CN108720733B - Control method of multifunctional cleaning robot system - Google Patents
Control method of multifunctional cleaning robot system Download PDFInfo
- Publication number
- CN108720733B CN108720733B CN201810532638.8A CN201810532638A CN108720733B CN 108720733 B CN108720733 B CN 108720733B CN 201810532638 A CN201810532638 A CN 201810532638A CN 108720733 B CN108720733 B CN 108720733B
- Authority
- CN
- China
- Prior art keywords
- cleaning robot
- cleaning
- toy car
- control module
- main control
- Prior art date
- 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.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims description 15
- 239000012535 impurity Substances 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 238000003032 molecular docking Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K9/00—Children's cycles
-
- 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)
- Toys (AREA)
Abstract
The invention relates to a multifunctional cleaning robot system and a control method thereof. The system drives the toy car to automatically walk together through the main control module inside the cleaning robot, so that the cleaning robot can not only perform cleaning work, but also be combined with the toy car to form an intelligent children entertainment toy capable of automatically walking, and the function and value of the cleaning robot are improved. According to the control method of the multifunctional cleaning robot system, after the cleaning robot is combined with the toy car, the driving current of the driving wheel of the cleaning robot is increased to ensure that the cleaning robot has enough driving force so as to drive the toy car and the children taking in the toy car to automatically walk together, so that intelligent walking of the whole system is realized, and the purposes and the using effects of the cleaning robot are improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a multifunctional cleaning robot system and a control method thereof.
Background
The cleaning robot is intelligent household sweeping equipment, and can walk automatically in certain occasions by means of certain artificial intelligence. The robot body is provided with various sensors which can detect the walking distance, the walking angle (i.e. the walking direction), the body state, obstacles and the like, can turn by itself if touching a wall or other obstacles, can walk different routes according to different settings, can planarly walk, and can also construct a grid map according to various data detected in the walking process, for example, the grid unit corresponding to the detected obstacle is marked as an obstacle unit, the grid unit corresponding to the detected cliff is marked as a cliff unit, and the grid unit passing through in normal walking is marked as a walking unit. The existing cleaning robot only has the cleaning functions of sweeping and mopping, has single function, and needs to be further developed with new functions.
Disclosure of Invention
In order to solve the problems, the invention provides a multifunctional cleaning robot system and a control method thereof, which not only can independently perform cleaning work, but also can automatically walk together with toy vehicles for children to realize the functions of cleaning and entertaining children. The specific technical scheme of the invention is as follows:
a multi-functional cleaning robot system comprising: the cleaning robot can independently walk and clean the walking ground; the toy car is connected with the cleaning robot and used for taking a child; and the main control module is arranged inside the cleaning robot and used for controlling the cleaning robot to drive the toy car to automatically walk together.
Further, the cleaning robot includes: the cleaning main body is used for adsorbing impurities on the ground and is provided with a connecting part used for being connected with the toy car; and the driving wheel is connected with the cleaning main body and used for driving the cleaning main body to walk under the control of the main control module.
Further, the toy vehicle includes: the car body is used for taking children, and a butt joint part matched with the connecting part is arranged on the car body; and the wheels are arranged at the bottom of the vehicle body and are used for driving the vehicle body to move.
Further, the connecting part is provided with an electric connecting end which is connected to the main control module; the butt joint part is provided with an electric butt joint end which is connected to a grounding resistor; when the connecting part and the butt joint part are connected together, the electric connecting end and the electric butt joint end are contacted with each other.
Further, a pressure sensor for detecting pressure change between the connecting portion and the abutting portion is further arranged between the connecting portion and the abutting portion.
The control method based on the multifunctional cleaning robot system comprises the following steps: the main control module receives a connection trigger signal of the toy car connected to the cleaning robot; the main control module receives a starting trigger signal for starting operation; the main control module starts the cleaning robot and increases the driving current of the driving wheel of the cleaning robot, so that the cleaning robot drives the toy car to automatically walk together.
Further, the step of starting the cleaning robot by the main control module specifically comprises the following steps: the main control module starts a cleaning main body in the cleaning robot to adsorb impurities on the ground; the main control module starts driving wheels in the cleaning robot and starts running according to a preset entertainment cleaning mode in the system.
Further, the entertainment cleaning mode preset in the system comprises the following steps: searching a grid map constructed by the cleaning robot, and determining a walking path with a path width greater than three times of the width of the cleaning robot body; judging whether the walking path forms a closed loop, if so, circularly walking around the closed loop, and if not, walking along the walking path one by one.
Further, in the process of walking along the walking path, the method further comprises the following steps: when the pressure value detected by the pressure sensor between the connecting part of the cleaning robot and the abutting part of the toy car is larger than a preset pressure value, the cleaning robot is controlled to stop advancing, and the robot is controlled to continue to walk after the advancing direction of the robot is adjusted.
According to the multifunctional cleaning robot system, the cleaning robot drives the toy car to automatically walk together through the main control module in the cleaning robot, so that the cleaning robot can not only perform cleaning work, but also be combined with the toy car to form an intelligent children entertainment toy capable of automatically walking, and the functions and the value of the cleaning robot are improved. According to the control method of the multifunctional cleaning robot system, after the cleaning robot is combined with the toy car, the driving current of the driving wheel of the cleaning robot is increased to ensure that the cleaning robot has enough driving force so as to drive the toy car and the children taking in the toy car to automatically walk together, so that intelligent walking of the whole system is realized, and the purposes and the using effects of the cleaning robot are improved.
Drawings
Fig. 1 is a schematic block diagram of a structural module of the multifunctional cleaning robot system.
Fig. 2 is a schematic perspective view of the cleaning robot.
Fig. 3 is a schematic top view of the cleaning robot.
Fig. 4 is a schematic diagram of a toy vehicle shown from the side.
Fig. 5 is a schematic diagram of the structure of the toy vehicle shown from the top.
Fig. 6 is a schematic view of a cleaning robot mated with a toy vehicle.
Fig. 7 is a flow chart illustrating a control method of the multipurpose cleaning robot system.
Description of the embodiments
The following describes the technical solution in the embodiment of the present invention in detail with reference to the drawings in the embodiment of the present invention. It should be understood that the following detailed description is merely illustrative of the invention, and is not intended to limit the invention.
The cleaning robot of the invention is an intelligent cleaning robot, which at least comprises the following structures: the robot body with the left driving wheel and the right driving wheel and capable of autonomous walking is provided with a man-machine interaction interface, and the robot body is provided with an obstacle detection unit. An inertial sensor is arranged in the machine body, the inertial sensor comprises an accelerometer, a gyroscope and the like, and the two driving wheels are provided with odometers (generally code wheels) for detecting the walking distance of the driving wheels.
As shown in fig. 1, a multifunctional cleaning robot system includes: a cleaning robot capable of autonomous walking and cleaning the ground after walking; a toy vehicle for children's ride coupled to the cleaning robot; and the main control module is arranged in the cleaning robot and used for controlling the cleaning robot to drive the toy car to automatically walk together. The toy car can be detachably connected with the cleaning robot, when the toy car does not need to be used for children to entertain, the toy car is separated from the cleaning robot, the cleaning robot is used for cleaning independently, the cleaning efficiency is high, when the toy car needs to be used for children to entertain, the toy car is combined with the cleaning robot, and the toy car is used for cleaning when carrying children to walk automatically. The main control module can be a control circuit carried by the cleaning robot, or can be a control circuit additionally arranged in the cleaning robot. The control circuit is capable of processing parameters of the associated sensors and of outputting control signals to the various actuating components of the cleaning robot, such as the drive wheels. The system drives the toy car to automatically walk together through the main control module inside the cleaning robot, so that the cleaning robot can not only perform cleaning work, but also be combined with the toy car to form an intelligent children entertainment toy capable of automatically walking, and the function and value of the cleaning robot are improved.
