CN110063691B - Sweeping robot capable of going upstairs and downstairs and application method thereof - Google Patents
Sweeping robot capable of going upstairs and downstairs and application method thereof Download PDFInfo
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- CN110063691B CN110063691B CN201910353050.0A CN201910353050A CN110063691B CN 110063691 B CN110063691 B CN 110063691B CN 201910353050 A CN201910353050 A CN 201910353050A CN 110063691 B CN110063691 B CN 110063691B
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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
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- 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
Abstract
The application discloses a floor sweeping robot capable of going upstairs and downstairs and a use method thereof, comprising a chassis, an environment sensing mechanism and a cleaning mechanism, wherein a control system is connected with signals of the environment sensing mechanism, and one side of the control system is electrically connected with a motion mechanism capable of enabling the chassis to keep a horizontal posture and move; the motion mechanism comprises an anti-slip front wheel and an anti-slip rear wheel which are positioned at two ends of the chassis, one sides of the anti-slip front wheel and the anti-slip rear wheel are respectively provided with a driving motor capable of driving the anti-slip front wheel and the anti-slip rear wheel to rotate positively and negatively, the chassis is also provided with a telescopic piece capable of enabling the chassis to keep a horizontal posture, the free end of the telescopic piece is connected with the driving motor for driving the anti-slip front wheel to rotate, the environment sensing mechanism comprises a posture sensor, and the control system controls the telescopic piece to move according to detection data of the posture sensor for tilting the chassis so as to adjust the chassis to a horizontal state. The application has the following beneficial effects: the sweeping range of the sweeping robot is not limited to rooms on the same floor any more, and stairs can be swept.
Description
Technical Field
The application relates to cleaning equipment, in particular to a floor sweeping robot capable of going upstairs and downstairs and a use method thereof.
Background
Cleaning the room is a thing that every family must do, let the room keep a clean and tidy state just can let us have a healthy and good living environment. The room cleaning needs to be carried out manually in the past, wastes time and energy, and the space under the bed and the sofa is narrow and small, so that the room is more difficult to clean. The floor sweeping robot is free from the fatigue of cleaning the room, and the floor sweeping robot can clean the room in the specified time only by setting the time and the room to be cleaned, so that the floor sweeping robot is quite convenient.
Many families may live in complex apartments, villas or other multi-storey houses nowadays, the traditional sweeping robot cannot climb stairs and cannot sweep the multi-storey houses, and if rooms on the building need to be swept, the sweeping robot needs to be moved to the building, which undoubtedly brings inconvenience to life. The house with multiple floors must have stairs, which is a place that we must pass through every day, and a large amount of accumulated dust is generated, so that the need to clean the stairs is a troublesome matter. Therefore, the conventional sweeping robot cannot meet the requirements of users, and needs to be improved.
Disclosure of Invention
The application aims to provide a floor sweeping robot capable of going upstairs and downstairs and a use method thereof, wherein the sweeping range of the floor sweeping robot is not limited to rooms on the same floor, and stairs can be swept, so that compared with the traditional floor sweeping robot, the floor sweeping robot is more flexible to sweep.
The technical aim of the application is realized by the following technical scheme: the sweeping robot capable of going upstairs and downstairs comprises a chassis, an environment sensing mechanism and a sweeping mechanism, wherein the environment sensing mechanism and the sweeping mechanism are positioned on the chassis, a control system is connected with signals of the environment sensing mechanism, and one side of the control system is electrically connected with a movement mechanism capable of enabling the chassis to keep a horizontal posture and move;
the motion mechanism comprises an anti-slip front wheel and an anti-slip rear wheel which are positioned at two ends of a chassis, one sides of the anti-slip front wheel and the anti-slip rear wheel are respectively provided with a driving motor capable of driving the anti-slip front wheel and the anti-slip rear wheel to rotate positively and negatively, each driving motor is connected with a control system, the chassis is further provided with a telescopic piece capable of enabling the chassis to keep a horizontal posture, the free end of the telescopic piece penetrates through the chassis and is connected with a driving motor for driving the anti-slip front wheel to rotate, the environment sensing mechanism comprises a posture sensor positioned on the chassis, and when the posture sensor detects that the chassis is inclined, the control system can control the telescopic piece to move according to detection data of the posture sensor so as to adjust the chassis to the horizontal state.
The application is further provided with: the environment sensing mechanism further comprises a laser radar and four groups of ultrasonic sensors, wherein the laser radar is arranged on the chassis, and the four groups of ultrasonic sensors consist of a first ultrasonic sensor, a second ultrasonic sensor, a third ultrasonic sensor and a fourth ultrasonic sensor;
the first ultrasonic sensor and the second ultrasonic sensor are arranged in parallel and are used for detecting whether stairs exist in front of the sweeping robot, the third ultrasonic sensor is arranged at the front end of the sweeping robot and used for detecting whether downward stairs exist on the ground in front of the sweeping robot, and the fourth ultrasonic sensor is arranged at the rear end of the sweeping robot and used for detecting obstacles behind the sweeping robot.
The application is further provided with: the number of the driving motors is 4, the driving motors correspond to the two anti-slip front wheels and the two anti-slip rear wheels respectively, and a motor encoder capable of realizing forward and reverse rotation of the motor is arranged on one side of each driving motor.
The application is further provided with: the telescopic piece is an electric push rod, and one side of the electric push rod is provided with an electric push rod encoder for controlling the telescopic length of the electric push rod in real time.
The application is further provided with: the bottom of the chassis is provided with a battery box which can supply power for the whole machine, and the battery box can be used as an external power supply for supplying power for the movement mechanism, the cleaning mechanism, the environment sensing system and the control system.
The application is further provided with: the control system comprises an industrial personal computer and a singlechip which are connected with each other, wherein one side of the industrial personal computer is connected with the laser radar, and one side of the singlechip is respectively and electrically connected with the electric push rod, the electric push rod encoder, the driving motor, the motor encoder, the ultrasonic sensor and the attitude sensor.
The application is further provided with: the first ultrasonic sensor is 120mm from the ground, and the second ultrasonic sensor is 220mm from the ground.
The application is further provided with: one side of each driving motor is provided with a motor support, the free end of each telescopic piece penetrates through the chassis and is connected with the motor support located at the anti-skid front wheel through a flange, and the motor support located at the anti-skid rear wheel is fixedly connected with the chassis.
The application method of the floor sweeping robot capable of going upstairs and downstairs comprises the following steps of:
step 1) of going upstairs: when the robot detects that the stair exists through the environment sensing mechanism during running, the anti-skid rear wheel is moved to be contacted with the vertical surface of the step;
step 2) of going upstairs: the anti-skidding rear wheels and the anti-skidding front wheels of the sweeping robot move towards the stair direction, and the anti-skidding rear wheels and the anti-skidding front wheels have good friction and enough torque, so that the anti-skidding rear wheels can climb upwards along the vertical plane of the steps;
step 3) of going upstairs: the attitude sensor on the chassis detects that the robot cleaner tilts, the anti-skidding rear wheel is positioned above the anti-skidding front wheel, the attitude sensor transmits data signals to the control system, and the free end of the telescopic piece is driven to extend out under the action of the control system so as to keep the chassis in a horizontal state. In the process, the anti-slip front wheel always rotates towards the stair so as to continuously provide a force towards the stair steps, and the anti-slip rear wheel is always pressed on the vertical plane of the stair so as to prevent slipping;
step 4) of going upstairs: when the anti-slip rear wheel moves to the step, the sweeping robot continues to move towards the stair. When the anti-skid rear wheels continue to rotate towards the stair direction, a force towards the stair vertical surface can be provided for the anti-skid front wheels, so that the anti-skid front wheels are pressed on the stair vertical surface, and at the moment, the anti-skid front wheels continue to rotate towards the stair direction, so that the anti-skid front wheels can climb upwards along the stair vertical surface;
upstairs step 5): the attitude sensor on the chassis detects that the sweeping robot tilts, transmits data signals to the control system, and drives the free end of the telescopic piece to retract under the action of the control system so as to keep the chassis in a horizontal state, and finally the sweeping robot runs on a step.
The method also comprises the following steps of:
downstairs step 1): when the robot detects a downward step through the environment sensing mechanism during running, the anti-skid front wheel is slowly moved downwards, and the rotation direction of the anti-skid rear wheel is opposite to that of the anti-skid front wheel, so that the wheel surface of the anti-skid front wheel is attached to the vertical surface of the step;
downstairs step 2): the attitude sensor detects that the robot cleaner tilts, and transmits a data signal to the control system at the moment, and drives the free end of the telescopic piece to extend out under the action of the control system so as to keep the chassis in a horizontal state;
downstairs step 3): when the anti-skid front wheel reaches the next step, the anti-skid rear wheel moves towards the direction of the next step, so that the anti-skid rear wheel moves to the junction of the horizontal plane and the vertical plane of the step;
downstairs step 4): when the anti-slip rear wheel continues to move towards the direction of the next step, the rotation directions of the anti-slip front wheel and the anti-slip rear wheel are opposite, so that pressure is provided for the anti-slip rear wheel to force the anti-slip rear wheel to be clung to the vertical surface of the step. Simultaneously, the attitude sensor detects that the sweeping robot tilts, transmits a data signal to the control system, and drives the free end of the telescopic piece to retract under the action of the control system so as to keep the chassis in a horizontal state;
downstairs step 5): the anti-slip rear wheel continues to move towards the direction of the next step until the anti-slip rear wheel contacts the horizontal plane of the next step, and the downstairs is completed at the moment.
The application is further provided with: the step 1) of going upstairs: when the sweeping robot advances forwards and the first ultrasonic sensor and the second ultrasonic sensor detect the stairs, the sweeping robot rotates in place to move the anti-skid rear wheels to be in contact with the vertical surface of the steps.
In summary, the application has the following beneficial effects: the application can ensure that the sweeping range of the sweeping robot is not limited to rooms on the same floor, and can sweep stairs, and compared with the traditional sweeping robot, the application ensures that the sweeping robot can sweep more flexibly. Solves the problem of daily sweeping of multi-layer households, can clean stairs, liberates people from household labor, and improves the quality of life.
Drawings
FIG. 1 is a schematic diagram of the structure of the present application;
FIG. 2 is a schematic view of the structure of FIG. 1 in another direction;
FIG. 3 is a block diagram of the connection of the control system of the present application;
FIG. 4 is a schematic diagram of the structure of the step 1) of going upstairs;
FIG. 5 is a schematic view of the structure in the step 3) of going upstairs;
FIG. 6 is a schematic view of the structure of step 4) in the first state of going upstairs;
FIG. 7 is a schematic view of the structure of step 4) in the second state of going upstairs;
FIG. 8 is a schematic view of the structure of step 4) in the third state of going upstairs;
FIG. 9 is a schematic view of the structure of step 5) in the first state of going upstairs;
FIG. 10 is a schematic view of the structure of step 5) in the second state of going upstairs;
FIG. 11 is a schematic view of the structure of the step 5) in the third state of going upstairs;
FIG. 12 is a schematic view of the structure of the downstairs step 1) in the first state;
FIG. 13 is a schematic view of the structure of the step 1) in the second state of going downstairs;
FIG. 14 is a schematic view of the structure of the downstairs step 2) in the first state;
FIG. 15 is a schematic view of the structure of step 2) in the second state of going downstairs;
FIG. 16 is a schematic view of the structure of the downstairs step 3) in the first state;
FIG. 17 is a schematic view of the structure of the step 3) in the second state of going downstairs;
fig. 18 is a schematic structural view of the downstairs step 4);
fig. 19 is a schematic view of the structure in the state of step 5) of going downstairs.
Reference numerals: 1. a chassis; 2. an environmental perception mechanism; 3. a cleaning mechanism; 4. a control system; 5. a movement mechanism; 6. an anti-slip front wheel; 7. an anti-slip rear wheel; 8. a driving motor; 9. a telescoping member; 10. an attitude sensor; 11. a laser radar; 12. a first ultrasonic sensor; 13. a second ultrasonic sensor; 14. a third ultrasonic sensor; 15. a fourth ultrasonic sensor; 16. a cleaning member; 17. a dust collection member; 18. a cleaning motor; 19. a fixing plate; 20. a cleaning head; 21. a brush; 22. a motor encoder; 23. a motor bracket; 24. a flange; 25. a push rod bracket; 26. an electric push rod encoder; 27. a battery case; 28. an industrial personal computer; 29. and a singlechip.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
As shown in fig. 1-3, a floor sweeping robot capable of going upstairs and downstairs comprises a chassis 1, an environment sensing mechanism 2 and a cleaning mechanism 3, wherein the environment sensing mechanism 2 and the cleaning mechanism 3 are positioned on the chassis 1, a control system 4 is connected with signals of the environment sensing mechanism 2, and a motion mechanism 5 capable of enabling the chassis 1 to keep a horizontal posture and move is electrically connected to one side of the control system 4.
The motion mechanism 5 comprises an anti-slip front wheel 6 and an anti-slip rear wheel 7 which are positioned at two ends of the chassis 1, one sides of the anti-slip front wheel 6 and the anti-slip rear wheel 7 are respectively provided with a driving motor 8 which can drive the anti-slip front wheel 6 and the anti-slip rear wheel 7 to rotate positively and negatively, and each driving motor 8 is connected with the control system 4. The chassis 1 is also provided with a telescopic piece 9 which can keep the chassis 1 in a horizontal posture, and the free end of the telescopic piece 9 passes through the chassis 1 and is connected with a driving motor 8 which drives the anti-skid front wheel 6 to rotate. The environment sensing mechanism 2 comprises an attitude sensor 10 positioned on the chassis 1, and when the attitude sensor 10 detects that the chassis 1 is inclined, the control system 4 can control the telescopic piece 9 to move according to the detection data of the attitude sensor 10 so as to adjust the chassis 1 to be in a horizontal state.
Further, the environment sensing mechanism 2 further includes a laser radar 11 disposed on the chassis 1 and four sets of ultrasonic sensors, where the four sets of ultrasonic sensors include a first ultrasonic sensor 12, a second ultrasonic sensor 13, a third ultrasonic sensor 14 and a fourth ultrasonic sensor 15. The first ultrasonic sensor 12 and the second ultrasonic sensor 13 are arranged in parallel, and are both arranged at the front end of the sweeping robot to detect whether a stair exists in front of the sweeping robot (the definition of the front end is that the front end is positioned at the same end as the anti-skid front wheel 6 and belongs to the front of the sweeping robot in the process of advancing). Wherein the first ultrasonic sensor 12 is 120mm from the ground and the second ultrasonic sensor 13 is 220mm from the ground.
Because the standard range of the step height of the existing stair steps is 150-175mm, the first ultrasonic sensor 12 can measure whether a first lattice step exists at a height of 120mm from the ground, and the second ultrasonic sensor 13 can measure whether a second lattice step exists at a height of 220mm from the ground. The specific description is as follows: the principle of the ultrasonic sensor is that the ultrasonic sensor reflects after touching an object to form a reflected echo, and if the distances are different, the received reflected echo times are different. If the reflected echo times received by the first ultrasonic sensor 12 and the second ultrasonic sensor 13 are the same, it can be determined that an obstacle is present in the front, and if the reflected echo times received are different, it can be determined that a step is present in the front.
Further, the third ultrasonic sensor 14 is disposed at the front end of the sweeping robot to detect whether the ground in front has a downward step. The detection orientation of the third ultrasonic sensor 14 is set vertically downward. The fourth ultrasonic sensor 15 is disposed at the rear end of the sweeping robot for detecting an obstacle behind the sweeping robot (the rear end is the same end as the anti-slip rear wheel 7), and the detection direction of the fourth ultrasonic sensor 15 is backward. The description is as follows: the front-rear positional relationship mentioned in the present embodiment should be the front of the sweeping robot on the side of the antiskid front wheel 6 and the rear of the antiskid rear wheel 7.
Further, the cleaning mechanism 3 includes a cleaning member 16 and a dust absorbing member 17, the cleaning member 16 includes a cleaning motor 18 and a fixing plate 19 for fixing the cleaning motor 18, one side of the fixing plate 19 is fixedly connected with the chassis 1, an output shaft of the cleaning motor 18 passes through the fixing plate 19 and is fixedly connected with a cleaning head 20, and a brush 21 capable of cleaning the ground or stairs is arranged on one side of the cleaning head 20. In the present embodiment, the number of cleaning members 16 is preferably 2 and symmetrical to the center plane of the chassis 1, but the number of cleaning members 16 should not be limited to two.
Further, the dust suction member 17 includes a dust suction housing (not shown in the drawings), in which a fan and a dust suction motor for driving the fan to rotate are disposed, and an inlet end of the dust suction housing is aligned with the ground or the tread. When the dust collection motor is started, the fan is driven to run at a high speed to form negative pressure in the dust collection outer cover, and then dust on the ground or the stair surface is sucked through the inlet end of the dust collection motor.
Further, the number of the driving motors 8 is 4 and corresponds to two anti-slip front wheels 6 and two anti-slip rear wheels 7 respectively. One side of each driving motor 8 is provided with a motor encoder 22 that can realize forward and reverse rotation of the motor. By independently arranging a driving motor 8 on each wheel, the wheels can be independently controlled according to the use requirement, and the robot can finish the actions of going upstairs and downstairs.
Further, a motor bracket 23 is provided on one side of each driving motor 8, and the free end of the telescopic member 9 passes through the chassis 1 and is connected with the motor bracket 23 at the anti-skid front wheel 6 through a flange 24. The motor bracket 23 positioned at the anti-skid rear wheel 7 is fixedly connected with the chassis 1.
Further, in this embodiment, the telescopic member 9 is preferably an electric push rod, and a push rod bracket 25 for fixing the electric push rod is disposed on one side of the chassis 1, and one end of the push rod bracket 25 is fixedly connected with the chassis 1. One side of the electric push rod is provided with an electric push rod encoder 26 for controlling the telescopic length of the electric push rod in real time.
Further, a battery box 27 for supplying power to the whole machine is arranged at the bottom of the chassis 1. The battery box 27 can be used as an external power source to supply power to the movement mechanism 5, the cleaning mechanism 3, the environment sensing system and the control system 4.
Further, the control system 4 includes an upper computer and a lower computer that are connected to each other, and in this embodiment, the upper computer adopts an industrial personal computer 28 to operate the ubuntu16.04 system, and is provided with an ROS Kinetic version; the lower computer adopts an STM32 singlechip 29, the model is F103ZET6, and the lower computer is used for controlling the movement mechanism 5 and the cleaning mechanism 3. One side of the industrial personal computer 28 is connected with the laser radar 11, the laser radar 11 adopts the model of RPLIDAR to be A2, and one side of the singlechip 29 is respectively and electrically connected with an electric push rod, an electric push rod encoder 26, a cleaning motor 18, a dust collection motor, a driving motor 8, a motor encoder 22, an ultrasonic sensor and a gesture sensor 10, wherein the model of the gesture sensor 10 is MPU6050.
Further, the length of the sweeping robot is 210mm, and the width of the sweeping robot is not more than 180mm. The standard range of the width of the step surface of the stair is 250-300mm, and the length of the sweeping robot is smaller than the standard range of the width of the step surface of the stair, so that the sweeping robot has a good movable space on the step surface of the stair, and can better perform stair climbing and downstairs operation on a multi-step stair.
A method for using a sweeping robot capable of going upstairs and downstairs comprises the following steps: the method comprises the following steps of going upstairs:
step 1) of going upstairs: when the sweeping robot detects that the stair exists through the environment sensing mechanism 2 during operation, the anti-skid rear wheel 7 is moved to be in contact with the vertical surface of the step (as shown in fig. 4);
step 2) of going upstairs: the anti-skid rear wheels 7 and the anti-skid front wheels 6 of the sweeping robot move towards the stair direction, and the anti-skid rear wheels 7 and the anti-skid front wheels 6 have good friction and enough torque, so that the anti-skid rear wheels 7 climb upwards along the vertical plane of the steps;
step 3) of going upstairs: the attitude sensor 10 on the chassis 1 detects that the robot cleaner is inclined, and at this time, the anti-slip rear wheel 7 is located above the anti-slip front wheel 6, and the attitude sensor 10 transmits a data signal to the control system 4 and drives the free end of the telescopic member 9 to extend under the action of the control system 4 so as to keep the chassis 1 in a horizontal state. During the process, the anti-skid front wheel 6 always rotates towards the stair direction to continuously provide a force towards the stair steps, and the anti-skid rear wheel 7 is always pressed on the vertical surface of the stair to prevent slipping (as shown in fig. 5);
step 4) of going upstairs: when the anti-slip rear wheel 7 moves onto the step, the sweeping robot continues to move toward the stair. When the anti-skid front wheels 6 are attached to the vertical surface of the step and the anti-skid rear wheels 7 continue to rotate towards the stair direction, a force towards the vertical surface of the step can be provided for the anti-skid front wheels 6, so that the anti-skid front wheels 6 are pressed on the vertical surface of the step, and at the moment, the anti-skid front wheels 6 continue to rotate towards the stair direction, so that the anti-skid front wheels 6 can climb upwards along the vertical surface of the step (as shown in fig. 6-8);
upstairs step 5): the attitude sensor 10 on the chassis 1 detects that the sweeping robot tilts, the attitude sensor 10 transmits a data signal to the control system 4, and the free end of the telescopic piece 9 is driven to retract under the action of the control system 4 so as to keep the chassis 1 in a horizontal state, and finally the sweeping robot runs on a step (as shown in fig. 9-11).
The method also comprises the following steps of:
downstairs step 1): when the robot detects a downward step through the environment sensing mechanism 2 during running, the anti-slip front wheel 6 is slowly moved downwards, and the rotation direction of the anti-slip rear wheel 7 is opposite to that of the anti-slip front wheel 6, so that the wheel surface of the anti-slip front wheel 6 is attached to the vertical surface of the step (as shown in fig. 12 and 13);
downstairs step 2): the attitude sensor 10 detects that the robot cleaner tilts, and at this time, the attitude sensor 10 transmits a data signal to the control system 4 and drives the free end of the telescopic member 9 to extend under the action of the control system 4 so as to keep the chassis 1 in a horizontal state (as shown in fig. 14 and 15);
downstairs step 3): when the anti-skid front wheel 6 reaches the next step, the anti-skid rear wheel 7 moves towards the direction of the next step, so that the anti-skid rear wheel 7 moves to the junction of the horizontal plane and the vertical plane of the step (as shown in fig. 16 and 17);
downstairs step 4): when the rear wheel 7 continues to move toward the next step, the front wheel 6 and the rear wheel 7 rotate in opposite directions to provide a pressure to the rear wheel 7 to force the rear wheel 7 against the vertical surface of the step. Meanwhile, the attitude sensor 10 detects that the sweeping robot tilts, the attitude sensor 10 transmits data signals to the control system 4 and drives the free end of the telescopic piece 9 to retract under the action of the control system 4 so as to keep the chassis 1 in a horizontal state (as shown in fig. 18);
downstairs step 5): the anti-slip rear wheel 7 continues to move toward the next step until the anti-slip rear wheel 7 contacts the horizontal surface of the next step, at which time the downstairs movement is completed (as shown in fig. 19).
In the upstairs step, the front antiskid wheel 6 and the rear antiskid wheel 7 are rotated in the upstairs direction. In the step of going downstairs, when the anti-slip front wheel 6 and the anti-slip rear wheel 7 are not positioned on the same step, the rotation directions of the anti-slip front wheel 6 and the anti-slip rear wheel are opposite, so that one of the anti-slip front wheel and the anti-slip rear wheel can be in a close fit state with the vertical surface of the step.
Further, the optimization for step 1) of going upstairs is as follows: when the first ultrasonic sensor 12 and the second ultrasonic sensor 13 detect stairs when the sweeping robot advances forwards, the sweeping robot rotates in place to move the anti-skid rear wheel 7 into contact with the vertical plane of the steps; the above-described in-situ rotation is a "double flow drive" principle, which is known in the art. Because each wheel is driven by an independent driving motor 8, the wheel positioned at the left side of the sweeping robot rotates positively, and the wheel positioned at the right side rotates reversely, so that the sweeping robot rotates in situ. The in-situ rotation does not generate larger or smaller turning radius, so the robot is well suitable for various narrow environments, and the robot has more maneuverability during steering.
Claims (7)
1. A use method of a sweeping robot capable of going upstairs and downstairs is characterized by comprising the following steps of:
the sweeping robot comprises a chassis (1), an environment sensing mechanism (2) and a sweeping mechanism (3) which are arranged on the chassis (1), wherein the environment sensing mechanism (2) is in signal connection with a control system (4), and one side of the control system (4) is electrically connected with a movement mechanism (5) which can enable the chassis (1) to keep a horizontal posture and move;
the motion mechanism (5) comprises an anti-skid front wheel (6) and an anti-skid rear wheel (7) which are positioned at two ends of the chassis (1), one sides of the anti-skid front wheel (6) and the anti-skid rear wheel (7) are respectively provided with a driving motor (8) which can drive the anti-skid front wheel (6) and the anti-skid rear wheel (7) to rotate forwards and backwards, each driving motor (8) is connected with the control system (4), the chassis (1) is also provided with a telescopic piece (9) which can enable the chassis (1) to keep a horizontal posture, the free end of the telescopic piece (9) is connected with the driving motor (8) which drives the anti-skid front wheel (6) to rotate, the environment sensing mechanism (2) comprises a posture sensor (10), and when the posture sensor (10) detects that the chassis (1) tilts, the control system (4) can control the telescopic piece (9) to move according to the detection data of the posture sensor (10) so as to adjust the chassis (1) to the horizontal state;
the environment sensing mechanism (2) further comprises a laser radar (11) and four groups of ultrasonic sensors, wherein the laser radar (11) and the four groups of ultrasonic sensors are arranged on the chassis (1), and each group of ultrasonic sensors consists of a first ultrasonic sensor (12), a second ultrasonic sensor (13), a third ultrasonic sensor (14) and a fourth ultrasonic sensor (15);
the first ultrasonic sensor (12) and the second ultrasonic sensor (13) are arranged in parallel and are used for detecting whether stairs exist in front of the sweeping robot, the third ultrasonic sensor (14) is arranged at the front end of the sweeping robot and used for detecting whether a downward ladder exists on the ground in front, and the fourth ultrasonic sensor (15) is arranged at the rear end of the sweeping robot and used for detecting obstacles behind the sweeping robot;
the number of the driving motors (8) is 4, and the driving motors correspond to the two anti-skid front wheels (6) and the two anti-skid rear wheels (7) respectively, and a motor encoder (22) capable of realizing forward and reverse rotation of the motor is arranged on one side of each driving motor (8);
the using method comprises the following steps of going upstairs:
step 1) of going upstairs: when the robot for sweeping floor detects the existence of stairs through the environment sensing mechanism (2) during operation, the anti-slip rear wheel (7) is moved to be contacted with the vertical surface of the steps;
step 2) of going upstairs: the anti-skid rear wheels (7) and the anti-skid front wheels (6) of the sweeping robot move towards the stair direction, and the anti-skid rear wheels (7) and the anti-skid front wheels (6) have good friction and enough torque, so that the anti-skid rear wheels (7) can climb upwards along the vertical plane of the step;
step 3) of going upstairs: the attitude sensor (10) positioned on the chassis (1) detects that the robot cleaner tilts, the anti-slip rear wheel (7) is positioned above the anti-slip front wheel (6), the attitude sensor (10) transmits data signals to the control system (4) and drives the free end of the telescopic piece (9) to extend out under the action of the control system (4) so as to keep the chassis (1) in a horizontal state, and in the process, the anti-slip front wheel (6) always rotates towards the stair direction so as to continuously provide a force towards the stair steps, and the anti-slip rear wheel (7) is always pressed on the vertical plane of the stair so as to prevent slipping;
step 4) of going upstairs: when the anti-slip rear wheel (7) moves to the step, the sweeping robot continuously moves towards the stair direction, the anti-slip front wheel (6) is attached to the vertical surface of the step, when the anti-slip rear wheel (7) continuously rotates towards the stair direction, a force facing the vertical surface of the step can be provided for the anti-slip front wheel (6), so that the anti-slip front wheel (6) is pressed on the vertical surface of the step, and the anti-slip front wheel (6) continuously rotates towards the stair direction, so that the anti-slip front wheel (6) can climb upwards along the vertical surface of the step;
upstairs step 5): the attitude sensor (10) positioned on the chassis (1) detects that the sweeping robot tilts, the attitude sensor (10) transmits a data signal to the control system (4), and the free end of the telescopic piece (9) is driven to retract under the action of the control system (4) so as to keep the chassis (1) in a horizontal state, and finally the sweeping robot runs on a step;
the method also comprises the following steps of:
downstairs step 1): when the robot detects a downward step through the environment sensing mechanism (2) during running, the anti-slip front wheel (6) is slowly moved downwards, and the rotation direction of the anti-slip rear wheel (7) is opposite to that of the anti-slip front wheel (6) at the moment, so that the wheel surface of the anti-slip front wheel (6) is attached to the vertical surface of the step;
downstairs step 2): the attitude sensor (10) detects that the robot cleaner tilts, and at the moment, the attitude sensor (10) transmits a data signal to the control system (4) and drives the free end of the telescopic piece (9) to extend out under the action of the control system (4) so as to keep the chassis (1) in a horizontal state;
downstairs step 3): when the anti-skid front wheel (6) reaches the next step, the anti-skid rear wheel (7) moves towards the direction of the next step, so that the anti-skid rear wheel (7) moves to the joint of the horizontal plane and the vertical plane of the step;
downstairs step 4): when the anti-slip rear wheel (7) continues to move towards the direction of the next step, the rotation direction of the anti-slip front wheel (6) is opposite to that of the anti-slip rear wheel (7) so as to provide pressure for the anti-slip rear wheel (7) to force the anti-slip rear wheel (7) to be clung to the vertical surface of the step, meanwhile, the attitude sensor (10) detects that the floor sweeping robot tilts, the attitude sensor (10) transmits data signals to the control system (4) and drives the free end of the telescopic piece (9) to retract under the action of the control system (4) so as to keep the chassis (1) in a horizontal state;
downstairs step 5): the anti-skid rear wheel (7) continues to move towards the direction of the next step until the anti-skid rear wheel (7) contacts the horizontal plane of the next step, and the downstairs movement is completed at the moment.
2. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 1, wherein the method comprises the following steps: the telescopic piece (9) is an electric push rod, and one side of the electric push rod is provided with an electric push rod encoder (26) for controlling the telescopic length of the electric push rod in real time.
3. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 2, wherein the method comprises the following steps: the control system (4) comprises an industrial personal computer (28) and a singlechip (29) which are connected with each other, one side of the industrial personal computer (28) is connected with the laser radar (11), and one side of the singlechip (29) is respectively electrically connected with the electric push rod, the electric push rod encoder (26), the driving motor (8), the motor encoder (22), the ultrasonic sensor and the attitude sensor (10).
4. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 3, wherein the method comprises the following steps: the bottom of the chassis (1) is provided with a battery box (27) which can supply power for the whole machine, and the battery box (27) can be used as an external power supply to supply power for the movement mechanism (5), the cleaning mechanism (3), the environment sensing system and the control system (4).
5. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 1, wherein the method comprises the following steps: the first ultrasonic sensor (12) is 120mm from the ground, and the second ultrasonic sensor (13) is 220mm from the ground.
6. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 2, wherein the method comprises the following steps: one side of each driving motor (8) is provided with a motor support (23), the free end of each telescopic piece (9) penetrates through the chassis (1) and is connected with the motor support (23) positioned at the anti-skid front wheel (6) through a flange (24), and the motor support (23) positioned at the anti-skid rear wheel (7) is fixedly connected with the chassis (1).
7. The method for using the floor sweeping robot capable of going upstairs and downstairs according to claim 1, wherein the method comprises the following steps: the step 1) of going upstairs: when the floor sweeping robot advances forward and the first ultrasonic sensor (12) and the second ultrasonic sensor (13) detect the stairs, the floor sweeping robot rotates in situ to move the anti-skid rear wheel (7) into contact with the vertical surface of the steps.
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| CN112572630A (en) * | 2020-11-05 | 2021-03-30 | 江苏金成源实业投资有限公司 | Robot for stair transportation |
| WO2023088397A1 (en) * | 2021-11-18 | 2023-05-25 | 高蔚智能机器人(深圳)有限公司 | Transporter |
| CN114767006A (en) * | 2022-04-06 | 2022-07-22 | 同济大学 | Be applied to stair climbing mechanism of robot of sweeping floor |
| CN116649839B (en) * | 2023-07-28 | 2023-09-29 | 深圳聚腾智能机器人有限公司 | Robot chassis structure and robot of sweeping floor |
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