CN109185611B - Lifting device based on universal wheels, cleaning robot and control method of cleaning robot - Google Patents
Lifting device based on universal wheels, cleaning robot and control method of cleaning robot Download PDFInfo
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- CN109185611B CN109185611B CN201811135668.1A CN201811135668A CN109185611B CN 109185611 B CN109185611 B CN 109185611B CN 201811135668 A CN201811135668 A CN 201811135668A CN 109185611 B CN109185611 B CN 109185611B
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- 238000004140 cleaning Methods 0.000 title claims description 69
- 238000000034 method Methods 0.000 title claims description 15
- 238000001514 detection method Methods 0.000 claims abstract description 119
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000006698 induction Effects 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 19
- 230000001276 controlling effect Effects 0.000 description 11
- 230000009471 action Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
-
- 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
- A47L11/4072—Arrangement of castors or wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a lifting device based on universal wheels, which comprises a driving motor, universal wheels, a sensing mechanism and a controller, wherein the sensing mechanism and the driving motor are connected with the controller, and the lifting device also comprises an inner screw rod with threads and a screw rod occlusion base; the sensing mechanism is provided with a limiting detection device at different positions in the vertical direction, and an induction plate matched with the limiting detection device in the sensing mechanism is arranged at the opening of the screw rod meshing base; the inner screw rod is sleeved on the output shaft of the driving motor, the screw rod meshing base is connected with the inner screw rod meshing base, the universal wheel is arranged at the bottom of the screw rod meshing base, when the driving motor drives the inner screw rod to rotate, the universal wheel moves to different height positions in the vertical direction along with the rotation of the inner screw rod, and the limiting detection device corresponding to the height position in the sensing mechanism is triggered, so that the height of the machine equipment where the universal wheel is located is controlled.
Description
Technical Field
The invention belongs to the field of intelligent household appliances, and particularly relates to a lifting device based on universal wheels, a cleaning robot, a control method and a chip thereof.
Background
The wheeled robot generally adopts two driving wheels and a balance universal wheel (one or two), and the robot can realize the control of various action routes by controlling the forward and reverse rotation and the speed of the two wheels, so that the robot can walk flexibly. However, many sensors are needed to walk together to avoid the robot entering into the dilemma and not to be released. For the falling phenomenon, the height distance can be detected by using a distance sensor, and then the robot is controlled not to enter a dangerous falling area according to the fed-back distance information. For various furniture with uneven height, the top of the robot is easy to be clamped when the robot enters, the existing processing mode is to add a bumper capable of moving up and down on a collision detection part of the robot, when the bumper moves downwards due to downward pressure of an obstacle, the bumper lifts the left end of the rotating shaft push rod by pressing the right end of the rotating shaft push rod down to trigger an electric control switch so as to detect that the top of the robot is clamped by the obstacle, however, the device needs to be provided with a plurality of components, and the structure is relatively complex.
In the current robot, the ground-leaving height of the robot body is fixed, the distance between the bottom of many pieces of furniture and the ground is small, and the ground for movement of the robot is problematic, for example, when a blanket surface is thick. There is a need for an optimized robotic device that accommodates free movement in different situations.
Disclosure of Invention
In order to solve the problems existing in the prior art, the technical scheme of the invention comprises the following steps:
the lifting device based on the universal wheel comprises a driving motor 101, the universal wheel 104, a sensing mechanism and a controller, wherein the sensing mechanism and the driving motor 101 are connected with the controller, and the lifting device also comprises an inner screw rod 102 with threads and a screw rod meshing base 103; the screw rod engagement base 103 is a structure with a groove opening, and an internal thread engaged with the thread of the internal screw rod 102 is arranged in the structure; the sensing mechanism is provided with a limiting detection device at different positions in the vertical direction, and an induction plate 108 matched with the limiting detection device of the sensing mechanism is arranged at the opening of the screw rod meshing base 103; the threaded inner screw rod 102 is sleeved on the output shaft of the driving motor 101, the screw rod meshing base 103 is meshed with the inner screw rod 102, the universal wheel 104 is arranged at the bottom of the screw rod meshing base 103, and the universal wheel 104 is used for moving to different positions along with the rotation of the inner screw rod 102 in the vertical direction when the driving motor 101 drives the inner screw rod 102 to rotate, so that the sensing plate 108 triggers the limiting detection device at the corresponding position in the sensing mechanism to generate a height signal, and the controller is used for controlling the horizontal height of the machine equipment where the universal wheel 104 is located.
Further, the driving motor 101 further comprises a spiral gear, the upper end of the inner screw 102 is connected with the spiral gear in a meshed mode, and the lower end of the inner screw 102 is arranged in the screw meshed base 103.
Further, in the lifting device, the relative positions of the driving motor 101 and the inner screw 102 remain unchanged.
Further, the sensing mechanism comprises a first limit detection device 105, a second limit detection device 106 and a third limit detection device 107, wherein the second limit detection device 106 is arranged at a preset limit of the sensing mechanism, the first limit detection device 105 is arranged at a preset distance vertically above the second limit detection device 106, and the third limit detection device 107 is arranged at a preset distance vertically below the second limit detection device 106; the preset limit is a fixed height position of the sensing plate 108 in the process of the universal wheel 104 walking on a flat ground without obstacle.
Further, the value of the preset distance is set to 8, and the unit is mm.
Further, the first limit detecting device 105, the second limit detecting device 106 and the third limit detecting device 107 are all photoelectric sensors, and the sensing plate 108 is an elongated light barrier.
The cleaning robot comprises a shell, an environment demand detection module and a lifting device arranged in the shell, wherein the cleaning robot is used for controlling the lifting device according to an indication signal of the environment demand detection module so as to adjust the horizontal height of a machine body; wherein the drive motor 101 and the inner screw 102 are fixed relative to the housing.
The control method based on the cleaning robot is suitable for cleaning operation of the cleaning robot in different occasions and comprises the following steps: starting the cleaning robot, wherein the cleaning robot detects the walking ground condition according to the environment demand detection module, and controls the relative distance between the screw rod meshing base 103 and the inner screw rod 102 in the vertical direction through the rotation of the driving motor 101, so that the induction plate 108 is locked at the preset limit position, and the second limit detection device 106 obtains the height information corresponding to the preset limit position; when the cleaning robot detects the ground to be lifted, the controller drives the screw rod meshing base 103 to move downwards in the vertical direction by the preset distance from the preset limit position by controlling the driving motor 101, the third limiting detection device 107 obtains the current horizontal height of the induction plate 108, so that the controller locks the induction plate 108 at the height position of the third limiting detection device 107 according to the obtained height information until the cleaning robot detects that the cleaning robot walks on a flat ground without obstacle, and the controller drives the screw rod meshing base 103 to move upwards in the vertical direction back to the preset limit position by controlling the driving motor 101; when the cleaning robot detects that the cleaning robot is jammed, the controller drives the screw rod meshing base 103 to move upwards from the preset limit in the vertical direction by controlling the driving motor 101 for the preset distance, the first limiting detection device 105 acquires the current horizontal height of the induction plate 108, so that the controller locks the induction plate 108 at the height position of the first limiting detection device 105 according to the acquired height information until the cleaning robot detects that the cleaning robot walks without obstacle on a flat ground, and the controller drives the screw rod meshing base 103 to descend back to the preset limit in the vertical direction by controlling the driving motor 101; wherein, the controller collects the detection signals transmitted by the first limit detection device 105, the second limit detection device 106 and the third limit detection device 107 in the sensing mechanism in real time.
Further, when the driving motor 101 drives the inner screw 102 to rotate, the screw engagement base 103 moves up and down in the vertical direction according to the thread direction of the rotating inner screw 102, and the universal wheel 104 arranged at the bottom of the screw engagement base 103 moves up and down in the vertical direction along with the rotation of the inner screw 102, but the screw engagement base 103 and the universal wheel 104 cannot move rotationally.
A chip for storing a program for controlling the cleaning robot to execute the control method.
Compared with the prior art, the invention provides the lifting device based on the universal wheel, which adopts the screw rod occluding device as a lifting mechanism, and under the driving action of the driving motor on the lifting mechanism, the height of the universal wheel relative to the driving motor is changed, so that the universal wheel is suitable for different ground movements; meanwhile, the height information of the machine is acquired by combining the information fed back by the limiting detection devices with different heights, so that the robot can adjust the height of the machine to different areas through the screw rod engaging device of the universal wheel to finish cleaning.
Drawings
Fig. 1 is a schematic structural diagram of a lifting device based on universal wheels according to an embodiment of the present invention;
the figure number indicates:
101. a driving motor; 102. an inner screw rod; 103. the screw rod is meshed with the base; 104. a universal wheel; 105. a first limit detection device; 106. a second limit detection device; 107. a third limit detection device; 108. an inductive plate.
Detailed Description
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.
In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "oblique," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiment of the invention provides a lifting device based on universal wheels, which is shown in fig. 1 and comprises a driving motor 101, universal wheels 104, a sensing mechanism, a controller, a threaded inner screw rod 102 and a screw rod meshing base 103, wherein the sensing mechanism and the driving motor 101 are connected with the controller. In the embodiment of the present invention, the controller collects the sensing data of the sensing mechanism in real time, so as to lock the universal wheel 104 to move at the current level, and meanwhile, according to the ground environment where the universal wheel 104 walks, in combination with the sensing data of the sensing mechanism, control the driving motor 101 to drive the machine equipment where the universal wheel 104 is located to move up and down, so as to adapt to the change of the ground environment. Specifically, the sensing mechanism is provided with a limiting detection device at different positions in the vertical direction, and the opening of the screw rod meshing base 103 is provided with a sensing plate 108 matched with the limiting detection device in the sensing mechanism for detecting the height according to the working area where the universal wheel 104 actually walks and matched with the limiting detection device in the sensing mechanism. In the lifting device, the level of the sensing plate 108 is changed along with the lifting of the screw engagement base 103, and the sensing plate 108 triggers the limiting detection device on the corresponding level to sense the corresponding level information, and then transmits the information to the controller, and the controller limits the level change range of the screw engagement base 103 and the universal wheel 104 at the bottom thereof, so as to prevent the machine equipment where the universal wheel 104 is located from moving up and down out of the safe working range. Compared with the prior art, the embodiment of the invention has the advantages of simple structure and wide application range.
As shown in fig. 1, a threaded inner screw rod 102 is sleeved on an output shaft of a driving motor 101, a screw rod meshing base 103 is meshed with the inner screw rod 102, and a universal wheel 104 is arranged at the bottom of the screw rod meshing base 103. In the embodiment of the present invention, since the screw engagement base 103 is a structure having a groove opening, and the inside of the opening of the structure has internal threads engaged with the threads of the inner screw 102, the screw engagement base 103 can be used to engage and connect the threaded inner screw 102. When the driving motor 101 drives the inner screw rod 102 to rotate, the screw rod engaging base 103 moves up and down along the thread trend of the rotating inner screw rod 102, so that the universal wheel 104 moves to different positions in the vertical direction along with the rotation of the inner screw rod 102. The sensing board 108 then triggers the limited detecting device corresponding to the level in the sensing mechanism to generate a signal, and adjusts the proper level of the machine equipment where the universal wheel 104 is located on different ground environments according to the detected information of the ground environment condition where the universal wheel 104 walks, so as to realize free walking of the universal wheel 104.
When the driving motor 101 drives the inner screw 102 to rotate, the screw engaging base 103 moves up and down in the vertical direction along the thread direction of the rotating inner screw 102, but the screw engaging base 103 does not move rotationally, and the universal wheel 104 is arranged at the bottom of the screw engaging base 103, so that the universal wheel 104 only moves up and down in the vertical direction along with the rotation of the inner screw 102, and does not move rotationally.
Preferably, the driving motor 101 further includes a spiral gear, and the output shaft of the driving motor 101 is further sleeved with the spiral gear, which may be considered as an integral structure with the driving motor 101. The driving motor 101 adopts the spiral gear to control the rotation of the inner screw rod 102, the upper end of the inner screw rod 102 is connected with the spiral gear in a meshed manner, and the lower end of the inner screw rod 102 is arranged in the screw rod meshing base 103, so that the screw rod meshing base 103 is controlled to vertically move up and down through the rotation of the inner screw rod 102, and the purpose of adjusting the height of the machine equipment where the universal wheel 104 is located in the vertical direction is achieved.
Preferably, in the lifting device, since the spiral gear and the driving motor 101 are integrally formed, and the upper end of the inner screw 102 is engaged with the spiral gear, the relative positions of the driving motor 101 and the inner screw 102 remain unchanged, i.e., the inner screw 102 rotates along with the driving motor 101 during rotation, but their relative positions remain unchanged.
Preferably, as shown in fig. 1, the sensing mechanism comprises a first limit detection means 105, a second limit detection means 106 and a third limit detection means 107. Specifically, the second limit detection device 106 is disposed at a preset limit position in the vertical direction of the sensing mechanism, where the preset limit position is a height position of the sensing plate 108 of the universal wheel 104 during the barrier-free walking on a flat ground. On the sensing mechanism, the first limit detecting means 105 is disposed at a position vertically above the second limit detecting means 106 by a preset distance H1, and the third limit detecting means 107 is disposed at a position vertically below the second limit detecting means 106 by a preset distance H1. Since the preset limit is that the horizontal height of the sensing plate 108 is H in the process of the universal wheel 104 walking on the flat ground without obstacle, and the position of the horizontal height H is fixed, the relative positions of the first limit detection device 105, the second limit detection device 106 and the third limit detection device 107 remain unchanged.
Preferably, the value of the preset distance H1 is set to 8 in mm.
After the machine is started, the universal wheel 104 walks on a flat ground without obstacles, and the second limit detection device 106 is opposite to the sensing plate 108. In the lifting device, the controller controls the locking screw to engage the base 103 at the current height distance H. When it is detected that the universal wheel 104 walks to the ground to be lifted, such as a long-hair carpet, the lifting device needs to lift the machine height to overcome the obstruction force or the travel deviation caused by the carpet fiber acting force, so that the controller controls the driving motor 101 to drive the inner screw rod 102 to rotate, so that the screw rod engaging base 103 descends from the preset limiting position by a preset distance H1 to the position of the horizontal height corresponding to the third limiting detection device 107, and the driving motor 101 and the inner screw rod 102 are unchanged in the original position, so that the effect of lifting the universal wheel 104 is achieved, and at this time, the controller controls the locking screw rod engaging base 103 to be at the current horizontal height according to the signal of the third limiting detection device 107. When it is detected that the universal wheel 104 moves to be blocked by an obstacle, the lifting device needs to reduce the height of the machine and then retreats to be separated from the dilemma, so that the controller controls the driving motor 101 to drive the inner screw rod 102 to rotate, so that the screw rod occluding base 103 ascends from the preset limiting position by a preset distance H1 to the horizontal height position corresponding to the first limiting detection device 105, and the effect of lowering the universal wheel 104 is achieved because the driving motor 101 and the inner screw rod 102 are unchanged in the original position, and at this time, the controller controls the locking screw rod occluding base 103 to be at the current horizontal height according to the signal of the first limiting detection device 105.
Further, in the embodiment of the present invention, the first limit detecting device 105, the second limit detecting device 106 and the third limit detecting device 107 are all photoelectric sensors, and the sensing plate 108 is an elongated light barrier. When the sensing plate 108 and the limit detection device are at the same level, the light signal received by the limit detection device at the current level in the sensing mechanism changes, so that the converted electric signal changes, and the controller is triggered to sense the current height information. The first limiting detection device 105, the second limiting detection device 106 and the third limiting detection device 107 in the embodiment of the invention have the functions equivalent to the limiting blocks at three different horizontal height positions and correspond to different environments where the universal wheel 104 walks respectively, wherein the limiting detection devices adopt photoelectric sensors, and the reason that the photoelectric sensors have less limitation on detecting objects is that the photoelectric sensors can detect almost any material object, and the limiting devices have high response speed and high precision and are suitable for detecting height signals which change rapidly when the universal wheel 104 walks on different floors in the lifting device; and meanwhile, the position of the detection object device, namely the universal wheel 104 and the screw rod meshed with the base 103, is convenient to adjust.
The invention relates to a cleaning robot suitable for different occasions, which comprises a shell and a lifting device arranged in the shell, wherein a driving motor 101 and an inner screw 102 are fixed relative to the shell; in order to ensure the overall stability of the cleaning robot, the universal wheel 104 is arranged at the front end of the bottom of the shell, so that the inner screw 102 and the screw engagement base 103 are arranged at the front end in the shell. The cleaning robot has various mechanisms provided in its housing, which interact with the controller to instruct specific actions. In the embodiment of the invention, the controller is matched with an environment demand detection module to control the cleaning robot. According to the indication signal of the controller, the driving motor 101 lifts the body height of the cleaning robot where the universal wheel 104 is located by adjusting the relative distance between the inner screw rod 102 and the screw rod engagement base 103 in the vertical direction, and meanwhile, the current body height of the cleaning robot is locked by adopting the sensing data of the sensing mechanism, so that the cleaning robot is adapted to walking in various environments.
Particularly, when the environment demand detection module prompts the controller to walk on a flat ground without obstacle, under the control action of the controller, the screw rod engagement base 103 is kept at the preset limit position, and at the moment, the body height of the cleaning robot is taken as the middle limit height, and correspondingly, the second limit detection device 106 acquires a related detection signal; when the environment demand detection module prompts that the controller does not walk on a flat ground without barriers, but prompts that the controller needs to lift the machine body, under the control of the controller, the lifting device achieves the effect of lifting the gravity center height of the machine body by controlling the screw rod to be meshed with the base 103 to descend by a preset distance H1 in the vertical direction, so that the machine body height of the cleaning robot is adjusted to be larger than the middle limiting height and corresponds to the detection signal of the third limiting detection device 107; when the environment demand detection module prompts that the controller does not walk on a flat ground without barriers, but prompts that the top of the body of the controller is blocked by the barriers, under the control action of the controller, the lifting device reduces the overall gravity center height by controlling the screw rod to be meshed with the base 103 to lift by a preset distance H1 in the vertical direction, so that the body height of the cleaning robot is adjusted to be smaller than the middle limiting height and corresponds to the detection signal of the first limiting detection device 105.
The invention also relates to a control method based on the cleaning robot, which is suitable for cleaning operation of the cleaning robot in different occasions and comprises the following steps:
step 1: the cleaning robot is started, the cleaning robot detects the walking ground condition according to the environment demand detection module, the relative distance between the screw rod meshing base 103 and the inner screw rod 102 in the vertical direction is controlled through the rotation of the driving motor 101, and meanwhile, the controller acquires detection signals transmitted by the first limiting detection device 105, the second limiting detection device 106 and the third limiting detection device 107 in the sensing mechanism in real time.
Step 2: when the cleaning robot detects that the robot walks on a flat ground without obstacle according to the indication signal of the environment demand detection module, the controller drives the inner screw rod 102 to rotate by controlling the driving motor 101, the screw rod meshing base 103 moves up and down along with the rotation of the inner screw rod 102, so that the sensing plate 108 is locked at the horizontal height H of the second limiting detection device 106, the second limiting detection device 106 obtains the height information corresponding to the universal wheel 104, at the moment, the screw rod meshing base 103 is positioned at the preset limiting position, the sensing plate 108 faces the second limiting detection device 106, shields the photoelectric sensor corresponding to the second limiting detection device 106, triggers the second limiting detection device 106 to obtain the height information corresponding to the universal wheel 104, and transmits the height information to the controller in real time.
Step 3: when the cleaning robot detects the ground surface which is required to be lifted by the machine body according to the indication signal of the environment demand detection module, in the embodiment of the invention, the control function of the lifting device reduces the horizontal height of the screw rod meshing base 103 in the vertical direction to improve the whole height of the machine body, so as to finish the cleaning work on the surface of the long-hair carpet. Specifically, the controller controls the driving motor 101 to rotate the inner screw rod 102, and the inner screw rod 102 drives the screw rod engaging base 103 to move downwards by a preset distance H1 from the preset limit, in the embodiment of the invention, the sensing plate 108 descends by 8mm in the vertical direction, the sensing plate 108 faces the third limiting detection device 107, the third limiting detection device 107 acquires corresponding height information and transmits the corresponding height information to the controller for processing, the controller locks the sensing plate 108 at the height position of the third limiting detection device 107 according to the detected height information, the body is lifted, and the cleaning robot is lifted until the cleaning robot detects that the cleaning robot walks on a flat ground without obstacle according to the indication signal of the environment requirement detection module, and then step 2 is performed.
Further, according to the indication signal of the environmental demand detection module, when the cleaning robot detects that the cleaning robot returns to the flat ground from the ground to be lifted, the controller controls the screw rod to bite the base 103 to move upwards by a preset distance H1 in the vertical direction through the rotation of the driving motor 101, in the embodiment of the invention, 8mm is lifted, the sensing plate 108 faces the second limiting detection device 106, the second limiting detection device 106 acquires corresponding height information, and transmits the corresponding height information to the controller for processing, and the controller locks the sensing plate 108 at the current horizontal height H position of the second limiting detection device 106 according to the detected height information.
Step 4: when the cleaning robot detects that the machine body is blocked by an obstacle according to the indication signal of the environment demand detection module, in the embodiment of the invention, the cleaning robot needs to reduce the whole height of the machine body through the lifting device, so that the cleaning work is completed by being out of the dilemma. Specifically, the controller controls the driving motor 101 to rotate the inner screw rod 102, and the inner screw rod 102 drives the screw rod engaging base 103 to move upwards by a preset distance H1 from the preset limit, in the embodiment of the invention, the induction plate 108 rises by 8mm and faces the first limit detection device 105, the first limit detection device 105 obtains corresponding height information and transmits the corresponding height information to the controller for processing, the controller locks the induction plate 108 at the height position of the first limit detection device 105 according to the detected height information, the machine body is lowered, and the cleaning robot walks without obstacle until the cleaning robot returns to the flat ground according to the indication signal of the environment demand detection module.
Further, according to the indication signal of the environmental demand detection module, when the cleaning robot detects that the floor of the cleaning robot, which is blocked by the obstacle, returns to the flat floor to walk without the obstacle, the controller controls the screw rod to engage the base 103 to move downwards by a preset distance H1 in the vertical direction through the rotation of the driving motor 101, in the embodiment of the invention, the sensing plate 108 descends by 8mm, faces the second limiting detection device 106, the second limiting detection device 106 acquires corresponding height information, and transmits the corresponding height information to the controller for processing, and the controller locks the sensing plate 108 at the position of the current horizontal height H of the second limiting detection device 106 according to the detected height information.
Preferably, when the driving motor 101 drives the inner screw 102 to rotate, the screw engagement base 103 moves up and down in the vertical direction according to the thread direction of the rotating inner screw 102, and the universal wheel 104 arranged at the bottom of the screw engagement base 103 moves up and down in the vertical direction along with the rotation of the inner screw 102, but the screw engagement base 103 and the universal wheel 104 cannot perform rotational movement and only move up and down.
The invention also relates to a chip which is built in the controller and is used for storing and processing the program codes of the control method, wherein the program codes support the steps of the control method to execute corresponding actions on the cleaning robot or the lifting device, namely, the lifting universal wheels are adopted, so that the cleaning robot can press the cleaning robot or the lifting device, and the horizontal height can be adjusted for adapting to different floors.
The foregoing description and claims may refer to elements or features as being "connected" or "coupled" together. As used herein, unless expressly stated otherwise, "connected" means that one element/feature is directly or indirectly connected to another element/feature, and not necessarily mechanically. Likewise, unless expressly stated otherwise, "coupled" means that one element/feature is directly or indirectly coupled to another element/feature, and not necessarily mechanically. Thus, although the various schematic diagrams shown in the figures depict an example arrangement of elements and components, in actual implementations there may be additional intermediate elements, devices, features, or components (assuming that the functionality of the depicted circuits is not adversely affected).
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. The lifting device based on the universal wheel comprises a driving motor (101), the universal wheel (104), a sensing mechanism and a controller, wherein the sensing mechanism and the driving motor (101) are connected with the controller, and the lifting device is characterized by further comprising a threaded inner screw rod (102) and a screw rod meshing base (103); the screw rod meshing base (103) is of a structure with a groove opening, and internal threads meshed with the threads of the inner screw rod (102) are arranged in the structure; the sensing mechanism is provided with a limiting detection device at different positions in the vertical direction, and an opening of the screw rod meshing base (103) is provided with a sensing plate (108) matched with the limiting detection device of the sensing mechanism;
the inner screw rod (102) with threads is sleeved on an output shaft of the driving motor (101), the screw rod meshing base (103) is connected with the inner screw rod (102) in a meshing mode, the universal wheel (104) is arranged at the bottom of the screw rod meshing base (103) and used for moving the universal wheel (104) to different positions in the vertical direction along with the rotation of the inner screw rod (102) when the driving motor (101) drives the inner screw rod (102) to rotate, the sensing plate (108) triggers a limiting detection device at the corresponding position in the sensing mechanism to generate a height signal, and the controller is used for controlling the horizontal height of machine equipment where the universal wheel (104) is located.
2. The lifting device according to claim 1, characterized in that the drive motor (101) further comprises a helical gear, the upper end of the inner screw (102) being in snap connection with said helical gear, the lower end of the inner screw (102) being arranged in the screw snap seat (103).
3. Lifting device according to claim 2, characterized in that the relative position of the drive motor (101) and the inner screw (102) remains unchanged in the lifting device.
4. Lifting device according to claim 1, characterized in that the sensing mechanism comprises a first limit detection device (105), a second limit detection device (106) and a third limit detection device (107), wherein the second limit detection device (106) is arranged at a preset limit of the sensing mechanism, the first limit detection device (105) is arranged at a preset distance vertically above the second limit detection device (106), and the third limit detection device (107) is arranged at a preset distance vertically below the second limit detection device (106);
the preset limit is a fixed and unchanged height position of the sensing plate (108) in the barrier-free walking process of the universal wheel (104) on the flat ground.
5. The lifting device of claim 4, wherein the preset distance is set to a value of 8 in mm.
6. Lifting device according to claim 1 or claim 4, characterized in that the first limit detection means (105), the second limit detection means (106) and the third limit detection means (107) are all photosensors and the sensing panel (108) is an elongated light barrier.
7. A cleaning robot comprising a housing and an environmental demand detection module, and further comprising the lifting device of any one of claims 1 to 6 disposed in the housing, wherein the cleaning robot is configured to control the lifting device according to an indication signal of the environmental demand detection module, so as to adjust a horizontal height of a machine body;
wherein the drive motor (101) and the inner lead screw (102) are fixed relative to the housing.
8. A control method based on the cleaning robot according to claim 7, wherein the control method is suitable for cleaning operations of the cleaning robot in different occasions, and comprises the following steps:
starting the cleaning robot, detecting the walking ground condition by the cleaning robot according to the environment demand detection module, controlling the relative distance between the screw rod occluding base (103) and the inner screw rod (102) in the vertical direction through the rotation of the driving motor (101) so that the induction plate (108) is locked at a preset limit position, and obtaining height information corresponding to the preset limit position by the second limit detection device (106);
when the cleaning robot detects that the floor needs to be lifted, the controller drives the screw rod meshing base (103) to move downwards from a preset limit position by controlling the driving motor (101) to a preset distance in the vertical direction, the third limiting detection device (107) acquires the current horizontal height of the induction plate (108), so that the controller locks the induction plate (108) at the height position of the third limiting detection device (107) according to the acquired height information until the cleaning robot detects that the cleaning robot walks on a flat floor without obstacle, and the controller drives the screw rod meshing base (103) to move upwards back to the preset limit position in the vertical direction by controlling the driving motor (101);
when the cleaning robot detects that the cleaning robot is jammed, the controller drives the screw rod occluding base (103) to move upwards from a preset limit position by controlling the driving motor (101) to a preset distance in the vertical direction, the first limiting detection device (105) acquires the current horizontal height of the induction plate (108), so that the controller locks the induction plate (108) at the height position of the first limiting detection device (105) according to the acquired height information until the cleaning robot detects that the cleaning robot walks on a flat ground without obstacle, and the controller drives the screw rod occluding base (103) to descend back to the preset limit position in the vertical direction by controlling the driving motor (101);
the controller acquires detection signals transmitted by a first limiting detection device (105), a second limiting detection device (106) and a third limiting detection device (107) in the sensing mechanism in real time.
9. The control method according to claim 8, wherein when the driving motor (101) drives the inner screw (102) to rotate, the screw engagement base (103) moves up and down in a vertical direction according to a thread trend of the rotating inner screw (102), and the universal wheel (104) provided at the bottom of the screw engagement base (103) moves up and down in the vertical direction according to the rotation of the inner screw (102), but the screw engagement base (103) and the universal wheel (104) cannot move rotationally.
10. A chip for storing a program for controlling the cleaning robot according to claim 7 to execute the control method according to any one of claims 8 to 9.
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| CN111628271A (en) * | 2020-06-30 | 2020-09-04 | 江苏胜帆电子科技有限公司 | Signal receiving device based on 5G antenna |
| CN112859890B (en) * | 2021-01-18 | 2022-08-23 | 中联重科股份有限公司 | Obstacle avoidance method and obstacle avoidance device for underwater equipment |
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