CN106175608B - Intelligent stair sweeping robot and its control method and control system - Google Patents

Intelligent stair sweeping robot and its control method and control system Download PDF

Info

Publication number
CN106175608B
CN106175608B CN201610737541.1A CN201610737541A CN106175608B CN 106175608 B CN106175608 B CN 106175608B CN 201610737541 A CN201610737541 A CN 201610737541A CN 106175608 B CN106175608 B CN 106175608B
Authority
CN
China
Prior art keywords
platform
lifting
cascaded surface
lifting assembly
mobile mechanism
Prior art date
Application number
CN201610737541.1A
Other languages
Chinese (zh)
Other versions
CN106175608A (en
Inventor
朱景元
马旭骋
文依
刘逸灏
Original Assignee
朱景元
马旭骋
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 朱景元, 马旭骋 filed Critical 朱景元
Priority to CN201610737541.1A priority Critical patent/CN106175608B/en
Publication of CN106175608A publication Critical patent/CN106175608A/en
Application granted granted Critical
Publication of CN106175608B publication Critical patent/CN106175608B/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4052Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4094Accessories to be used in combination with conventional vacuum-cleaning devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present invention provides a kind of intelligent stair sweeping robot and its control methods and control system, comprising: mobile mechanism, elevating mechanism, hoistable platform, cleaning agency;Hoistable platform can be moved up and down along elevating mechanism;Cleaning agency is mounted on hoistable platform;The bottom of elevating mechanism is equipped with mobile mechanism.The present invention can be moved flexibly in any direction, including along stairway width direction and front-rear direction, and corner stair can be suitable for, and the function of stair climbing is realized in a reliable fashion, including climbing and climbing both directions downwards, by range sensor, environment can be perceived, to adjust the height of stair climbing and mobile distance of advancing, the different stair of sizes can be suitable for.

Description

Intelligent stair sweeping robot and its control method and control system

Technical field

The present invention relates to intelligent robots, and in particular, to intelligent stair sweeping robot and its control method and control System.

Background technique

The traditional approach of stair cleaning works is artificial cleaning, and still, there is heavy workload, travel fatigue are dirty for artificial cleaning The problems such as dye, personnel monitoring, therefore, it is necessary to design a kind of intelligent robot to be cleaned instead of manual type.

It is retrieved, application No. is the patent documents of 201610206204.X, Publication No. CN105835973A for discovery, open A kind of adaptive stair corridor sweeping robot and its stairs climbing method comprising clamp mechanism, lamination fold mechanism, clear Reason mechanism, telescoping mechanism, transverse moving mechanism, control and dynamical system, the clamp mechanism and cleaning mechanism are installed in institute The lateral surface of lamination fold mechanism is stated, the telescoping mechanism is mounted on the both ends of the lamination fold mechanism, described to control and move Force system is mounted on the inside of the lamination fold mechanism.Though the patent document can realize that stair clean to a certain extent, But there is the deficiencies of structure is complicated, mobile not flexible place.

Summary of the invention

For the defects in the prior art, the object of the present invention is to provide a kind of intelligent stair sweeping robot and its controls Method and control system.

A kind of intelligent stair sweeping robot provided according to the present invention, comprising: mobile mechanism, elevating mechanism, lifting are flat Platform, cleaning agency;

Hoistable platform can be moved up and down along elevating mechanism;

Cleaning agency is mounted on hoistable platform;

The bottom of elevating mechanism is equipped with mobile mechanism.

Preferably, the hoistable platform includes: platform main support 17, platform auxiliary stand 18, stabilizer blade mounting bracket 19;

Platform main support 17 is fastenedly connected platform auxiliary stand 18, and is located at the top of platform auxiliary stand 18;

The horizontally extending stabilizer blade mounting bracket 19 out in the front end of platform main support 17;

The front end of stabilizer blade mounting bracket 19 extends downwardly out vertical supports 20;

16 bottom of universal wheel of 20 bottom of vertical supports is set and the universal wheel of 18 bottom of platform auxiliary stand is set 16 bottom flushes;

The two sides of platform auxiliary stand 18 are installed by cleaning agency respectively;

The bottom of cleaning agency flushes in 16 bottom of universal wheel or slightly above 16 bottom of universal wheel.

Preferably, there are two elevating mechanism, the two elevating mechanisms are denoted as front lifting respectively for the hoistable platform connection Component, rear portion lifting assembly;

Front lifting assembly is between stabilizer blade mounting bracket 19 and rear portion lifting assembly;

The elevating mechanism, including the fixed angle bar 6 of lifting motor 5, lifting motor, rack gear 7, gear 8, platform go up and down guide groove 12, platform lifting idler pulley 13, lifting support 21;

Lifting support 21 is located at 17 lower section of platform main support;

Platform the lifting guide groove 12, rack gear for extending through platform main support 17 along the vertical direction are installed on lifting support 21 7;

The two sides of lifting support 21 are separately installed with mobile mechanism;

Lifting motor 5 is mounted on platform main support 17 by the fixed angle bar 6 of lifting motor, and the output of lifting motor 5 Axis connection gear 8;

Gear 8 is engaged with rack gear 7;

The wheel shaft of platform lifting idler pulley 13 is mounted on platform main support 17, and the wheel face and platform of platform lifting idler pulley 13 The groove face for going up and down guide groove 12 rolls cooperation.

Preferably, the front lifting assembly, rear portion lifting assembly are mutually indepedent, and it is flat can be respectively relative to the lifting Platform moves along the vertical direction;

The center of gravity of the intelligent stair sweeping robot between the front lifting assembly, rear portion lifting assembly, and Close to the front lifting assembly.

Preferably, the mobile mechanism, comprising: wheel 1, steering engine 3, driving motor 4, steering engine fixed frame 2, driving motor are solid Determine angle bar 14;

Steering engine 3 connects elevating mechanism by steering engine fixed frame 2;

The fixed angle bar 14 of steering engine steering wheel 15, driving motor, driving motor 4, the wheel 1 of steering engine 3 are sequentially connected.

Preferably, the cleaning agency, comprising: dust absorption fan 9, jamb duster motor 10, jamb duster 11;

Hoistable platform, dust absorption fan 9, jamb duster motor 10, jamb duster 11 are sequentially connected;

The hoistable platform and/or elevating mechanism are connected with range sensor.

The control method of the above-mentioned intelligent stair sweeping robot of the one kind provided according to the present invention, comprising:

Clean step: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width of cascaded surface Direction is mobile to be cleaned;And/or

Ladder step: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface.

Preferably, the ladder step includes:

Initialization step: under the driving of lifting motor 5, decline hoistable platform along platform lifting guide groove 12, Zhi Daoping Platform main support 17 contacts lifting support 21;Under the driving of mobile mechanism, treats the front end of hoistable platform just and climb cascaded surface;Its In, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface;By upper the one of current cascaded surface A cascaded surface is denoted as cascaded surface to be climbed;

Platform praises step: front lifting assembly, rear portion lifting assembly lifting motor 5 it is common driving under, make to rise It drops platform to rise along platform lifting guide groove 12, until 16 bottom end of universal wheel that vertical supports 20 are installed is higher than cascaded surface to be climbed;

First advance step: under the driving of mobile mechanism, make the intelligent stair sweeping robot to cascaded surface to be climbed It draws close, until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold;In front lifting group Part, rear portion lifting assembly lifting motor 5 common driving under, decline hoistable platform along platform lifting guide groove 12, until perpendicular 16 bottom end of the universal wheel contact installed to bracket 20 is against wait climb on cascaded surface;

Front-wheel praises step: under the driving of the lifting motor 5 of front lifting assembly, making the rack gear in the lifting assembly of front 7 rise, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support 21, until the wheel of the mobile mechanism 1 bottom end is concordant or is slightly above cascaded surface to be climbed;

Second advance step: under the driving of mobile mechanism, make the intelligent stair sweeping robot to cascaded surface to be climbed It draws close, until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, so that the intelligence The center of gravity of stair cleaning machine device people is located at the surface of cascaded surface to be climbed;

Rear-wheel praises step: under the driving of the lifting motor 5 of rear portion lifting assembly, making the rack gear in the lifting assembly of rear portion 7 rise, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support 21, until the wheel of the mobile mechanism 1 bottom end is concordant or is slightly above cascaded surface to be climbed.

Third advance step: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, clean the intelligent stair Robot advances, until the wheel 1 of the mobile mechanism of connection rear portion lifting assembly is located at right above cascaded surface to be climbed.

The control system of the above-mentioned intelligent stair sweeping robot of the one kind provided according to the present invention, comprising:

Clean module: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width of cascaded surface Direction is mobile to be cleaned;And/or

Ladder module: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface.

Preferably, the ladder module includes:

Initialization module: it is realized by control: under the driving of lifting motor 5, hoistable platform being made to go up and down guide groove along platform 12 declines, until platform main support 17 contacts lifting support 21;Under the driving of mobile mechanism, make the front end face of hoistable platform Cascaded surface to be climbed;Wherein, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface;It will be current A upper cascaded surface for cascaded surface is denoted as cascaded surface to be climbed;

Platform praises module: pass through control and realize: in front lifting assembly, rear portion lifting assembly lifting motor 5 be total to With hoistable platform is risen along platform lifting guide groove 12, until 16 bottom end of universal wheel that vertical supports 20 are installed is high In cascaded surface to be climbed;

First advance module: it is realized by control: under the driving of mobile mechanism, making the intelligent stair sweeping robot It is drawn close to cascaded surface to be climbed, until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold; Front lifting assembly, rear portion lifting assembly lifting motor 5 it is common driving under, make hoistable platform along platform go up and down guide groove 12 Decline, until 16 bottom end of the universal wheel contact that vertical supports 20 are installed is against wait climb on cascaded surface;

Front-wheel praises module: being realized by control: under the driving of the lifting motor 5 of front lifting assembly, making front liter The rack gear 7 come down to a lower group in part rises, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support 21, until this 1 bottom end of wheel of mobile mechanism is concordant or is slightly above cascaded surface to be climbed;

Second advance module: it is realized by control: under the driving of mobile mechanism, making the intelligent stair sweeping robot It is drawn close to cascaded surface to be climbed, until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, So that the center of gravity of the intelligent stair sweeping robot is located at the surface of cascaded surface to be climbed;

Rear-wheel praises module: being realized by control: under the driving of the lifting motor 5 of rear portion lifting assembly, making rear portion liter The rack gear 7 come down to a lower group in part rises, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support 21, until this 1 bottom end of wheel of mobile mechanism is concordant or is slightly above cascaded surface to be climbed.

Third advance module: it is realized by control: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, being made described Intelligent stair sweeping robot advances, until the wheel 1 of the mobile mechanism of connection rear portion lifting assembly is being located at cascaded surface to be climbed just Top.

Compared with prior art, structure of the invention is reasonable, easy to use, with more following beneficial effect in preference Fruit:

1, the present invention can be moved flexibly in any direction, including along stairway width direction and front-rear direction, and can be fitted For corner stair.

2, the function of stair climbing has been realized in a reliable fashion in the present invention, including climb and climb both directions downwards.

3, the present invention can perceive environment by range sensor, with adjust the height of stair climbing and advance it is mobile away from From the different stair of sizes can be suitable for.

Detailed description of the invention

Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:

Fig. 1 is the entirety perspective view of intelligent stair sweeping robot provided by the invention.

Fig. 2 is the whole forward sight structural schematic diagram of intelligent stair sweeping robot provided by the invention.

Fig. 3 is that the integral bottom of intelligent stair sweeping robot provided by the invention regards structural schematic diagram.

Fig. 4 is the fit structure of hoistable platform and elevating mechanism signal in intelligent stair sweeping robot provided by the invention Figure.

Fig. 5 is the isometric structural schematic diagram of cleaning agency in intelligent stair sweeping robot provided by the invention.

Fig. 6 is that the bottom of cleaning agency in intelligent stair sweeping robot provided by the invention regards structural schematic diagram.

Fig. 7 is the cooperation of hoistable platform, elevating mechanism, mobile mechanism in intelligent stair sweeping robot provided by the invention Structural schematic diagram.

Fig. 8 is the structural schematic diagram of mobile mechanism in intelligent stair sweeping robot provided by the invention.

In figure:

Specific embodiment

The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention Protection scope.

A kind of intelligent stair sweeping robot provided according to the present invention, comprising: mobile mechanism, elevating mechanism, lifting are flat Platform, cleaning agency;Hoistable platform can be moved up and down along elevating mechanism;Cleaning agency is mounted on hoistable platform;Elevating mechanism Bottom mobile mechanism is installed.

In preference, battery is can be used as power supply in intelligent stair sweeping robot, can also pass through wired mode Power supply.In addition to cleaning agency, mobile mechanism, remaining device such as elevating mechanism, hoistable platform be may be mounted in shell.

Further, the hoistable platform includes: platform main support 17, platform auxiliary stand 18, stabilizer blade mounting bracket 19; Platform main support 17 is fastenedly connected platform auxiliary stand 18, and is located at the top of platform auxiliary stand 18;Platform main support 17 The horizontally extending stabilizer blade mounting bracket 19 out in front end;The front end of stabilizer blade mounting bracket 19 extends downwardly out vertical supports 20; 16 bottom of universal wheel of 20 bottom of vertical supports is set and the 16 bottom phase of universal wheel of 18 bottom of platform auxiliary stand is set Concordantly;The two sides of platform auxiliary stand 18 are installed by cleaning agency respectively;The bottom of cleaning agency flush in 16 bottom of universal wheel or Person is slightly above 16 bottom of universal wheel.

In preference, platform main support 17 uses mounting plate, is fastenedly connected platform auxiliary stand 18 below mounting plate, It is fastenedly connected lifting motor 5 above mounting plate, is provided with through-hole on mounting plate, so that rack gear 7, platform lifting guide groove 12 pass through Through-hole, and the shape of through-hole is matched with rack gear 7, platform lifting guide groove 12.Especially stabilizer blade mounting bracket 19 and vertical supports It is detachably connected between 20.

Further, there are two elevating mechanism, the two elevating mechanisms are denoted as front liter respectively for the hoistable platform connection It comes down to a lower group part, rear portion lifting assembly;Front lifting assembly is between stabilizer blade mounting bracket 19 and rear portion lifting assembly;The lifting Mechanism, including the fixed angle bar 6 of lifting motor 5, lifting motor, rack gear 7, gear 8, platform go up and down guide groove 12, platform lifting idler pulley 13, lifting support 21;Lifting support 21 is located at 17 lower section of platform main support;It is equipped on lifting support 21 and distinguishes along the vertical direction Platform through platform main support 17 goes up and down guide groove 12, rack gear 7;The two sides of lifting support 21 are separately installed with mobile mechanism;It rises Drop motor 5 is mounted on platform main support 17 by the fixed angle bar 6 of lifting motor, and the output shaft connection gear of lifting motor 5 8;Gear 8 is engaged with rack gear 7;The wheel shaft of platform lifting idler pulley 13 is mounted on platform main support 17, and platform lifting idler pulley 13 Wheel face and platform lifting guide groove 12 groove face roll cooperate.

In preference, between front lifting assembly, rear portion lifting assembly, lifting motor 5 is coaxial oppositely arranged, and rises The output shaft of drop motor 5 is disposed opposite to each other.Each elevating mechanism includes that two platforms go up and down guide groove 12, a toothed rack 7, in width On direction, a toothed rack 7 is located between two platform lifting guide grooves 12, between the upper end of especially two platform lifting guide grooves 12 Spacing be greater than or slightly larger than the spacing between lower end, top of the top lower than platform lifting guide groove 12 of rack gear 7, platform liter It drops guide wheel 13 and is higher than gear 7.

Further, the front lifting assembly, rear portion lifting assembly are mutually indepedent, can be respectively relative to the lifting Platform moves along the vertical direction;The center of gravity of the intelligent stair sweeping robot is located at the front lifting assembly, rear portion lifting Between component, and close to the front lifting assembly.

In preference, clump weight can be set on hoistable platform, realize the setting of position of centre of gravity.

Further, the mobile mechanism, comprising: wheel 1, steering engine 3, driving motor 4, steering engine fixed frame 2, driving motor Fixed angle bar 14;Steering engine 3 connects elevating mechanism by steering engine fixed frame 2;The steering engine steering wheel 15 of steering engine 3, driving motor fixed angles Iron 14, driving motor 4, wheel 1 are sequentially connected.

Further, the cleaning agency, comprising: dust absorption fan 9, jamb duster motor 10, jamb duster 11;Hoistable platform, Dust absorption fan 9, jamb duster motor 10, jamb duster 11 are sequentially connected;The hoistable platform and/or elevating mechanism are connected with distance and pass Sensor.

In preference, in the direction of the width, wheel 1 is located at the inside of the jamb duster 11 of ipsilateral cleaning agency.It is each clear Mechanism tool is swept there are two jamb duster motor 10, the two jamb duster motors 10 respectively drive two jamb dusters 11.In front-rear direction Maximum distance between the two upper jamb dusters 11 is greater than the maximum distance between ipsilateral two wheels 1.Especially width direction Upper ipsilateral wheel 1 is in contact with jamb duster 11, and the bottom end of wheel 1 is slightly below the bottom end of ipsilateral wheel 1.Range sensor is set It sets on platform main support 17 and the outside of cleaning agency.

The control method of the above-mentioned intelligent stair sweeping robot of the one kind provided according to the present invention, comprising:

Clean step: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width of cascaded surface Direction is mobile to be cleaned;And/or

Ladder step: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface.

Further, the ladder step includes:

Initialization step: under the driving of lifting motor 5, decline hoistable platform along platform lifting guide groove 12, Zhi Daoping Platform main support 17 contacts lifting support 21;Under the driving of mobile mechanism, treats the front end of hoistable platform just and climb cascaded surface;Its In, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface;By upper the one of current cascaded surface A cascaded surface is denoted as cascaded surface to be climbed;

Platform praises step: front lifting assembly, rear portion lifting assembly lifting motor 5 it is common driving under, make to rise It drops platform to rise along platform lifting guide groove 12, until 16 bottom end of universal wheel that vertical supports 20 are installed is higher than cascaded surface to be climbed;

First advance step: under the driving of mobile mechanism, make the intelligent stair sweeping robot to cascaded surface to be climbed It draws close, until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold;In front lifting group Part, rear portion lifting assembly lifting motor 5 common driving under, decline hoistable platform along platform lifting guide groove 12, until perpendicular 16 bottom end of the universal wheel contact installed to bracket 20 is against wait climb on cascaded surface;

Front-wheel praises step: under the driving of the lifting motor 5 of front lifting assembly, making the rack gear in the lifting assembly of front 7 rise, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support 21, until the wheel of the mobile mechanism 1 bottom end is concordant or is slightly above cascaded surface to be climbed;

Second advance step: under the driving of mobile mechanism, make the intelligent stair sweeping robot to cascaded surface to be climbed It draws close, until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, so that the intelligence The center of gravity of stair cleaning machine device people is located at the surface of cascaded surface to be climbed;

Rear-wheel praises step: under the driving of the lifting motor 5 of rear portion lifting assembly, making the rack gear in the lifting assembly of rear portion 7 rise, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support 21, until the wheel of the mobile mechanism 1 bottom end is concordant or is slightly above cascaded surface to be climbed.

Third advance step: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, clean the intelligent stair Robot advances, until the wheel 1 of the mobile mechanism of connection rear portion lifting assembly is located at right above cascaded surface to be climbed.

Above step opposite sequence and direction reverse execution then can correspondingly realize downward stair climbing.

The control system of the above-mentioned intelligent stair sweeping robot of the one kind provided according to the present invention, comprising:

Clean module: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width of cascaded surface Direction is mobile to be cleaned;And/or

Ladder module: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface.

Further, the ladder module includes:

Initialization module: it is realized by control: under the driving of lifting motor 5, hoistable platform being made to go up and down guide groove along platform 12 declines, until platform main support 17 contacts lifting support 21;Under the driving of mobile mechanism, make the front end face of hoistable platform Cascaded surface to be climbed;Wherein, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface;It will be current A upper cascaded surface for cascaded surface is denoted as cascaded surface to be climbed;

Platform praises module: pass through control and realize: in front lifting assembly, rear portion lifting assembly lifting motor 5 be total to With hoistable platform is risen along platform lifting guide groove 12, until 16 bottom end of universal wheel that vertical supports 20 are installed is high In cascaded surface to be climbed;

First advance module: it is realized by control: under the driving of mobile mechanism, making the intelligent stair sweeping robot It is drawn close to cascaded surface to be climbed, until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold; Front lifting assembly, rear portion lifting assembly lifting motor 5 it is common driving under, make hoistable platform along platform go up and down guide groove 12 Decline, until 16 bottom end of the universal wheel contact that vertical supports 20 are installed is against wait climb on cascaded surface;

Front-wheel praises module: being realized by control: under the driving of the lifting motor 5 of front lifting assembly, making front liter The rack gear 7 come down to a lower group in part rises, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support 21, until this 1 bottom end of wheel of mobile mechanism is concordant or is slightly above cascaded surface to be climbed;

Second advance module: it is realized by control: under the driving of mobile mechanism, making the intelligent stair sweeping robot It is drawn close to cascaded surface to be climbed, until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, So that the center of gravity of the intelligent stair sweeping robot is located at the surface of cascaded surface to be climbed;

Rear-wheel praises module: being realized by control: under the driving of the lifting motor 5 of rear portion lifting assembly, making rear portion liter The rack gear 7 come down to a lower group in part rises, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support 21, until this 1 bottom end of wheel of mobile mechanism is concordant or is slightly above cascaded surface to be climbed.

Third advance module: it is realized by control: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, being made described Intelligent stair sweeping robot advances, until the wheel 1 of the mobile mechanism of connection rear portion lifting assembly is being located at cascaded surface to be climbed just Top.

One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit To be considered as the structure in hardware component;It can also will be considered as realizing the device of various functions, module, unit either real The software module of existing method can be the structure in hardware component again.

Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase Mutually combination.

Claims (5)

1. a kind of intelligent stair sweeping robot characterized by comprising mobile mechanism, elevating mechanism, hoistable platform, cleaning Mechanism;
Hoistable platform can be moved up and down along elevating mechanism;
Cleaning agency is mounted on hoistable platform;
The bottom of elevating mechanism is equipped with mobile mechanism;
The hoistable platform includes: platform main support (17), platform auxiliary stand (18), stabilizer blade mounting bracket (19);
Platform main support (17) is fastenedly connected platform auxiliary stand (18), and is located at the top of platform auxiliary stand (18);
The front end of platform main support (17) is horizontally extending out stabilizer blade mounting bracket (19);
The front end of stabilizer blade mounting bracket (19) extends downwardly out vertical supports (20);
Universal wheel (16) bottom in vertical supports (20) bottom is set and is arranged in the universal of platform auxiliary stand (18) bottom Take turns (16) bottom flush;
The two sides of platform auxiliary stand (18) are installed by cleaning agency respectively;
The bottom of cleaning agency flushes in universal wheel (16) bottom or slightly above universal wheel (16) bottom;
There are two elevating mechanism, the two elevating mechanisms are denoted as front lifting assembly, rear portion liter respectively for the hoistable platform connection It comes down to a lower group part;
Front lifting assembly is located between stabilizer blade mounting bracket (19) and rear portion lifting assembly;
The elevating mechanism, including lifting motor (5), lifting motor fixed angle bar (6), rack gear (7), gear (8), platform lifting Guide groove (12), platform lifting idler pulley (13), lifting support (21);
Lifting support (21) is located at below platform main support (17);
Platform lifting guide groove (12), tooth for extending through platform main support (17) along the vertical direction are installed on lifting support (21) Item (7);
The two sides of lifting support (21) are separately installed with mobile mechanism;
Lifting motor (5) is mounted on platform main support (17) by lifting motor fixed angle bar (6), and lifting motor (5) Output shaft connection gear (8);
Gear (8) is engaged with rack gear (7);
The wheel shaft of platform lifting idler pulley (13) is mounted on platform main support (17), and the wheel face of platform lifting idler pulley (13) and flat The groove face that platform goes up and down guide groove (12) rolls cooperation;
The front lifting assembly, rear portion lifting assembly are mutually indepedent, can be respectively relative to the hoistable platform vertically side To movement;
The center of gravity of the intelligent stair sweeping robot is and close between the front lifting assembly, rear portion lifting assembly The front lifting assembly;
Wherein:
It is detachably connected between stabilizer blade mounting bracket (19) and vertical supports (20);
Spacing between the upper end of two platform liftings guide groove (12) is greater than the spacing between lower end, and the top of rack gear (7) is lower than Platform goes up and down the top of guide groove (12), and platform lifting idler pulley (13) is higher than gear (8);
Ipsilateral wheel (1) is in contact with jamb duster (11) in width direction, and the bottom end of wheel (1) is slightly below ipsilateral wheel (1) bottom end;Range sensor is arranged on platform main support (17) and the outside of cleaning agency.
2. intelligent stair sweeping robot according to claim 1, which is characterized in that the mobile mechanism, comprising: wheel (1), steering engine (3), driving motor (4), steering engine fixed frame (2), driving motor are fixed angle bar (14);
Steering engine (3) connects elevating mechanism by steering engine fixed frame (2);
Steering engine steering wheel (15), driving motor fixed angle bar (14), driving motor (4), the wheel (1) of steering engine (3) are sequentially connected.
3. intelligent stair sweeping robot according to claim 1, which is characterized in that the cleaning agency, comprising: dust suction Fan (9), jamb duster motor (10), jamb duster (11);
Hoistable platform, dust absorption fan (9), jamb duster motor (10), jamb duster (11) are sequentially connected;
The hoistable platform and/or elevating mechanism are connected with range sensor.
4. the control method of intelligent stair sweeping robot described in a kind of any one of claims 1 to 3, which is characterized in that Include:
Clean step: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width direction of cascaded surface Movement is to be cleaned;And/or
Ladder step: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface;
The ladder step includes:
Initialization step: under the driving of lifting motor (5), decline hoistable platform along platform lifting guide groove (12), Zhi Daoping Platform main support (17) contacts lifting support (21);Under the driving of mobile mechanism, treats the front end of hoistable platform just and climb ladder Face;Wherein, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface;By current cascaded surface A upper cascaded surface is denoted as cascaded surface to be climbed;
Platform praises step: front lifting assembly, rear portion lifting assembly lifting motor (5) it is common driving under, make to go up and down Platform rises along platform lifting guide groove (12), until universal wheel (16) bottom end that vertical supports (20) are installed is higher than ladder to be climbed Face;
First advance step: under the driving of mobile mechanism, drawing close the intelligent stair sweeping robot to cascaded surface to be climbed, Until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold;Front lifting assembly, after Under the common driving of the lifting motor (5) of portion's lifting assembly, decline hoistable platform along platform lifting guide groove (12), until vertical Universal wheel (16) the bottom end contact that bracket (20) is installed is against wait climb on cascaded surface;
Front-wheel praises step: under the driving of the lifting motor (5) of front lifting assembly, making the rack gear in the lifting assembly of front (7) rise, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support (21), until the mobile mechanism Wheel (1) bottom end is concordant or is slightly above cascaded surface to be climbed;
Second advance step: under the driving of mobile mechanism, drawing close the intelligent stair sweeping robot to cascaded surface to be climbed, Until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, so that the intelligent stair is clear The center of gravity for sweeping robot is located at the surface of cascaded surface to be climbed;
Rear-wheel praises step: under the driving of the lifting motor (5) of rear portion lifting assembly, making the rack gear in the lifting assembly of rear portion (7) rise, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support (21), until the mobile mechanism Wheel (1) bottom end is concordant or is slightly above cascaded surface to be climbed;
Third advance step: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, make the intelligent stair sweeping machine People advances, until the wheel (1) of the mobile mechanism of connection rear portion lifting assembly is located at right above cascaded surface to be climbed.
5. the control system of intelligent stair sweeping robot described in a kind of any one of claims 1 to 3, which is characterized in that Include:
Clean module: control mobile mechanism is moved, and makes the intelligent stair sweeping robot along the width direction of cascaded surface Movement is to be cleaned;And/or
Ladder module: control elevating mechanism is gone up and down, and hoistable platform is made to be higher than cascaded surface or lower than cascaded surface;
The ladder module includes:
Initialization module: it is realized by control: under the driving of lifting motor (5), hoistable platform being made to go up and down guide groove along platform (12) decline, until platform main support (17) contact lifting support (21);Under the driving of mobile mechanism, before making hoistable platform Rectify to treat and climbs cascaded surface;Wherein, the cascaded surface that the intelligent stair sweeping robot is currently located is denoted as current cascaded surface; A upper cascaded surface for current cascaded surface is denoted as cascaded surface to be climbed;
Platform praises module: pass through control realize: in front lifting assembly, rear portion lifting assembly lifting motor (5) it is common Under driving, increase along platform lifting guide groove (12) hoistable platform, until universal wheel (16) bottom that vertical supports (20) are installed End is higher than cascaded surface to be climbed;
First advance module: pass through control realize: under the driving of mobile mechanism, make the intelligent stair sweeping robot to It climbs cascaded surface to draw close, until front lifting assembly and wait climb the minimum range between cascaded surface less than the first given threshold;Preceding Portion's lifting assembly, rear portion lifting assembly lifting motor (5) it is common driving under, make hoistable platform along platform go up and down guide groove (12) Decline, until universal wheel (16) the bottom end contact that vertical supports (20) are installed is against wait climb on cascaded surface;
Front-wheel praises module: being realized by control: under the driving of the lifting motor (5) of front lifting assembly, going up and down front Rack gear (7) in component rises, to drive the mobile mechanism of connection front lifting assembly to rise by lifting support (21), until Wheel (1) bottom end of the mobile mechanism is concordant or is slightly above cascaded surface to be climbed;
Second advance module: pass through control realize: under the driving of mobile mechanism, make the intelligent stair sweeping robot to Cascaded surface is climbed to draw close, until rear portion lifting assembly and wait climb the minimum range between cascaded surface less than the second given threshold, so that The center of gravity of the intelligent stair sweeping robot is located at the surface of cascaded surface to be climbed;
Rear-wheel praises module: being realized by control: under the driving of the lifting motor (5) of rear portion lifting assembly, going up and down rear portion Rack gear (7) in component rises, to drive the mobile mechanism of connection rear portion lifting assembly to rise by lifting support (21), until Wheel (1) bottom end of the mobile mechanism is concordant or is slightly above cascaded surface to be climbed;
Third advance module: it is realized by control: in the pre-connection under the driving of the mobile mechanism of portion's lifting assembly, making the intelligence Stair cleaning machine device people advance, until connection rear portion lifting assembly mobile mechanism wheel (1) be located at cascaded surface to be climbed just on Side.
CN201610737541.1A 2016-08-26 2016-08-26 Intelligent stair sweeping robot and its control method and control system CN106175608B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610737541.1A CN106175608B (en) 2016-08-26 2016-08-26 Intelligent stair sweeping robot and its control method and control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610737541.1A CN106175608B (en) 2016-08-26 2016-08-26 Intelligent stair sweeping robot and its control method and control system

Publications (2)

Publication Number Publication Date
CN106175608A CN106175608A (en) 2016-12-07
CN106175608B true CN106175608B (en) 2019-01-25

Family

ID=57526822

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610737541.1A CN106175608B (en) 2016-08-26 2016-08-26 Intelligent stair sweeping robot and its control method and control system

Country Status (1)

Country Link
CN (1) CN106175608B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107981799A (en) * 2017-11-26 2018-05-04 梁瑞城 A kind of clean robot
CN108030448A (en) * 2018-01-16 2018-05-15 刘肖俊 A kind of wheel with high-strength conformability combines clean robot enough

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007153521A (en) * 2005-12-05 2007-06-21 Kyushu Institute Of Technology Stairs lifting device
CN201091550Y (en) * 2007-10-25 2008-07-30 浙江科技学院 Stair cleaning machine
WO2012086604A1 (en) * 2010-12-24 2012-06-28 住友重機械工業株式会社 Cleaning device
CN203861150U (en) * 2014-06-03 2014-10-08 滨州学院 Intelligent stair mopping machine
CN104127157A (en) * 2014-08-04 2014-11-05 南京信息工程大学 Wheel-leg type stair sweeping robot
CN204698459U (en) * 2015-05-07 2015-10-14 临安一诺科技有限公司 A kind of cleaning robot of stair cleaning of stair structure
CN206342425U (en) * 2016-08-26 2017-07-21 朱景元 Intelligent stair sweeping robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007153521A (en) * 2005-12-05 2007-06-21 Kyushu Institute Of Technology Stairs lifting device
CN201091550Y (en) * 2007-10-25 2008-07-30 浙江科技学院 Stair cleaning machine
WO2012086604A1 (en) * 2010-12-24 2012-06-28 住友重機械工業株式会社 Cleaning device
CN203861150U (en) * 2014-06-03 2014-10-08 滨州学院 Intelligent stair mopping machine
CN104127157A (en) * 2014-08-04 2014-11-05 南京信息工程大学 Wheel-leg type stair sweeping robot
CN204698459U (en) * 2015-05-07 2015-10-14 临安一诺科技有限公司 A kind of cleaning robot of stair cleaning of stair structure
CN206342425U (en) * 2016-08-26 2017-07-21 朱景元 Intelligent stair sweeping robot

Also Published As

Publication number Publication date
CN106175608A (en) 2016-12-07

Similar Documents

Publication Publication Date Title
ES2374887B1 (en) Robot to clean pools.
US8418787B2 (en) Stair climbing apparatus
KR20140077110A (en) Industrial robot floor cleaner
CN203676981U (en) Glass cleaning device
TW201306957A (en) Cleaner and path controlling method thereof
CN105151151B (en) Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs
CN104325269A (en) Double-group and semi-automatic cover plate assembly machine for flat plate heat collectors
CN106073623A (en) Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people
CN105752679A (en) Mechanical arm device used for loading and unloading tiles
CN201421981Y (en) Fully-automatic Bosun chair
CN200978517Y (en) High building outer wall wiping and spraying robot
JP2013158904A (en) Moving method of window wiping robot
CN103318742B (en) Pulley telescopic boom type glass sucker hanger
JP2012085854A (en) Level difference ascending/descending device and electric wheelchair using the same
CN201492595U (en) Electric wheelchair capable of climbing stairs
CN102008265A (en) Window wiping robot
CN101291043A (en) Special transfer vehicle for handcart of electrical cabinet
CN204260679U (en) A kind of robot for cleaning floor
WO2008090508A1 (en) Equipment for enabling a motorized wheelchair to move safely even on steps or flights of stairs
CN205422071U (en) Rear cantilever type garage parking
CN204995386U (en) Outer facade cleaning robot system constructs
CN102334959A (en) Cleaning equipment for outer wall of low-rise building
CN205018967U (en) Two -sided glass cleaning robot of intelligence
CN106184450B (en) A kind of climbing level robot
EP2514533B1 (en) Self-propelled cleaning device for cleaning solar modules

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant