CN109445436A - Robot and its ambulation control method - Google Patents
Robot and its ambulation control method Download PDFInfo
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- CN109445436A CN109445436A CN201811444423.7A CN201811444423A CN109445436A CN 109445436 A CN109445436 A CN 109445436A CN 201811444423 A CN201811444423 A CN 201811444423A CN 109445436 A CN109445436 A CN 109445436A
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- mounting base
- top cover
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims description 49
- 238000009434 installation Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 6
- 239000003795 chemical substances by application Substances 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000035945 sensitivity Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000465 moulding Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000005281 excited state Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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Classifications
-
- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of robot and its ambulation control method.Robot includes that component is received in top cover, controller, the sensing element being connected with controller, the mounting base set on opening and the collision with opening, when sensing element is excited, sensing element sends obstacle signal to controller, it includes: ball that component is received in collision, its sub-fraction is protruded out to above top cover by opening, and remaining is most of always can not be maintained at below top cover by the state that opening upwards are detached from；Supporting element, it is assembled in mounting base, it includes support portions, ball is rotationally contained in the holding tank of support portion top surface, when ball receives external force, under the drive of ball, the initial position that supporting element can never make sensing element be excited is moved far from being open to the second position for making sensing element be excited along first direction；Elastic component is set between mounting base and at least one and supporting element of top cover, and supporting element is made to have the trend for being maintained at initial position.
Description
Technical field
The invention belongs to technical field of intelligent equipment, it is related to a kind of robot and its ambulation control method.
Background technique
With the development of science and technology robot in industry, life using more and more extensive, such as intelligent sweeping machine, intelligence
The clean robots such as dust catcher, Intelligent purifying device perhaps intelligent grass-removing, intelligent flower watering Ji Deng gardens robot or intelligence
Accompany and attend to the service robots such as machine, intelligent reading machine, intelligent Service machine, merged voluntarily charge, walk, the technology of operation, be
The most challenging popular research and development project of robot field at present.
Existing robot, barrier detection device is met in setting usually on front side of it, in order to avoid obstacle in the process of walking
Object, or adjust direction of travel in time after colliding with barrier；But robot can not be detected by meeting barrier detection device
The barrier of top, and can also make robot often occur in the process of walking it is stuck below barrier the case where hair
It is raw.
By taking clean robot as an example, meets barrier detection device and generally include the sensor cooperated with bumper, in cleaner
In device people's walking process, when bumper encounters front obstacle, bumper can be movable backward and triggers sensor, to identify
There is obstacle in front.But when the underneath pieces of furniture such as bed, sofa, table, chair have the gap contour or slightly higher with clean robot,
Clean robot is caused not detect these barriers because bumper can not be collided, once and clean robot fortune
It will be stuck after moving to these underneath pieces of furniture, so that clean robot, which can't continue to exercise to other positions, carries out cleaning work
Industry.
Summary of the invention
The purpose of the present invention is to provide a kind of robot and its ambulation control methods, at least to solve machine in the prior art
The problem of device people can not detect top barrier, be stuck.
One of for achieving the above object, one embodiment of the invention provides a kind of robot, and the robot includes
Top cover, controller with opening, the sensing element being connected with the controller, set on the opening mounting base and
Component is received in collision, and when the sensing element is excited, the sensing element sends obstacle signal to the controller, described
Collision receives component and includes:
Ball, a part of the ball can be protruded out to above the top cover by the opening, and the ball its
Remaining part point by the state that the opening upwards are detached from always can not be maintained at below the top cover；
Supporting element is assembled in the mounting base, and it includes support portion, the ball is rotationally contained in the branch
In support part, when the ball receives external force, under the drive of the ball, the supporting element can never make the sensing
The initial position that element is excited is transported far from described be open to the second position for making the sensing element be excited along first direction
It is dynamic；
Elastic component is set between the mounting base and at least one and the supporting element of the top cover, and is made described
Supporting element has the trend for being maintained at the initial position.
Further improvement as an embodiment of the present invention, the supporting element is limited to by the mounting base can not be opposite
The mounting base is shaken in the vertical direction of the first direction.
Further improvement as an embodiment of the present invention, the mounting base have installation cavity and cross the installation cavity
Side wall；The supporting element includes the limiting section being set in the installation cavity, and the limiting section is adapted to side wall fitting, with
So that the supporting element can not the relatively described mounting base shaken in the vertical direction of the first direction.
Further improvement as an embodiment of the present invention, the mounting base have with the opening along the first direction
The bottom wall being oppositely arranged, wherein when Yu Suoshu initial position, the distance of the limiting section to the bottom wall is not more than the ball
The height of the top cover is protruded out, so that the supporting element is protruded out along the maximum displacement of the first direction no more than the ball
The height of the top cover out.
Further improvement as an embodiment of the present invention, the mounting base have with the opening along the first direction
The bottom wall being oppositely arranged；The supporting element includes the cylindrical guide portion extended along the first direction；The elastic component is clamping
Pressure spring between the bottom wall and the supporting element, the compression spring sleeve are set in the guide portion.
Further improvement as an embodiment of the present invention is formed with annular convex platform or annular groove on the bottom wall；Institute
The lower end and the annular convex platform or the annular groove for stating pressure spring are mutually arranged.
One of for achieving the above object, one embodiment of the invention provides a kind of ambulation control method of robot,
The ambulation control method comprising steps of
S1 advances according to planning path；
S2 receives the first obstacle signal；
S3 retreats pre-determined distance；
Whether S31 receives the first obstacle signal in the fallback procedures of judgment step S3 again；If so, resetting has been united
The backway of meter, and return step S3；If it is not, then entering step S4；
S4 rotates predetermined angle；
S5 advances.
Further improvement as an embodiment of the present invention, the step S4 further include:
Whether S41 receives the second obstacle signal in the rotary course of judgment step S4；If so, revolution resets, and return
Return step S3；If it is not, then entering step S5.
Further improvement as an embodiment of the present invention, the robot include with opening top cover, controller, with
Sensing element that the controller is connected, the mounting base set on the opening, the supporting element in the mounting base and
Part is higher by the ball of the top cover,
The step S2 specifically: when the ball and bar contact, under the drive of the ball, the supporting element
The initial position that can never make the sensing element be excited is open far from described to making the sensing element along first direction
The second position movement being excited, the controller receive the first obstacle signal from the sensing unit.
Further improvement as an embodiment of the present invention, after the step S2 further include:
S21: marking barrier point on map, updates map and store-updated map.
Compared with prior art, the beneficial effects of the present invention are: on the one hand, by touching described in being set at the top cover
It hits and receives component, can collide with the top barrier of the robot, and then enable the robot to its top
Barrier is detected；On the other hand, it can be moved downward after the ball is collided with barrier, to avoid the machine
The stuck lower section in barrier of device people can also smoothly be exited after the lower section of barriers to entry object；By the way that the branch is arranged
Support member is respectively cooperating with the ball, the elastic component, when the ball is collided and external force is larger, the supporting element
It can cooperate to limit that the ball is excessive to be moved downward with the mounting base, to reduce the elastic component and the sensing
A possibility that damaging components, reduces elastic component to institute in addition, the ball is connected by the supporting element with the elastic component
The abrasion of ball is stated, and enhances the sensitivity and stability for meeting barrier detection.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the clean robot of one embodiment of the invention；
Fig. 2 is that the clean robot of one embodiment of the invention has the stereoscopic schematic diagram of broken section structure；
Fig. 3 is the partial enlarged view in the area Tu2Zhong A；
Fig. 4 is that the clean robot of one embodiment of the invention has the side view of broken section structure；
Fig. 5 is the partial enlarged view in the area Tu4Zhong B；
Fig. 6 is the flow chart of the ambulation control method of the clean robot of one embodiment of the invention.
Specific embodiment
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
The present invention provides a kind of robot, join Fig. 1 to a preferred embodiment shown in fig. 5, in the embodiment, the machine
Device people's specific example is clean robot 100.It is introduced below with 100 pairs of robots of the invention of clean robot, certainly,
Robot of the invention can also be realized in other specific forms, such as the gardens machine such as intelligent grass-removing, intelligent flower watering machine
The service robots such as device people, or intelligent machine of accompanying and attending to, intelligent reading machine, intelligent Service machine.
Specific ginseng Fig. 1 to Fig. 5, clean robot 100 are circular machine people, namely from depression angle it is generally circular
Structure comprising component is received in fuselage 10, controller, sensing element 60 and collision.
Wherein, fuselage 10 includes top cover 14, protective plate 15 and the main body dress covered in top cover 14 and protective plate 15
It sets.Top cover 14 is covered in above the agent set；Protective plate 15 is at least partially disposed at the surrounding of the agent set；Top cover 14
The outer surface of clean robot 100 is substantially limited with protective plate 15, and the agent set can be protected from being stained；In this reality
It applies in example, the agent set generallys include the battery pack for electric power needed for providing 100 entirety of clean robot, for driving
Air is along the air-flow generating unit (such as blower) for presetting gas channels flowing, the foreign matter swept along for filtering and collecting air-flow
Collecting unit of dust (including such as dirt cup, filter), act on the cleaning unit (such as scrubbing brush 12) in face to be cleaned and be used for
Along the walking unit (such as driving wheel 13 and auxiliary wheel 131) of face to be cleaned walking.
In the present embodiment, the walking of clean robot 100 include along direction v advance, along direction v negative side draw back with
And turned to around the vertical longitudinal axis, clearly to express described position and direction in the application, the direction of direction v is defined as
The direction of the opposite direction of direction v is defined as " rear " by " preceding "；Wherein, direction v and 13 shaft of driving wheel are perpendicular.
The controller is configured as control clean robot 100, specifically can control the air-flow generating unit, institute
State cleaning unit, described walking unit etc..For example, the controller can generate control signal so that the battery pack is to cleaning
The power supply circuit of each electric drive components of robot 100 is turned on or off, and then controls the booting of clean robot 100
Or shutdown；The controller can generate control signal so that the air-flow generating unit, the cleaning unit, walking list
Member starting, and then control the movement of clean robot 100, etc..
The controller is preferably provided on fuselage 10, certainly, also can be set in remote terminal equipment or
Simultaneously be set on fuselage 10 and remote terminal equipment on.In addition, the implementation of the controller can be including shape thereon
At the various types of processors at least one chip for having integrated circuit, the number of the processor can be set to one or
It is multiple.
Sensing element 60 is set to 10 inside of fuselage and connects the controller, wired connection specifically can be used or wirelessly connect
It connects, when sensing element 60 is excited, sensing element 60 sends obstacle signal to the controller, and then the controller can root
Clean robot 100 is controlled according to the obstacle signal received.
The collision is received component and is adapted with sensing element 60, and the top with clean robot 100 is configured to
Barrier collides, and is changed in the case where colliding external force from armed state to utility state, so that 60 quilt of sensing element
Excitation.
Specifically, join Fig. 2, top cover 14 has opening up and down, and in the present embodiment, the opening is preferably disposed on
Near 14 front position of top cover, consequently facilitating to clean robot 100 advance during top barrier timely and effectively into
Row detection；Fuselage 10 further includes the mounting base 16 being arranged at the opening, and mounting base 16 is located at 14 lower section of top cover, in this implementation
In example, part mounting base 16 and top cover 14 are integrally formed, and the molding seperated with top cover 14 of another part mounting base 16, will later
In it is described in detail.Certainly, in an alternate embodiment, may be arranged as, whole mounting bases 16 are integrally formed with top cover 14
Or seperated molding.
The collision is received component and is actively arranged at the opening comprising ball 20, supporting element 30 and elasticity
Part 40.
Wherein, 30 Moveable assembled of supporting element is in mounting base 16, with initial position and the second position, and being capable of phase
Mounting base 16 is moved far from described be open to the second position from the initial position along first direction, in the present embodiment
In, the first direction straight down namely supporting element 30 by the initial position straight down with far from the opening.When
So, in an alternate embodiment, the first direction can also be not parallel to vertical direction.
Also, supporting element 30 is adapted with 60 position of sensing element, when supporting element 30 is from the initial position to described
When two positions move, supporting element 30 makes sensing element 60 be excited state by the state change that is not excited.That is, when branch
When support member 30 is located at the initial position, sensing element 60 is not excited；And when supporting element 30 is located at the second position, branch
Support member 30 makes sensing element 60 be excited.It is understood that clean robot 100 is under normal circumstances, such as ball 20 is not
When colliding with barrier, supporting element 30 is located at the initial position, once and ball 20 and barrier collide (including
When ball 20 and barrier are maintained at contact condition), supporting element 30 can be located at the second position.That is, the second position
It can be a position, multiple positions or the continuous position section of the opposite mounting base 16 of supporting element 30.
Supporting element 30 includes support portion 31, has holding tank on the top surface of the support portion 31, and the holding tank is towards institute
Open and its groove face that is open is stated in spherical crown surface, thus with the opening in communication.
Ball 20 is rotatably contained in the holding tank so that ball 20 is supported part 30 and is supported.In the present embodiment
In, ball 20 is greater than the opening, in this way, the sub-fraction (being less than hemisphere) of ball 20 can protrude out to top by the opening
The top of lid 14, and remaining most of (being greater than hemisphere) of ball 20 shape can not be detached from by the opening upwards always
State is maintained at 14 lower section of top cover, that is to say, that and ball 20 is limited by top cover 14 and can not integrally be upward through the opening, thus
It avoids falling off from clean robot 100.
Elastic component 40 is set between fuselage 10 and supporting element 30, acts on supporting element 30 so that supporting element 30 has
It is maintained at the trend of the initial position.In the present embodiment, elastic component 40 is specifically set to mounting base 16 and supporting element 30
Between, hereinafter its fit structure is described in detail, certainly, in other embodiments, elastic component 40 can also be set to
Between top cover 14 and supporting element 30.
Wherein, it is described collision receive component in the armed state, that is, it is described collision receive component not with obstacle
In the case that object collides, under the action of elastic component 40, supporting element 30 is described positioned at making sensing element 40 not be excited
Initial position, and ball 20 is supported part 30 and is supported, the top of ball 20 protrudes out to the upper of top cover 14 by the opening
Side；When the top of ball 20 is by external force, such as when the top barrier of ball 20 and clean robot 100 collides,
The collision is received component and is changed from the armed state to the utility state, specifically, under the drive of ball 20, support
Part 30 is moved to the second position straight down from the initial position, and supporting element 30 makes sensing element 40 be excited.
Thus it is possible, on the one hand, component is received by being set to the collision at top cover 14, it can be with clean robot 100
Top barrier collide, and then enable clean robot 100 to its top barrier detect；On the other hand,
Ball 20 can move downward after being collided with barrier, so that the stuck lower section in barrier of clean robot 100 is avoided,
It can also be smoothly detached from after the lower section of barriers to entry object；By the way that supporting element 30 is arranged, divide with ball 20, elastic component 40
Do not cooperate, when ball 20 is collided and external force is larger, supporting element 30 can limit that ball 20 is excessive to be moved downward, to reduce
Elastic component 40 and sensing element it is impaired 60 a possibility that；In addition, ball 20 is connected by supporting element 30 with elastic component 40, reduce
The sensitivity and stability of barrier detection are met in abrasion of the elastic component 40 to ball 20, enhancing.
Further, supporting element 30 be mounted seat 16 be limited to can not with respect to mounting base 16 the first direction hang down
Histogram shakes upwards, in this way, may further ensure that ball 20 can be when the external force that ball 20 is subject to has cross stream component
Rotation in the holding tank of supporting element 30, and not will cause 30 transverse movement of supporting element and influence elastic component 40.
Mounting base 16 has installation cavity 160 and crosses the side wall 161 of installation cavity 160；Supporting element 30 includes being set to installation
Limiting section 32 in chamber 160, limiting section 32 is adapted to the fitting of side wall 161, so that supporting element 30 can not be relative to mounting base 16
It is shaken in the vertical direction of the first direction.In the present embodiment, the inner surface of side wall 161, installation cavity 160 and limit
32 outer surface of portion is cylindrical, certainly, in other embodiments, inner surface, installation cavity 160 and the limiting section of side wall 161
32 outer surfaces may be arranged as other corresponding shapes.
Installation cavity 160 and the opening in communication；Supporting element 30 includes the support portion 31 for forming the holding tank, the support
Portion 31 is also disposed in installation cavity 160, and in the present embodiment, the limiting section 32 of supporting element 30 is connected to the support portion of supporting element 30
31 surrounding outer rim.
Further, the collision receives component in the armed state, and supporting element 30 is located at the initial position, bullet
Property part 40 at this time have deformation, elastic component 40 by supporting element 30 drives ball 20 have further by the opening upwards it is convex
The trend stretched, namely ball 20 is made to be supported 14 held tight of part 30 and top cover, to avoid ball 20 in the opening
It shakes.
Also, it is received when component changes from the armed state to the utility state namely supporting element in the collision
30 when being moved straight down by the initial position, and the deformation of elastic component 40 persistently aggravates.
When the external force that ball 20 is subject to disappears, such as when barrier is separated from ball 20, elastic component 40 is at its own
Under the effect of deformation restoring force, driving support member 30 drives ball 20 to move up, until the collision is received described in component recovery
Armed state.
In the present embodiment, elastic component 40 is set as pressure spring always with compressive deformation, certainly, in alternate embodiment
In, elastic component 40 may be arranged as tension spring or torsional spring, be not limited to lifted implementation.
Further, mounting base 16 also has the bottom wall 162 for limiting 160 lower boundary of installation cavity, bottom wall 162 and the opening
It is oppositely arranged along the first direction, that is, bottom wall 162 perpendicular to vertical direction and is located under the opening in the present embodiment
Side.The pressure spring is held between bottom wall 162 and supporting element 30, specifically, one end of the pressure spring (in the present embodiment for
Lower end) support 162 upper surface of bottom wall and its other end (being in the present embodiment upper end) supports under the support portion 31 of supporting element 30
Surface.
Preferably, the annular convex platform 1621 protruded upward is formed on bottom wall 162, the lower end of the pressure spring is set in annular
In boss 1621, to stablize the position of the pressure spring, the lower end position of the pressure spring is avoided arbitrarily to move.Certainly, at other
In embodiment, the lower end of the pressure spring can also be set in outside annular convex platform 1621, alternatively, cancel annular convex platform 1621 and the bottom of at
The annular recess to lower recess is formed on wall 162, the lower end of the pressure spring is mutually arranged with the annular recess.
Further, when Yu Suoshu initial position namely it is described collision receive component in the armed state, limiting section
32 lower end and bottom wall 162 have a gap, which protrudes out the height of top cover 14 no more than ball 20, that is to say, that limit
The distance of the lower end in position portion 32 to bottom wall 162 is not more than the height that ball 20 protrudes out top cover 14, so that supporting element 30 is along described
The maximum displacement of first direction protrudes out the height of top cover 14 no more than ball 20, thus further to the pressure spring and sensing
Part 60 shields, and avoids the two fail in compression.It should be understood that the distance of the lower end of limiting section 32 to bottom wall 162 is not small
In supporting element 30 by the initial position to the minimum range of the second position, to guarantee that supporting element 30 can effectively make
Sensing element 60 is excited, it is preferable that the distance of the lower end of limiting section 32 to bottom wall 162 be equal to or slightly greater than supporting element 30 by
The initial position to the second position minimum range, to avoid excessively squeezing sensing element 60.
Further, supporting element 30 further includes the cylindrical introduction part 33 extended along the first direction, the compression spring sleeve
Outside guide portion 33, to further limit the motion path of the pressure spring, the pressure spring is avoided to be biased and roll over
Curved or clamping stagnation.
Preferably, support portion 31 is set as the spherical plate structure with adequate thickness, and lower surface is spherical surface；Guide portion 33
The support portion 31 of self-supporting part 30 extends along the first direction far from the opening；The central axes of guide portion 33 pass through support portion
The 31 geometry centre of sphere to guarantee the pressure spring uniform force, and then enhances the collision to receive component integrally-built steady
It is qualitative.
Further, supporting element 30 includes the abutting part 34 being adapted to 60 position of sensing element, when supporting element 30 is to moving down
When dynamic, abutting part 34 approaches sensing element 60 so that sensing element 60 is excited.
In the present embodiment, sensing element 60 is in the underface of abutting part 34, certainly, in other embodiments, sensing
Part 60 may be located on the side-lower of abutting part 34.
Preferably, diametrically tapered taper extends downwardly for 34 bootstrap portion of abutting part, 33 lower end, in this way, can be in order to propping up
The socket of support member 30 and the pressure spring；Also, sensing element 60 can be set to the trigger element being excited by contact, example
Such as pressure sensor or microswitch, in this way, 34 lower end of abutting part and 60 face contacts of sensing element can increase sensitivity.When
So, sensing element 60 may be set to be the element that can be excited by contacting position to rely on relationship, such as light sensation passes
Sensor etc..
In the present embodiment, also there is through-hole, the through-hole is set to annular convex platform 1621 on the bottom wall 162 of mounting base 16
Center position；Sensing element 60 is located at the lower section of the through-hole, and mounting base 16 can be specifically hung on by connection structure
On bottom wall 162；At least lower end of abutting part 34 passes through the through-hole and extends at sensing element 60.
Further, in the present embodiment, the bottom wall 162 of mounting base 16 and 161 end portion of side wall are seperated with top cover 14
Molding constitutes the collet configuration of mounting base 16, and 161 upper part of side wall of mounting base 16 and top cover 14 are integrally formed, described
Collet configuration and 161 upper part of side wall can assemble mating, in this way, can be convenient the assembly collided and receive component.
In addition, top cover 14 has the edge 141 for crossing the opening, which opens to described in a ring from side wall 161
Mouth is shunk at center, in this way, the opening is rounded and concentric with installation cavity 160.
Further, fuselage 10 further includes the photographing element 11 for protruding out top cover 14, receives component when the collision and is in
When the armed state, the top of ball 20 is not less than the distance on 11 top of photographing element to top cover 14 to the distance of top cover 14,
In this way, the top barrier that can collide photographing element 11 can timely and effectively be detected, to protect photographing element 11.
Further, clean robot 100 also has memory, and the memory is configured to can interim or non-provisionally
Data and program of the storage for the operation of clean robot 100.In the present embodiment, the memory, which is at least configured that, deposits
Store up the default map about cleaning region.The default map can be generated by modes such as drafting, scanning, downloadings.
The implementation of the memory can be flash type, hard disk type, random access memory (RAM), static random
Access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), may be programmed it is read-only
At least one of storage mediums such as memory (PROM), magnetic memory, disk, optical disc are a variety of.However, the storage
The type of device is without being limited thereto, can also be the network memory of execution store function on the internet.
The controller is connected with the memory, and is used to accessing and controlling the memory, such as: described in reading
The map stored in memory, controls the memory updating map, etc..
Further, the present invention also provides a kind of ambulation control methods of robot, join a preferred embodiment of Fig. 6,
The ambulation control method of the invention specifically includes step:
S1 advances according to planning path；
S2 receives the first obstacle signal；
S3 retreats pre-determined distance；
Whether S31 receives the first obstacle signal in the fallback procedures of judgment step S3 again；If so, resetting has been united
The backway of meter, and return step S3；If it is not, then entering step S4；
S4 rotates predetermined angle；
S5 advances.
, to clean robot 100 shown in fig. 5, the ambulation control method is illustrated in conjunction with Fig. 1:
Step S1, the controller control clean robot 100 advance according to planning path；
Step S2, ball 20 collide with barrier, and ball 20 pushes supporting element 30 to move down, and abutting part 34 approaches
For sensing element 60 so that sensing element 60 is excited, the controller receives the first obstacle signal from sensing element 60；
Step S3, the controller control clean robot 100 retreat pre-determined distance S；
Step S31 judges whether again during controller control clean robot 100 retreats pre-determined distance S
It is secondary to receive the first obstacle signal；If having retreated distance S1 (S1 < S), however the controller is again from sensing element
The first obstacle signal is received at 60, such case is likely to be during clean robot 100 advances encounters barrier for the first time
Shi Yinwei effect of inertia and crossed chance barrier point, such as pierced below barrier, then the controller controls cleaner
Device people 100 continues to retreat the pre-determined distance S, namely backway S1, return step S3 that resetting has counted；Otherwise, directly
Enter step S4；
Step S4, the controller control clean robot 100 rotate predetermined angle β around the vertical longitudinal axis；
Step S5, after the movement for completing rotation predetermined angle β, before the controller control clean robot 100 continues
Into.
In this way, the ambulation control method of the invention, can clean robot 100 after meeting barrier, control cleaner
It detects whether to meet barrier again in 100 fallback procedures of device people, to guarantee that clean robot 100 can be smoothly detached from below barrier
Out, clean robot 100 is avoided to hover below barrier stuck.
Further, the step S4 further include: whether S41 receives the second barrier in the rotary course of judgment step S4
Hinder signal；If so, revolution resets, and return step S3；If it is not, then entering step S5.
By taking clean robot 100 as an example, during clean robot 100 rotates predetermined angle β, judge whether to receive
Second obstacle signal；If angle γ (γ < β) is had been rotated through, and the controller receives second from sensing element 60
There are barrier in obstacle signal, the side that such case is likely to be clean robot 100, then the controller controls the machine
People turns round reset namely angle of revolution γ, then return step S3 (namely control clean robot 100 retreats pre-determined distance S)；
Otherwise S5 is entered step.
Further, after the step S2 further include: S21: marking barrier point on map, update map and store more
Map after new.
By taking clean robot 100 as an example, after the clean robot 100 encounters obstacle, the controller can be according to seat
Being marked on the map of clean robot 100 marks barrier point A that can also control institute to update the map of clean robot 100
State the store-updated map of memory.
Compared with prior art, the clean robot 100 of the present embodiment and its ambulation control method have below beneficial to effect
Fruit:
(1) component is received by being set to the collision at top cover 14, it can be with the top obstacle of clean robot 100
Object collides, and then clean robot 100 is enable to detect its top barrier；
(2) it can be moved downward after ball 20 is collided with barrier, to avoid clean robot 100 is stuck from hindering
The lower section for hindering object can also be smoothly detached from after the lower section of barriers to entry object；By the way that supporting element 30 is arranged, with ball
20, elastic component 40 is respectively cooperating with, and when ball 20 is collided and external force is larger, supporting element 30 can limit excessive downward of ball 20
Movement, thus reduce elastic component 40 and sensing element it is impaired 60 a possibility that；
(3) ball 20 is connected by supporting element 30 with elastic component 40, reduces abrasion of the elastic component 40 to ball 20, is enhanced
Meet the sensitivity and stability of barrier detection
(4) it after clean robot 100 meets barrier, detects whether to meet again in control 100 fallback procedures of clean robot
Barrier to guarantee that clean robot 100 can smoothly detach below barrier, and avoids clean robot 100 from hindering
Object lower section is hindered to be hovered stuck.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot, the robot includes top cover, controller, the sensing being connected with the controller with opening
Component is received in element, the mounting base set on the opening and collision, when the sensing element is excited, the sensing
Part sends obstacle signal to the controller, which is characterized in that the collision receives component and includes:
A part of ball, the ball can be protruded out to above the top cover by the opening, and its remaining part of the ball
Divide always can not be maintained at by the state that the opening upwards are detached from below the top cover；
Supporting element is assembled in the mounting base, and it includes support portion, the ball is rotationally contained in the support portion
Interior, when the ball receives external force, under the drive of the ball, the supporting element can never make the sensing element
The initial position being excited is moved far from described be open to the second position for making the sensing element be excited along first direction；
Elastic component is set between the mounting base and at least one and the supporting element of the top cover, and makes the support
Part has the trend for being maintained at the initial position.
2. robot according to claim 1, which is characterized in that the supporting element is limited to by the mounting base can not
The relatively described mounting base is shaken in the vertical direction of the first direction.
3. robot according to claim 2, which is characterized in that the mounting base has installation cavity and crosses the installation
The side wall of chamber；The supporting element includes the limiting section being set in the installation cavity, and the limiting section is bonded suitable with the side wall
Match so that the supporting element can not the relatively described mounting base shaken in the vertical direction of the first direction.
4. robot according to claim 3, which is characterized in that the mounting base has with the opening along described first
The bottom wall that direction is oppositely arranged, wherein when Yu Suoshu initial position, the distance of the limiting section to the bottom wall is no more than described
Ball protrudes out the height of the top cover, so that the supporting element is not more than the ball along the maximum displacement of the first direction
Protrude out the height of the top cover.
5. robot according to claim 1, which is characterized in that the mounting base has with the opening along described first
The bottom wall that direction is oppositely arranged；The supporting element includes the cylindrical guide portion extended along the first direction；The elastic component is
The pressure spring being held between the bottom wall and the supporting element, the compression spring sleeve are set in the guide portion.
6. robot according to claim 5, which is characterized in that be formed with annular convex platform on the bottom wall or annular is recessed
Slot；The lower end of the pressure spring is mutually arranged with the annular convex platform or the annular groove.
7. a kind of ambulation control method of robot, which is characterized in that the ambulation control method comprising steps of
S1 advances according to planning path；
S2 receives the first obstacle signal；
S3 retreats pre-determined distance；
Whether S31 receives the first obstacle signal in the fallback procedures of judgment step S3 again；If so, what resetting had counted
Backway, and return step S3；If it is not, then entering step S4；
S4 rotates predetermined angle；
S5 advances.
8. the ambulation control method of robot according to claim 7, which is characterized in that the step S4 further include:
Whether S41 receives the second obstacle signal in the rotary course of judgment step S4；If so, revolution resets, and return to step
Rapid S3；If it is not, then entering step S5.
9. the ambulation control method of robot according to claim 7, which is characterized in that the robot includes having to open
Mouthful top cover, controller, the sensing element being connected with the controller, set on the opening mounting base, be set to described in
Supporting element and part in mounting base are higher by the ball of the top cover,
The step S2 specifically: when the ball and bar contact, under the drive of the ball, the supporting element can
The initial position for never making the sensing element be excited is open far from described to swashing the sensing element along first direction
The second position of hair moves, and the controller receives the first obstacle signal from the sensing unit.
10. the ambulation control method of robot according to claim 7, which is characterized in that also wrapped after the step S2
It includes:
S21: marking barrier point on map, updates map and store-updated map.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811444423.7A CN109445436B (en) | 2018-11-29 | 2018-11-29 | Robot and walking control method thereof |
| PCT/CN2019/121445 WO2020108549A1 (en) | 2018-11-29 | 2019-11-28 | Robot and walking control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811444423.7A CN109445436B (en) | 2018-11-29 | 2018-11-29 | Robot and walking control method thereof |
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| CN109445436B CN109445436B (en) | 2024-08-09 |
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| WO (1) | WO2020108549A1 (en) |
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| WO2020108549A1 (en) * | 2018-11-29 | 2020-06-04 | 天佑电器（苏州）有限公司 | Robot and walking control method therefor |
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| CN112596523A (en) * | 2020-12-15 | 2021-04-02 | 速感科技（北京）有限公司 | Autonomous mobile device |
| CN113243853A (en) * | 2020-02-11 | 2021-08-13 | 鸿富锦精密工业(武汉)有限公司 | Supporting device and movable equipment |
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Also Published As
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| CN109445436B (en) | 2024-08-09 |
| WO2020108549A1 (en) | 2020-06-04 |
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