rear brushless electric machine driving wheel along direction of travel,
When barrier on the ground of sweeping robot direction of advance being present, and barrier is that brushless electric machine drives with respect to the difference in height on ground
Wheel diameter 1/3 to 1/2, now, sweeping robot continue to move along its direction of travel, due in each sub- walking mechanism points
Difference in height not between two brushless electric machine driving wheels at the poor both ends of position bar 2 drives wheel diameter 1/2 for brushless electric machine, because
This, is located at front brushless electric machine in each sub- walking mechanism in its lower surface forefront along the direction of travel of sweeping robot body 1 and drives
Wheel with the movement of sweeping robot, can first be moved to the top of barrier, when rear brushless electric machine drives in each sub- walking mechanism
When driving wheel is in contact with barrier, in the presence of barrier frictional force, rear brushless electric machine drives in each sub- walking mechanism
The rotating speed of wheel can decrease, the velocity sensor that the reduction of the rotating speed can be set on corresponding rear brushless electric machine driving wheel
5 detect, and are uploaded among single-chip microcomputer, and single-chip microcomputer drives for reducing sub- walking mechanism corresponding to rotating speed through motor therein
Dynamic circuit 7 is directed to corresponding brushless rotary motor and is controlled so that poor position bar 2 is in brushless rotary motor in the sub- walking mechanism
Control under rotate, one end of lower 2 corresponding sweeping robot direction of travel of pressure difference position bar, that is, descend the front end of pressure difference position bar 2 so that
Brushless electric machine driving wheel on the end is in contact with the upper surface of barrier, so, two in each sub- walking mechanism
Brushless electric machine driving wheel moves on blocking surfaces and floor surface respectively, has an effect jointly and drives each sub- vehicle with walking machine
Rear brushless electric machine driving wheel in structure is moved on blocking surfaces, continues to move along sweeping robot direction of travel,
After the rear brushless electric machine driving wheel in each sub- walking mechanism is moved on blocking surfaces, each sub- walking mechanism
The rotating speed of middle rear brushless electric machine driving wheel recovers to initial speed immediately, and the speed that the rising of the rotating speed can be correspondingly arranged passes
Detected by sensor 5, and it is uploaded among single-chip microcomputer, now single-chip microcomputer is for sub- walking mechanism, warp corresponding to rotating speed rising
Motor-drive circuit 7 therein is directed to corresponding brushless rotary motor and is controlled so that the difference in each sub- walking mechanism
Position bar 2 recovers to initial angle under the control of brushless rotary motor；Remaining for being similarly provided at the lower surface of sweeping robot 1 is each
The surface that individual sub- walking mechanism is moved to barrier by above-mentioned moving process moves, until whole sweeping robot is crossed
Barrier continues to move to, substantially increase sweeping robot by property, larger range of cleaning can be realized, be effectively ensured
The cleaning works efficiency of sweeping robot.
It is explained in detail above in conjunction with Figure of description for embodiments of the present invention, but the present invention is not limited to
Above-mentioned embodiment, in those of ordinary skill in the art's possessed knowledge, present inventive concept can also not departed from
On the premise of make a variety of changes.
Claims (6)
1. a kind of adaptive walking mechanism of sweeping robot intelligent drives, including it is arranged at sweeping robot body (1) lower surface
Walking mechanism；It is characterized in that：Also include travelling control module (6)；The walking mechanism includes at least four sub- vehicle with walking machine
Structure, each sub- walking mechanism array distribution are arranged on the lower surface of sweeping robot body (1), wherein, each sub- walking mechanism
Include poor position bar (2), rotary electric machine (4), velocity sensor (5), motor-drive circuit (7) and two electricity of preset length respectively
Driving wheel (3)；Rotary electric machine (4) in each sub- walking mechanism is respectively by corresponding motor-drive circuit (7) and travelling control mould
Block (6) is connected, and the velocity sensor (5) in each sub- walking mechanism is connected with travelling control module (6) respectively；Walking control
Molding block (6) is connected with the power end in sweeping robot body (1), and power end passes through respectively after travelling control module (6)
Motor-drive circuit (7) in each sub- walking mechanism is that corresponding rotary electric machine (4) is powered, meanwhile, power end is through walking
Control module (6) is respectively that the velocity sensor (5) in each sub- walking mechanism is powered；Electricity in each sub- walking mechanism
Drive circuit (7) includes the first NPN type triode Q1, the second NPN type triode Q2, the 3rd PNP type triode Q3, the respectively
Four PNP type triode Q4, first resistor R1, second resistance R2,3rd resistor R3 and the 4th resistance R4；Wherein, first resistor R1
One end connection travelling control module (6) positive pole feeder ear, the first resistor R1 other end connects the pole of the first NPN type three respectively
The colelctor electrode of pipe Q1 colelctor electrode, the second NPN type triode Q2；First NPN type triode Q1 emitter stage and the second NPN type three
Pole pipe Q2 emitter stage is connected on the both ends of corresponding rotary electric machine (4), meanwhile, the first NPN type triode Q1 transmitting
Pole is connected with the 3rd PNP type triode Q3 emitter stage, the second NPN type triode Q2 emitter stage and the pole of the 4th positive-negative-positive three
Pipe Q4 emitter stage is connected；3rd PNP type triode Q3 colelctor electrode is connected with the 4th PNP type triode Q4 colelctor electrode
Connect, and the 3rd PNP type triode Q3 colelctor electrodes be connected with the 4th PNP type triode Q4 colelctor electrodes end ground connection；First NPN type three
Pole pipe Q1 base stage is connected with the 3rd PNP type triode Q3 base stage, and through second resistance R2 and travelling control module (6) phase
Connection；Second NPN type triode Q2 base stage is connected through 3rd resistor R3 with travelling control module (6)；The pole of 4th positive-negative-positive three
Pipe Q4 base stage is connected through the 4th resistance R4 with travelling control module (6)；Each Electric Motor Wheel (3) in each sub- walking mechanism
It is connected with the control terminal in sweeping robot body (1)；In each sub- walking mechanism the end of rotary electric machine (4) drive rod with
The middle part of corresponding poor position bar (2) is mutually fixedly connected, and straight line where rotary electric machine (4) drive rod and straight line where poor position bar (2)
It is perpendicular；Rotary electric machine (4), which is fixedly installed on sweeping robot body (1) lower surface and corresponds to sub-line, in each sub- walking mechanism walks
Position where mechanism, and straight line where poor position bar (2) and sweeping robot body (1) walking side in each sub- walking mechanism
Coplanar to place straight line, poor position bar (2) is put under the corresponding control for connecting rotary electric machine (4) in each sub- walking mechanism
It is dynamic；Two Electric Motor Wheels (3) in each sub- walking mechanism are connected to the both ends of corresponding poor position bar (2), and positioned at corresponding poor
The lower section at position bar (2) both ends, and the place face of two Electric Motor Wheels (3) is coplanar, and the coplanar and sweeper of two Electric Motor Wheels (3)
Straight line where device human body (1) direction of travel is parallel；Along sweeping robot body (1) direction of travel, each sub- walking mechanism
In velocity sensor (5) be arranged in the Electric Motor Wheel (3) at rear.
A kind of 2. adaptive walking mechanism of sweeping robot intelligent drives according to claim 1, it is characterised in that：It is described each
Rotary electric machine (4) in individual sub- walking mechanism is brushless rotary motor.
A kind of 3. adaptive walking mechanism of sweeping robot intelligent drives according to claim 1, it is characterised in that：It is described each
Each Electric Motor Wheel (3) is brushless electric machine driving wheel in individual sub- walking mechanism.
A kind of 4. adaptive walking mechanism of sweeping robot intelligent drives according to claim 1, it is characterised in that：The row
It is single-chip microcomputer to walk control module (6).
A kind of 5. adaptive walking mechanism of sweeping robot intelligent drives according to claim 1, it is characterised in that：It is described each
The length of poor position bar (2) is 3 times to 4 times of Electric Motor Wheel (3) diameter in individual sub- walking mechanism.
A kind of 6. adaptive walking mechanism of sweeping robot intelligent drives according to claim 1, it is characterised in that：It is described each
Poor position bar (2) in individual sub- walking mechanism is made of aluminum alloy materials.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203601424U (en) * | 2013-08-21 | 2014-05-21 | 上海工程技术大学 | Planetary gear robot |
| CN203920969U (en) * | 2014-06-25 | 2014-11-05 | 哈尔滨工程大学 | A kind of transformable mobile robot of terrain self-adaptive |
| CN205849397U (en) * | 2016-01-27 | 2017-01-04 | 苏州宏奇锐自动化有限公司 | A kind of sweeping robot intelligent drives self adaptation walking mechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005288653A (en) * | 2004-04-02 | 2005-10-20 | Fujitsu Ltd | Moving robot |
| JP4981943B2 (en) * | 2010-03-24 | 2012-07-25 | 三菱重工業株式会社 | Traveling work robot |
| US8370990B2 (en) * | 2010-09-16 | 2013-02-12 | National Kaohsiung First University Of Science | Structural improvement for robotic cleaner |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203601424U (en) * | 2013-08-21 | 2014-05-21 | 上海工程技术大学 | Planetary gear robot |
| CN203920969U (en) * | 2014-06-25 | 2014-11-05 | 哈尔滨工程大学 | A kind of transformable mobile robot of terrain self-adaptive |
| CN205849397U (en) * | 2016-01-27 | 2017-01-04 | 苏州宏奇锐自动化有限公司 | A kind of sweeping robot intelligent drives self adaptation walking mechanism |
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