Preferably, as shown in fig. 2 and 3, the cleaning robot includes: a cleaning main body 21 for adsorbing impurities on the floor, wherein a vacuum dust suction device and a corresponding suction and exhaust structure are arranged inside the cleaning main body. The cleaning body 21 is provided with a connection portion 22 for connection with the toy vehicle. The connecting part is a clamping groove structure arranged on the top surface of the cleaning main body 21, the clamping groove structure is matched with clamping teeth arranged on the toy car, and when the clamping teeth are buckled together, the toy car and the cleaning robot can be firmly connected together. Of course, the connection portion may be provided in other shapes, such as a boss structure, and the abutting portion needs to be correspondingly provided as a groove structure for being cooperatively connected with the boss, or the connection portion and the abutting portion are provided as a cooperative connection structure of a connection post and a connection hole, or the like. The front end of the cleaning main body (i.e., the end in the forward direction) is provided with a collision detecting bar 24, and when the cleaning robot collides with an obstacle, the collision detecting bar 24 contracts and triggers a detection signal to the main control module, and the main control module can know that the cleaning robot collides with the obstacle and control the robot to turn or otherwise operate. The bottom of the cleaning main body is provided with two driving wheels 23 for driving the cleaning main body to walk under the control of the main control module and a freely-steerable universal wheel 27 (see fig. 6), and the cleaning main body can be driven to walk through the operation of the driving wheels 23. The cleaning robot is characterized in that a main control module is arranged in the cleaning main body and can control the positioning and autonomous navigation walking of the cleaning robot. When the main control module judges that the connecting part is not connected with the butting part, the cleaning robot can independently perform cleaning work, and at the moment, the main control module directly controls the driving wheel to operate so as to drive the cleaning main body to walk according to a planned path set by the system to perform corresponding cleaning work as long as a control instruction for starting the cleaning work is received. When the main control module judges that the connecting part is connected with the butting part, the cleaning robot and the toy car need to move together, a user hopes that a child can play while riding the toy car, the cleaning robot can perform cleaning work, at the moment, the driving current of the driving wheel is increased as long as the cleaning robot receives a command for starting the working, so that the driving wheel has enough driving force to drive the toy car together, and the cleaning robot starts to walk according to an entertainment cleaning mode. The intelligent walking of the common toy car is realized by utilizing the intelligent function of the cleaning robot, the using function of the cleaning robot is widened, and the practicability of the system is improved.
Preferably, the toy car comprises a car body for children to sit, and the car body can be similar to the car body of the convertible car, can also be a cylindrical shape with a sitting space on the upper end surface, and the like. The cleaning robot is characterized in that a butt joint part used for being connected with the cleaning robot is arranged on the vehicle body, the butt joint part can be arranged at the front end of the vehicle body and also can be arranged at the rear end of the vehicle body, the butt joint part can be arranged into a convex structure or a groove structure, can also be arranged into a latch or a clamping groove, can also be arranged into a fixing structure matched and fixedly connected with a fastener such as a bolt, and the like. The toy car further comprises wheels used for driving the car body to move, the wheels are arranged at the bottom of the car body, and the wheels are free-rotating wheels without wheel motors. As shown in fig. 4 and 5, the toy car takes the shape of a convertible car, and four freely rotating wheels 12 are arranged at the bottom of the car body 11, and the wheels are not provided with wheel motors, so that the toy car can only drive to walk by external force. The front end of the car body 11 is provided with a latch 13, and the middle part of the car body 11 is provided with a riding space 111, a seat 112, a steering wheel 113 and other structural components which can be ridden and operated by children. The intelligent walking of ordinary toy car can be realized by utilizing the intelligent function of cleaning robot and only combining ordinary toy car with very simple structure function, so that children can enjoy the fun of intelligent car by sitting on ordinary toy car, thereby improving the application range and use effect of toy car and greatly reducing the cost of the whole system.
Preferably, as shown in fig. 3, the connection portion 22 is provided with an electrical connection terminal 26, which is connected to the main control module. As shown in fig. 4, the docking portion 13 is provided with an electrical docking terminal 14, and the electrical docking terminal 14 is connected to a ground resistor. As shown in fig. 6, the front end of the toy car is mounted on the body of the cleaning robot, so that the wheels at the front end of the toy car are not grounded, and only the wheels at the rear end of the toy car and the driving wheels of the cleaning robot are closely attached to the ground. When the cleaning robot moves under the drive of the driving wheel, the toy car moves along with the cleaning robot. When the connection part 22 is connected with the docking part 13, the electric connection end 26 and the electric docking end 14 are in contact with each other to realize electric connection, and the main control module detects that the voltage of the electric connection end 26 changes, so that the toy car and the cleaning robot are judged to be connected together. The electric connection end 26 and the electric butt joint end 14 adopt a butt connection mode, so that the electric butt joint device is simple and quick, is very convenient for a user to operate, does not need to carry out additional connection operation, and improves the product use experience.
Preferably, the connecting part is further provided with a pressure sensor for detecting pressure change between the connecting part and the abutting part. As shown in fig. 2 and 6, the connecting portion adopts an arc-shaped groove, the pressure sensor 25 is disposed on the inner side wall of the inner arc side (i.e. the side with a relatively short arc) of the arc-shaped groove, and when the cleaning robot drives the toy car to walk normally, the pressure value detected by the pressure sensor 25 is kept to be a certain value, and some micro floating may occur. If the cleaning robot does not collide with an obstacle but the toy car collides with an obstacle, at this time, the pressure value detected by the pressure sensor 25 suddenly becomes large, and the cleaning robot determines that the toy car collides with an obstacle and then performs a backward or steering operation. For example, the cleaning robot drills into the sofa bottom, but the toy car is large in volume and cannot enter the sofa bottom, at the moment, the toy car collides with the side wall of the sofa, the cleaning robot can retreat from the sofa bottom, and then the cleaning robot turns to and continues to walk.
As shown in fig. 7, a control method of the multifunctional cleaning robot system includes the steps of: first, the main control module of the cleaning robot receives a connection trigger signal that the docking part of the toy car and the connection part of the cleaning robot are connected with each other, and determines that the toy car and the cleaning robot are connected together. Then, the user presses a start button of the cleaning robot, and a main control module of the cleaning robot receives a start trigger signal for starting operation. And then, the main control module controls the cleaning main body of the cleaning robot to start adsorbing impurities on the ground, and after the main control module determines a walking path according to system configuration information or control signals input by a user, the main control module sends corresponding control signals to the driving wheels to control the driving wheels to operate according to the increased driving current, so that the driving wheels have enough driving force to drive the cleaning robot to drive the toy car to automatically walk together. The increasing amount of the driving current is required to be adjusted according to the preset walking speed in the system, when the walking speed is too high, the driving current is reduced, and when the walking speed is too low, the driving current is increased. In the walking process, the cleaning robot performs self-positioning and navigation in real time based on the self-inertial navigation system and SLAM technology. According to the method, after the cleaning robot is combined with the toy car, the driving current of the driving wheel of the cleaning robot is increased to ensure that the cleaning robot has enough driving force so as to drive the toy car and children taking in the toy car to walk together automatically, so that intelligent walking of the whole system is realized, and the purposes and the using effects of the cleaning robot are improved.
Preferably, the step of starting the cleaning robot by the main control module specifically includes the following steps: first, the main control module starts the cleaning main body in the cleaning robot, and the dust suction device in the cleaning main body starts to suck impurities on the floor. Then, the main control module starts the driving wheels in the cleaning robot and starts to operate according to the entertainment cleaning mode preset in the system. Because the user connects robot and toy car, its purpose is to want children to take the toy car and play, if the robot still runs according to normal clean mode, can necessarily cause many problems, such as frequent collision and frequent stopping turn to can reduce children's riding comfort. Therefore, a new operation mode suitable for children's entertainment and capable of achieving a cleaning effect, namely, the entertainment cleaning mode, is needed for the robot, and the robot operates according to the mode, so that the comfort and entertainment of children's riding can be improved while the cleaning effect is ensured.
Preferably, the entertainment cleaning mode preset in the system comprises: searching a grid map constructed by the cleaning robot, and determining a walking path with a path width greater than three times of the width of the cleaning robot body. The path is a path formed by grid units through which the robot has traveled. The path width refers to the width of both ends of the path perpendicular to the traveling direction of the robot. Because the body of the toy car is relatively wide, there are areas where the robot can reach, but the toy car cannot. Therefore, the cleaning robot needs to search and determine a path through which the toy vehicle can travel normally, i.e., a travel path having a path width greater than three times the width of the cleaning robot body. After determining the walkable path, the walking mode needs to be determined for different path extension situations. At this time, the main control module determines whether the walking path constitutes a closed loop, and if so, circulates around the closed loop to walk with the child seated in the toy car. If not, the robot walks along the walking path one by one, and cleans the ground as comprehensively as possible while playing, so that the effects of playing and cleaning are achieved.
Preferably, in the process of walking along the walking path, the method further comprises the following steps: when the pressure value detected by the pressure sensor between the connecting part of the cleaning robot and the abutting part of the toy car is larger than a preset pressure value, the cleaning robot is controlled to stop advancing, and the robot is controlled to continue to walk after the advancing direction of the robot is adjusted.
Preferably, in the process of walking along the walking path, the method further comprises the following steps: when the main control module judges that the pressure value detected by the pressure sensor between the connecting part of the cleaning robot and the butting part of the toy car is larger than a preset pressure value, the front end of the toy car collides with an obstacle, the cleaning robot does not collide with the obstacle, for example, the cleaning robot drills into the sofa bottom, the toy car is blocked outside the side wall of the sofa, at the moment, the cleaning robot continues to move forwards, the toy car generates resistance for blocking the cleaning robot from continuing to move forwards, the acting force between the connecting part and the butting part is increased, and therefore, the pressure value detected by the pressure sensor is also increased. The preset pressure value may be set correspondingly according to a specific sensor type and structural forms of the connection portion and the butt portion, which is not limited herein. And after the pressure value detected by the main control module is larger than a preset pressure value, controlling the cleaning robot to stop advancing, and adjusting the advancing direction of the robot to continue walking. The adjustment mode can be that the two driving wheels are controlled to retreat for a certain distance, and then the forward speed difference of the two driving wheels is utilized to realize steering adjustment, or the forward speed difference of the two driving wheels is directly utilized, and the slip effect is utilized to realize fixed-point steering adjustment. After the steering is adjusted, the cleaning robot takes the toy car to walk forward, and leaves the obstacle. According to the method, the situation that the toy car collides with the obstacle is determined by detecting the pressure change between the connecting part and the abutting part, and the cleaning robot does not collide with the obstacle is avoided, so that the problems that the robot or the toy car is damaged, the electric quantity is exhausted in situ and the like caused by unconscious forced advance of the sweeping robot are avoided, and the intelligent and walking efficiency of the system are improved.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. These programs may be stored in a computer readable storage medium (such as ROM, RAM, CPU, MCU, magnetic or optical disk, etc. various media in which program codes may be stored). The program, when executed, performs steps including the method embodiments described above.
Finally, it should be noted that: in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described and is different from other embodiments, so that the same or similar parts of each embodiment are referred to each other, and the technical solutions of each embodiment can be combined with each other. The foregoing embodiments are merely for illustrating the technical aspects of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art may modify the technical aspects described in the foregoing embodiments or make equivalent substitutions for some or all technical features thereof; such modifications and substitutions do not depart from the spirit of the invention.
Claims (3)
1. A control method of a multifunctional cleaning robot system, the multifunctional cleaning robot system comprising: the cleaning robot can independently walk and clean the walking ground; the toy car is connected with the cleaning robot and used for taking a child; the main control module is arranged in the cleaning robot and used for controlling the cleaning robot to drive the toy car to automatically walk together; wherein the cleaning robot includes: the cleaning main body is used for adsorbing impurities on the ground and is provided with a connecting part used for being connected with the toy car; the driving wheel is connected with the cleaning main body and used for driving the cleaning main body to walk under the control of the main control module; the toy vehicle includes: the car body is used for taking children, and a butt joint part matched with the connecting part is arranged on the car body; the wheels are arranged at the bottom of the vehicle body and are used for driving the vehicle body to move; the connecting part is provided with an electric connecting end which is connected to the main control module; the butt joint part is provided with an electric butt joint end which is connected to a grounding resistor; when the connecting part is connected with the abutting part, the electric connecting end and the electric abutting end are contacted with each other; a pressure sensor for detecting pressure change between the connecting part and the butt joint part is also arranged between the connecting part and the butt joint part; the connecting part adopts a structural form of an arc-shaped groove, and the pressure sensor is arranged on the inner side wall of the inner arc side of the arc-shaped groove; the control method is characterized by comprising the following steps:
the main control module receives a connection trigger signal of the toy car connected to the cleaning robot;
the main control module receives a starting trigger signal for starting operation;
the main control module starts the cleaning robot and increases the driving current of the driving wheel of the cleaning robot so that the cleaning robot drives the toy car to automatically walk together;
when the pressure value detected by the pressure sensor between the connecting part of the cleaning robot and the abutting part of the toy car is larger than a preset pressure value, the cleaning robot is controlled to stop advancing, the advancing direction of the robot is adjusted, and after the adjustment is completed, the cleaning robot continuously walks forwards with the toy car and leaves the obstacle.
2. The control method according to claim 1, characterized in that the step of the main control module starting the cleaning robot comprises the steps of:
the main control module starts a cleaning main body in the cleaning robot to adsorb impurities on the ground;
the main control module starts driving wheels in the cleaning robot and starts running according to a preset entertainment cleaning mode in the system.
3. The control method according to claim 2, wherein the entertainment cleaning mode preset in the system includes:
searching a grid map constructed by the cleaning robot, and determining a walking path with a path width greater than three times of the width of the cleaning robot body;
judging whether the walking path forms a closed loop, if so, circularly walking around the closed loop, and if not, walking along the walking path one by one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810532638.8A CN108720733B (en) | 2018-05-29 | 2018-05-29 | Control method of multifunctional cleaning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810532638.8A CN108720733B (en) | 2018-05-29 | 2018-05-29 | Control method of multifunctional cleaning robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108720733A CN108720733A (en) | 2018-11-02 |
| CN108720733B true CN108720733B (en) | 2023-11-03 |
Family
ID=63936551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810532638.8A Active CN108720733B (en) | 2018-05-29 | 2018-05-29 | Control method of multifunctional cleaning robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108720733B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114794988A (en) * | 2022-05-10 | 2022-07-29 | 深圳市优必选科技股份有限公司 | Collision detection device, sweeper and collision detection method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4869700A (en) * | 1987-11-13 | 1989-09-26 | Lionel Trains, Inc. | Toy combination resembling a tractor trailer |
| CN1373060A (en) * | 2001-03-01 | 2002-10-09 | 张声凯 | Electric sweeper |
| JP2006288447A (en) * | 2005-04-06 | 2006-10-26 | Toytec:Kk | Obstacle sensor and toy with the same |
| CN201710959U (en) * | 2010-01-11 | 2011-01-19 | 林丽香 | Funny moving toy driven by push force conversion |
| CN202723760U (en) * | 2012-08-19 | 2013-02-13 | 浙江理工大学 | Novel toy car type dust collector |
| TWM477249U (en) * | 2013-08-29 | 2014-05-01 | feng-chun Cai | Automatic cleaner with article holding structure |
| CN206102562U (en) * | 2016-07-29 | 2017-04-19 | 深圳市艾特智能科技有限公司 | Combination robot |
| CN107139157A (en) * | 2017-06-02 | 2017-09-08 | 张鸿超 | A kind of trailing type house keeper robot |
-
2018
- 2018-05-29 CN CN201810532638.8A patent/CN108720733B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4869700A (en) * | 1987-11-13 | 1989-09-26 | Lionel Trains, Inc. | Toy combination resembling a tractor trailer |
| CN1373060A (en) * | 2001-03-01 | 2002-10-09 | 张声凯 | Electric sweeper |
| JP2006288447A (en) * | 2005-04-06 | 2006-10-26 | Toytec:Kk | Obstacle sensor and toy with the same |
| CN201710959U (en) * | 2010-01-11 | 2011-01-19 | 林丽香 | Funny moving toy driven by push force conversion |
| CN202723760U (en) * | 2012-08-19 | 2013-02-13 | 浙江理工大学 | Novel toy car type dust collector |
| TWM477249U (en) * | 2013-08-29 | 2014-05-01 | feng-chun Cai | Automatic cleaner with article holding structure |
| CN206102562U (en) * | 2016-07-29 | 2017-04-19 | 深圳市艾特智能科技有限公司 | Combination robot |
| CN107139157A (en) * | 2017-06-02 | 2017-09-08 | 张鸿超 | A kind of trailing type house keeper robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108720733A (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108628312B (en) | Method for detecting stuck robot, method for controlling stuck robot and chip | |
| KR100922506B1 (en) | Autonomous canister vacuum cleaner, system thereof and method of vacuum cleaning using the same | |
| JP3199399U (en) | Standing electric car | |
| US8032978B2 (en) | Robotic cleaning device | |
| EP2753484B1 (en) | Drive arrangement for a mobile robot | |
| CN102987987B (en) | Autonomous floor cleaning appliance | |
| CA2959145C (en) | Autonomous traveling body and vacuum cleaner | |
| CN211032803U (en) | Double-wheel-foot hybrid self-balancing robot | |
| JPH07295636A (en) | Traveling controller of robot vacuum cleaner and its control method | |
| JP2005224265A (en) | Self-traveling vacuum cleaner | |
| US20060059637A1 (en) | Apparatus for improved subaqueous stability | |
| WO2012137557A1 (en) | Inverted pendulum-type moving body | |
| CN108720733B (en) | Control method of multifunctional cleaning robot system | |
| JP2018130198A (en) | Self-traveling type vacuum cleaner | |
| JP2007244722A (en) | Self-propelled vacuum cleaner | |
| CN112596527A (en) | Robot jamming detection method based on slope structure, chip and cleaning robot | |
| CN208289912U (en) | A kind of multipurpose sweeping robot system | |
| CN211001674U (en) | Robot toy car | |
| CN109862861B (en) | Auxiliary mobile robot comprising at least one pivoting support system | |
| CN110550130A (en) | Robot toy car | |
| JP3036863B2 (en) | Traveling robot | |
| US10421516B2 (en) | Vehicle | |
| JPH05100742A (en) | Mobile working robot | |
| KR102662324B1 (en) | robotic vacuum | |
| CN220513420U (en) | Can prevent unmanned bridging dolly of concatenation formula that falls to bridge |
Legal Events
| 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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |