CN108283465A - The anti-jamming sensor of dust-collecting robot and stuck disengaging method - Google Patents
The anti-jamming sensor of dust-collecting robot and stuck disengaging method Download PDFInfo
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- CN108283465A CN108283465A CN201810184245.2A CN201810184245A CN108283465A CN 108283465 A CN108283465 A CN 108283465A CN 201810184245 A CN201810184245 A CN 201810184245A CN 108283465 A CN108283465 A CN 108283465A
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- China
- Prior art keywords
- dust
- collecting robot
- jamming
- output signal
- time
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- 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
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Vacuum Cleaner (AREA)
- Electric Suction Cleaners (AREA)
Abstract
A kind of anti-jamming sensor of dust-collecting robot and stuck disengaging method are disclosed,Including can autonomous dust-collecting robot,Controller is set inside the dust-collecting robot,The anti-jamming sensor being connect with the controller,The anti-jamming sensor is mounted on the top of the dust-collecting robot,It is separately positioned on the left front at the top of the dust-collecting robot,Front and right front,The anti-jamming sensor includes columnar shell and circular pedestal,Spring and the touch-switch in the spring center are set on the pedestal,The touch-switch connection controller,Circular snap ring is arranged in the housing tip,Ball moving up and down is arranged in inside,The spring withstands the ball upwards,The ball withstands the snap ring upwards,Stuck disengaging method is set inside the controller.
Description
Technical field
The present invention relates to the anti-jamming sensors of dust-collecting robot and stuck disengaging method, belong to sensor field.
Background technology
Automation tools of the dust-collecting robot as family's floor cleaning, it is very universal, our days can be replaced
The cleaning on normal ground.Because home environment is extremely complex, various environment is all likely to occur, for dust-collecting robot
Reliably working have very big challenge.Wherein, bookshelf, wardrobe, bed, the furniture such as stool, bottom have certain gap,
Chinky altitude is exactly equal to the height of dust-collecting robot, and dust-collecting robot can enter, since driving wheel has upper and lower elasticity,
It blocks soon, but dust-collecting robot top does not have detection sensor, this failure of None- identified, by for a long time or always
It is trapped in gap, until battery exhausts.
Invention content
In view of the above-mentioned problems, the present invention provides the anti-jamming sensor of dust-collecting robot and stuck disengaging method, the program
Detectable barrier has detection reliably to the oppression at the top of dust-collecting robot, easy for installation, the advantages of being hardly damaged.
The technical solution adopted by the present invention to solve the technical problems is：
The anti-jamming sensor of dust-collecting robot and stuck disengaging method, including can autonomous dust-collecting robot, it is described
Controller is set inside dust-collecting robot, further includes the anti-jamming sensor being connect with the controller, described is anti-jamming
Sensor is mounted on the top of the dust-collecting robot, is separately positioned on the left front at the top of the dust-collecting robot, just
Front and right front.
The anti-jamming sensor includes columnar shell and circular pedestal, on the pedestal setting spring and
In the touch-switch of the spring center, the touch-switch connection controller, housing tip setting
Circular snap ring, inside are arranged ball moving up and down, and the spring withstands the ball upwards, the ball to
On withstand the snap ring, the ball top and the gap H of the housing tip are more than the ball bottom and institute
The gap h for the touch-switch stated, the ball move down under the action of foreign object, and trigger the touch-switch, institute
The touch-switch stated outputs signal to the controller.
Stuck disengaging method is set inside the controller, and the stuck disengaging method includes the following steps：
（1）First, the dust-collecting robot autonomous, when into narrow gap, anti-jamming sensor output is believed
Number 2 are then entered step if it is the anti-jamming sensor output signal of left front to the controller；Right front it is anti-sticking
Dead sensor output signal, then enter step 3；The anti-jamming sensor output signal in front or front and left front and
The anti-jamming sensor while output signal of right front, then enter step 4；The anti-jamming sensor of front and left front is simultaneously
Output signal then enters step 5；The anti-jamming sensor of front and right front output signal simultaneously, then enter step 6；
（2）The dust-collecting robot turns right a period of time T, then moves backward a period of time T, repeats the above process,
Until the output signal elimination of the anti-jamming sensor of left front, it is then back to step 1, wherein the time T is preset
Time interval;
（3）The dust-collecting robot turns left a period of time T, then moves backward a period of time T, repeats the above process,
Until the output signal elimination of the anti-jamming sensor of right front, it is then back to step 1;
（4）The dust-collecting robot moves backward a period of time T, and then turn left a period of time T, turn right one section when
Between T, repeat the above process, until all anti-jamming sensors output signal eliminate, be then back to step 1；
（5）The dust-collecting robot moves backward a period of time T, and then turn right a period of time T, repeats the above process,
Until the output signal elimination of all anti-jamming sensors, it is then back to step 1；
（6）The dust-collecting robot moves backward a period of time T, and then turn left a period of time T, repeats the above process,
Until the output signal elimination of all anti-jamming sensors, it is then back to step 1.
Beneficial effects of the present invention are mainly manifested in：1, detection barrier, can to the oppression at the top of dust-collecting robot
Be stuck situation at the top of identification；2, contact measurement, and ball type of contact surface is used, detection is reliable, is hardly damaged.
Description of the drawings
Fig. 1 is the appearance diagram of dust-collecting robot；
Fig. 2 is the structural schematic diagram of anti-jamming sensor.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
Referring to Fig.1-2, the anti-jamming sensor of dust-collecting robot and stuck disengaging method, including can autonomous vacuum cleaner
Controller is arranged in device people 1,1 inside of the dust-collecting robot, and the controller carries out centralized control, further include with it is described
The anti-jamming sensor 2 of controller connection, the anti-jamming sensor 2 are mounted on the top of the dust-collecting robot 1, point
Left front at 1 top of the dust-collecting robot, front and right front are not set, no matter advanced in this way or rotary course
In with barrier stuck situation occurs, can detect rapidly.
Because the dust-collecting robot 1 is autonomous indoors, therefore sensor is in the design process, not only to examine
Consider the validity of detection, it is necessary to consider reliability, that is to say, that be hardly damaged.Based on these factors, the anti-jamming biography
Sensor 2 has carried out following design：Including columnar shell 3 and circular pedestal 4, on the pedestal 4 be arranged spring 8 and
The touch-switch 7 at 8 center of spring, the touch-switch 7 connect the controller, and 3 top of shell is set
Circular snap ring 6 is set, ball 5 moving up and down is arranged in inside, and the spring 8 withstands the ball 5 upwards, described
Ball 5 withstands the snap ring 6 upwards, and the gap H on 5 top of ball and 3 top of shell is more than the circle
The gap h of 5 bottom of ball and the touch-switch 7.In this way, the elastic force of spring 8 described under normal condition system makes the circle
Ball 5 and the touch-switch 7 remain disengaged from state, and under the action of foreign object, the ball 5 with move down, and touch
The hair touch-switch 7, the touch-switch 7 output signal to the controller, show the dust-collecting robot 1
Stuck state has occurred in this position.And be the ball 5 with bar contact, it can receive the outer of any direction
Power, and be hardly damaged.
Stuck disengaging method is set inside the controller, when the dust-collecting robot 1 is stuck in narrow zone, institute
The anti-jamming sensor 2 stated exports useful signal to the controller, and the controller executes the stuck disengaging side
Method is detached from.The stuck disengaging method includes the following steps：
(1) first, 1 autonomous of dust-collecting robot, when into narrow gap, the anti-jamming sensor 2 exports
Signal then enters step 2 to the controller if it is 2 output signal of anti-jamming sensor of left front；Prevent right front
2 output signal of stuck sensor, then enter step 3；2 output signal of anti-jamming sensor in front or front with it is left front
The anti-jamming sensor 2 while output signal of side and right front, then enter step 4；The anti-jamming sensing in front and left front
Device 2 while output signal, then enter step 5；The anti-jamming sensor 2 of front and right front output signal simultaneously, then enter
Step 6；
(2) dust-collecting robot 1 described in turns right a period of time T, then moves backward a period of time T, repeats above-mentioned mistake
Journey is then back to step 1, wherein the time T is pre- until the output signal elimination of the anti-jamming sensor 2 of left front
If time interval;
(3) dust-collecting robot 1 described in turns left a period of time T, then moves backward a period of time T, repeats above-mentioned mistake
Journey is then back to step 1 until the output signal elimination of the anti-jamming sensor 2 of right front;
(4) dust-collecting robot 1 described in moves backward a period of time T, and then turn left a period of time T, turns right one section
Time T, repeats the above process, and until the output signal elimination of all anti-jamming sensors 2, is then back to step 1；
(5) dust-collecting robot 1 described in moves backward a period of time T, and then turn right a period of time T, repeats above-mentioned mistake
Journey is then back to step 1 until the output signal elimination of all anti-jamming sensors 2；
(6) dust-collecting robot 1 described in moves backward a period of time T, and then turn left a period of time T, repeats above-mentioned mistake
Journey is then back to step 1 until the output signal elimination of all anti-jamming sensors 2.
In step 1, the controller judges stuck position according to the detection case of sensor, and then selection is different
Shake off method.Step 2-6 is specifically to shake off method, is shaken off repeatedly using the direction opposite with stuck position, until
Above water.In actual use, even if stuck secured situation, by multiple process of shaking off, the vacuum cleaner
Device people 1 above water can come back to normal working condition.
Claims (3)
1. the anti-jamming sensor of dust-collecting robot and stuck disengaging method, including can autonomous dust-collecting robot, it is described
Dust-collecting robot inside be arranged controller, it is characterised in that：Further include the anti-jamming sensor being connect with the controller,
The anti-jamming sensor is mounted on the top of the dust-collecting robot, is separately positioned at the top of the dust-collecting robot
Left front, front and right front.
2. the anti-jamming sensor of dust-collecting robot according to claim 1 and stuck disengaging method, it is characterised in that：Institute
The anti-jamming sensor stated includes columnar shell and circular pedestal, spring is arranged on the pedestal and in the bullet
Circular snap ring is arranged in the touch-switch at spring center, the touch-switch connection controller, the housing tip,
Ball moving up and down is arranged in inside, and the spring withstands the ball upwards, and the ball withstands described upwards
Snap ring, the ball top and the gap H of the housing tip are touched out more than the ball bottom with described
The gap h of pass, the ball move down under the action of foreign object, and trigger the touch-switch, and described touches out
It closes and outputs signal to the controller.
3. the anti-jamming sensor of dust-collecting robot according to claim 1 and stuck disengaging method, it is characterised in that：Institute
Stuck disengaging method is set inside the controller stated, and the stuck disengaging method includes the following steps：
（1）First, the dust-collecting robot autonomous, when into narrow gap, anti-jamming sensor output is believed
Number 2 are then entered step if it is the anti-jamming sensor output signal of left front to the controller；Right front it is anti-sticking
Dead sensor output signal, then enter step 3；The anti-jamming sensor output signal in front or front and left front and
The anti-jamming sensor while output signal of right front, then enter step 4；The anti-jamming sensor of front and left front is simultaneously
Output signal then enters step 5；The anti-jamming sensor of front and right front output signal simultaneously, then enter step 6；
（2）The dust-collecting robot turns right a period of time T, then moves backward a period of time T, repeats the above process,
Until the output signal elimination of the anti-jamming sensor of left front, it is then back to step 1, wherein the time T is preset
Time interval;
（3）The dust-collecting robot turns left a period of time T, then moves backward a period of time T, repeats the above process,
Until the output signal elimination of the anti-jamming sensor of right front, it is then back to step 1;
（4）The dust-collecting robot moves backward a period of time T, and then turn left a period of time T, turn right one section when
Between T, repeat the above process, until all anti-jamming sensors output signal eliminate, be then back to step 1；
（5）The dust-collecting robot moves backward a period of time T, and then turn right a period of time T, repeats the above process,
Until the output signal elimination of all anti-jamming sensors, it is then back to step 1；
（6）The dust-collecting robot moves backward a period of time T, and then turn left a period of time T, repeats the above process,
Until the output signal elimination of all anti-jamming sensors, it is then back to step 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184245.2A CN108283465A (en) | 2018-03-07 | 2018-03-07 | The anti-jamming sensor of dust-collecting robot and stuck disengaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184245.2A CN108283465A (en) | 2018-03-07 | 2018-03-07 | The anti-jamming sensor of dust-collecting robot and stuck disengaging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108283465A true CN108283465A (en) | 2018-07-17 |
Family
ID=62833012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810184245.2A Withdrawn CN108283465A (en) | 2018-03-07 | 2018-03-07 | The anti-jamming sensor of dust-collecting robot and stuck disengaging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108283465A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328529A (en) * | 2018-12-18 | 2020-06-26 | 罗伯特·博世有限公司 | Autonomous working implement and method for operating an autonomous working implement |
| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
-
2018
- 2018-03-07 CN CN201810184245.2A patent/CN108283465A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111328529A (en) * | 2018-12-18 | 2020-06-26 | 罗伯特·博世有限公司 | Autonomous working implement and method for operating an autonomous working implement |
| CN111328529B (en) * | 2018-12-18 | 2024-04-09 | 罗伯特·博世有限公司 | Autonomous working device and method for operating an autonomous working device |
| CN111436861A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
| CN111436861B (en) * | 2018-12-27 | 2023-02-17 | 北京奇虎科技有限公司 | Block edge closing processing method, electronic equipment and readable storage medium |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180717 |
|
| WW01 | Invention patent application withdrawn after publication |