CN111158369A - Floor sweeping robot and method for detecting and controlling sweeping - Google Patents
Floor sweeping robot and method for detecting and controlling sweeping Download PDFInfo
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- CN111158369A CN111158369A CN201911418852.1A CN201911418852A CN111158369A CN 111158369 A CN111158369 A CN 111158369A CN 201911418852 A CN201911418852 A CN 201911418852A CN 111158369 A CN111158369 A CN 111158369A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000001514 detection method Methods 0.000 claims abstract description 204
- 230000033001 locomotion Effects 0.000 claims abstract description 56
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 238000011897 real-time detection Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000007373 indentation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000037081 physical activity Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000013011 mating Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
A sweeping robot and a method for detecting and controlling sweeping of the sweeping robot are disclosed, the sweeping robot comprises a detection module and a motion module, the detection module is movably arranged on a body of the sweeping robot, and the motion module is used for controlling the detection module to extend outwards relative to the body, so that the detection module can be movably arranged on the body to acquire information to carry out work planning of the sweeping robot; a method of detecting a controlled sweep, comprising the steps of: the detection module extends outwards to obtain the whole environmental information around the sweeping robot; determining the running direction of the cleaning work according to the overall environment information; the sweeping robot carries out sweeping work, and meanwhile, the detection module continuously detects to obtain local environment information around the sweeping robot. The detection module can extend outwards relative to the body, and detection blind areas are reduced, so that the whole environment information with a larger detection range is detected, a complete cleaning route is planned, and the cleaning efficiency is improved.
Description
Technical Field
The invention relates to the field of sweeping robots, in particular to a sweeping robot and a method for detecting and controlling sweeping of the sweeping robot.
Background
A floor sweeping robot is an intelligent household appliance, and automatically finishes the floor cleaning work indoors by means of certain artificial intelligence. With the progress of the times, the sweeping robot appears in families and households successively, plays an important role in daily life of people, and greatly improves the life quality of people.
Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.
The detection module of the existing sweeping robot is basically fixedly arranged on the side wall of the sweeping robot, and the detection visual field is changed by the rotation of the sweeping robot; has the following disadvantages: firstly, it is fixed to detect the field of vision, and it is big to detect the blind area, is difficult to acquire indoor whole environmental information, cleans route planning incompletely, secondly is difficult to acquire the peripheral local environmental information of robot of sweeping the floor in real time, bumps easily.
Disclosure of Invention
In view of the above defects, the present invention provides a sweeping robot and a method for detecting and controlling sweeping thereof, so that a detection module can expand a detection visual field, reduce detection blind areas, improve sweeping efficiency, and detect the surrounding environment of the sweeping robot in real time, especially accurately detect obstacles around the sweeping robot in real time.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a robot of sweeping floor, includes detection module and motion module, detection module movable mounting in robot of sweeping floor's body, the motion module is used for control detection module for the body is outwards stretched out, makes detection module telescopically activity set up in the body.
Further, the detection module is extended outwards or retracted back relative to the top of the body through the movement module.
Further, the motion module is located the inside of robot of sweeping the floor, the motion module include for the flexible subassembly of body activity, detection module install in flexible subassembly, flexible subassembly's flexible direction with the contained angle of the perpendicular axis of robot of sweeping the floor is phi, and wherein 0 is not less than phi and is not more than 60.
Further, the motion module still includes the swing subassembly, the swing subassembly includes base and swing driver, flexible subassembly is installed the base, the swing driver sets up the below of base, the swing driver with be equipped with the driving medium between the base, the swing driver passes through the driving medium swing the base, and then change flexible subassembly's flexible direction makes detection module's flexible direction with the robot of sweeping the floor the contained angle phi of perpendicular axis is changeable.
Further, flexible subassembly includes movable part and drive division, the movable part includes flexible post, the drive division includes electric power drive, detection module sets up flexible post, be equipped with the transmission fitting piece between flexible post and the electric power drive, electric power drive passes through the drive fitting piece drive flexible post is stretched out or is rolled back.
Further, the transmission fitting piece comprises a driving gear and a rack which are matched with each other, the rack is vertically and fixedly arranged on the bottom end face of the telescopic column, and the driving gear is arranged on a driving shaft of the electric power driver.
Furthermore, the detection module is provided with a rotation driver, and the rotation shaft of the rotation driver is arranged on the axis of the detection module in the telescopic movement direction, so that the detection module rotates by taking the axis of the telescopic movement direction as a central line to detect the conditions in all directions.
A method of detecting a controlled sweep, comprising the steps of:
the detection module extends outwards to obtain the whole environmental information around the sweeping robot;
determining the running direction of the cleaning work according to the overall environment information;
the sweeping robot carries out sweeping work, and meanwhile, the detection module continuously detects to obtain local environment information around the sweeping robot;
the sweeping robot detects that a barrier exists at a certain height in the running direction, and the detection module retracts towards the sweeping robot so that the sweeping robot passes through the barrier;
after the sweeping robot crosses the obstacle, the detection module stretches out again to continue detection.
Further, the process of acquiring the overall environmental information around the sweeping robot is as follows:
the robot of sweeping the floor stretches out detection module, detection module passes through the rotation of rotary actuator acquires the current whole environmental information around the robot of sweeping the floor.
Further, the process of acquiring the local environment information around the sweeping robot is as follows:
the floor sweeping robot changes the telescopic stroke or/and the telescopic motion direction of the detection module through the motion module, so that the detection visual field of the detection module moves up and down, the detection range of the detection module is adjusted, and the local environment around the floor sweeping robot is obtained in real time.
Furthermore, the sweeping robot establishes a map and positions the map through the detection module and a sensor built in the sweeping robot.
Further, when the robot of sweeping the floor detects out that there is the barrier in certain height on the traffic direction, detection module acquires terrain clearance, direction and the distance information of barrier, when detection module avoids the barrier, motion module control detection module toward robot of sweeping the floor indents, records and calculates the operation route record, and after passing through the barrier, detection module stretches out again, continues real-time detection robot's the surrounding environment of sweeping the floor.
Furthermore, the included angle between the telescopic motion direction of the detection module and the vertical central axis of the sweeping robot is phi, wherein phi is more than or equal to 0 degree and less than or equal to 60 degrees.
Furthermore, the vertical direction stroke of the detection module relative to the sweeping robot is H, wherein H is more than or equal to 0mm and less than or equal to 70 mm.
Further, the detection module detects an angle β in the vertical direction right in front of the detection end, wherein β is more than or equal to minus 30 degrees and less than or equal to 50 degrees.
Further, after the cleaning task of the sweeping robot is finished, the detection module retracts into the sweeping robot to be stored.
Further, after the cleaning of the whole area is completed, the sweeping robot finds a charging pile for recharging according to the detection module and a map established by a built-in sensor of the sweeping robot.
The invention provides a sweeping robot and a method for detecting and controlling sweeping of the sweeping robot, wherein the detection module is mounted on a body of the sweeping robot through the motion module, and the motion module is used for controlling the detection module to extend outwards relative to the body, so that the detection module can be flexibly arranged on the body in a telescopic manner.
Therefore, the detection module can extend out relative to the body, the detection visual field is enlarged, and the detection blind area is reduced, so that the overall environmental information with a larger detection range is detected, a complete cleaning route is planned, and the cleaning efficiency is improved.
The robot of sweeping the floor is in the detection that cleans in-process continuously on a large scale, real-time detection the robot's of sweeping the floor all ring edge borders, especially right the peripheral barrier of robot of sweeping the floor accomplishes accurate real-time detection, thereby makes the robot of sweeping the floor avoids meaningless collision, avoids stretching out detection module's damage.
When detecting module detects out certain high obstacle that exists in the traffic direction, motion module control detecting module past the robot indentation of sweeping the floor corresponds the height, reduces detecting module's height is convenient for the robot of sweeping the floor passes through the obstacle to the messenger robot of sweeping the floor gets into low space, cleans.
Drawings
FIG. 1 is a schematic structural diagram of one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a telescopic assembly and a detection module according to an embodiment of the present invention, wherein β is a detection module capable of detecting an angle in an up-down direction right in front of a detection end;
FIG. 3 is a schematic structural diagram of a telescopic assembly and a detection module according to an embodiment of the present invention, wherein β is a detection module capable of detecting an angle in an up-down direction right in front of a detection end;
FIG. 4 is a schematic diagram of a combination of a detection module and a motion module according to one embodiment of the present invention;
fig. 5 is a schematic combination diagram of the detection module and the motion module according to one embodiment of the present invention, where Φ is an included angle between a telescopic motion direction of the detection module and a vertical central axis of the sweeping robot.
Wherein: 1. a sweeping robot; 11. a detection module; 12. a motion module; 121. a telescoping assembly; 122. a swing assembly; 31. a telescopic column; 32. a power driver; 33. a lifting platform; 34. an oblique cross section; 35. a connecting rod; 36. a pulley; 41. a base; 42. a swing driver; 43. a transmission member; 431. a driving gear; 432. a driven gear; 44. a transmission fitting member; 441. a drive gear; 442. a rack; 3. perpendicular to the central axis.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1 to 5, a sweeping robot includes a detection module 11 and a motion module 12, wherein the detection module 11 is movably installed on a body of the sweeping robot 1, and the motion module 12 is configured to control the detection module 11 to extend outward relative to the body, so that the detection module 11 is telescopically and movably disposed on the body.
Specifically, the detection module 11 may be an infrared detection module, an ultrasonic detection module, a laser detection module, a visual detection module, and the like.
The detection module 11 is used for acquiring external environment information, constructing a map, positioning and detecting obstacles, and in this embodiment, the detection module 11 is movably installed in the body of the floor sweeping robot 1, and the movement module 12 is used for controlling the detection module 11 to extend outwards or return back and reset relative to the body, so that the detection module 11 is movably arranged in the body.
Therefore, the detection module 11 can extend out relative to the body, so that the detection visual field is enlarged, and the detection blind area is reduced, thereby detecting the overall environmental information with a larger detection range, planning a complete cleaning route and improving the cleaning efficiency.
Through the robot 1 of sweeping floor of this embodiment, at the in-process of sweeping detection on a large scale continuously, real-time detection the all ring edge borders of robot 1 of sweeping floor, it is especially right 1 peripheral barrier of robot of sweeping floor accomplishes accurate real-time detection, thereby makes robot 1 of sweeping floor avoids meaningless collision, avoids stretching out detection module 11's damage.
Further, the detection module 11 protrudes outwards relative to the top of the sweeping robot 1 through the motion module 12.
Further, the motion module 12 is located inside the sweeping robot 1, the motion module 12 includes a telescopic assembly 121 movable relative to the body, and the detection module 11 is installed in the telescopic assembly 121, for example, in a telescopic end face of the telescopic assembly 121, so that the detection module 11 is partially or completely installed inside the sweeping robot 1. Specifically, an included angle between the telescopic direction of the telescopic assembly 121 and the vertical central axis 3 of the sweeping robot 1 is phi, wherein phi is greater than or equal to 0 degree and less than or equal to 60 degrees, as shown in fig. 5, the vertical central axis 3 is a central axis of the sweeping robot 1 in the vertical direction.
The telescopic assembly 121 can be a cylinder telescopic assembly, a hydraulic telescopic assembly or a motor-driven telescopic assembly 121, preferably, the electric-driven telescopic assembly 121 is selected, and the electric-driven telescopic assembly 121 is low in structural cost, high in reliability and relatively simple in fault maintenance. As shown in fig. 2, the electrically driven telescopic assembly 121 includes a movable portion including the telescopic column 31 and a driving portion including an electric driver 32, and the electric driver 32 may be a motor such as a dc motor, an ac motor, a servo motor, or the like. The detection module 11 is arranged on the telescopic column 31, a transmission mating piece 44 is arranged between the telescopic column 31 and the electric driver 32, and the electric driver 32 drives the telescopic column 31 to extend out or retract through the transmission mating piece 44. Wherein, the transmission matching element 44 comprises a driving gear 441 and a rack 442 which are matched with each other, the rack 442 is vertically and fixedly arranged on the bottom end surface of the telescopic column 31, and the driving gear 441 is arranged on the driving shaft of the electric driver 32. The driving gear 441 is driven by the electric driver 32 to rotate, and the driving gear 441 drives the rack 442 to move up and down, so as to drive the telescopic column 31 to extend and retract.
In addition, as shown in fig. 3, the electrically driven telescopic assembly 121 may further include a guide cavity and a telescopic column 31, the detection module 11 is mounted on an upper end surface of the telescopic column 31, the driving portion includes an electrical driver 32 and a lifting table 33, the electrical driver 32 drives the lifting table 33 to rotate circumferentially, an oblique section 34 is disposed at a top of the lifting table 33, a connection rod 35 is disposed between the moving portion and the driving portion, one end of the connection rod 35 is fixedly disposed on a lower end surface of the telescopic column 31, the other end of the connection rod 35 is movably disposed on the oblique section 34, the connection rod 35 is supported by the oblique section 34, and a pulley 36 is disposed between the connection rod 35 and the oblique section 34. The electric driver 32 drives the lifting table 33 to rotate, the pulley 36 slides along the oblique section 34, and the connecting rod 35 drives the telescopic column 31 to move due to the height change of the oblique section 34, so that the telescopic of the detection module 11 is realized.
Further, motion module 12 still includes swing subassembly 122, swing subassembly 122 includes base 41 and swing driver 42, flexible subassembly 121 is installed the up end of base 41, swing driver 42 sets up the below of base 41, swing driver 42 with be equipped with driving medium 43 between the base 41, swing driver 42 passes through driving medium 43 swings base 41, and then changes the flexible direction of flexible subassembly 121 makes the flexible direction of detection module 11 and the perpendicular contained angle phi of axis 3 are changeable.
The swing driver 42 may be a motor such as a dc motor, an ac motor, a servo motor, etc., and the transmission member 43 may be a transmission member such as a gear, a connecting rod, etc., preferably, a gear transmission is used. The transmission member 43 includes a driving gear 431 and a driven gear 432, the driven gear 432 is disposed on the lower end surface of the base 41, the driving gear 431 is driven by the swing driver 42 to rotate, the driving gear 431 drives the driven gear 432 to rotate, the base 41 swings up and down, and the telescopic direction of the telescopic assembly 121 is changed, so that the telescopic direction of the detection module 11 and the included angle phi of the vertical central axis 3 are variable. In addition, the gear and the rack can be matched, and the rack can be driven to move by a motor, an air cylinder or a hydraulic cylinder, so that the rotation of the gear is realized, and the change of the included angle phi is realized. Through changing detection module 11's flexible direction with perpendicular well axis 3's contained angle phi realizes detection module 11's detection field of vision luffing motion enlarges detection range, reduces the detection blind area, does benefit to detection module 11 accurately detects in real time the peripheral barrier of robot 1 sweeps floor reduces meaningless collision, avoids stretching out detection module 11's damage.
Further, the detection module 11 is provided with a rotation driver, and a rotation shaft of the rotation driver is disposed on an axis of the detection module 11 in the telescopic movement direction, so that the detection module 11 rotates by taking the axis of the telescopic movement direction as a central line to detect the conditions in all directions.
Rotate the driver like motor etc. and rotate the driver, detection module 11 passes through rotate the driver and rotate for the central line rotation around the axis of concertina movement direction, realize detection module 11 all-round detection the whole environment around robot 1 of sweeping the floor does benefit to the complete route that cleans of planning.
A method of detecting a controlled sweep, comprising the steps of:
extending the detection module 11 outwards to obtain the overall environmental information around the sweeping robot 1;
determining the running direction of the cleaning work according to the overall environment information;
the sweeping robot 1 performs sweeping work, and meanwhile, the detection module 11 continuously detects to acquire local environment information around the sweeping robot 1;
when the sweeping robot 1 detects that an obstacle exists at a certain height in the running direction, the detection module 11 retracts to the sweeping robot 1 by a corresponding height, so that the sweeping robot 1 passes through the obstacle;
after the sweeping robot 1 passes over the obstacle, the detection module 11 stretches out again to continue the detection work.
Since the detecting module 11 of this embodiment is installed in the body of the sweeping robot 1 through the moving module 12, the moving module 12 is used for controlling the detecting module 11 to extend outwards relative to the body, so that the detecting module 11 can be movably disposed in the body.
Therefore, the detection module 11 can extend out relative to the body, and detection blind areas are reduced, so that the overall environmental information with a larger detection range is detected, a complete cleaning route is planned, and the cleaning efficiency is improved.
The robot 1 of sweeping the floor is in the process of sweeping and continuously detects on a large scale, and detects in real time the peripheral environment of the robot 1 of sweeping the floor, especially right the peripheral barrier of the robot 1 of sweeping the floor accomplishes accurate real-time detection, thereby makes the robot 1 of sweeping the floor avoids meaningless collision.
When detection module 11 detects out certain height on the traffic direction and has the barrier, motion module 12 control detection module 11 toward 1 indentation of robot that sweeps floor corresponds the height, the calculation that corresponds the height can subtract the distance on current detection module 11 to ground for the distance on the minimum of barrier to ground, reduces detection module 11's height is convenient for robot 1 that sweeps floor passes through the barrier, thereby makes robot 1 that sweeps floor gets into low space, cleans.
Further, the process of acquiring the overall environmental information around the cleaning robot 1 is as follows:
the robot 1 of sweeping floor stretches out detection module 11, detection module 11 passes through the rotation of rotation driver obtains the current whole environmental information around of robot 1 of sweeping floor.
Through motion module 12 control detection module 11 for the body is outwards stretched out, and rethread rotates the driver and realizes detection module 11 all-round detection whole environment around robot 1 of sweeping the floor acquires holistic environmental information in order to carry out robot 1 work planning of sweeping the floor does benefit to the complete route that cleans of planning.
Further, the process of acquiring the local environment information around the cleaning robot 1 is as follows:
the robot 1 of sweeping floor passes through motion module 12 changes detection module 11's flexible stroke or/and flexible direction of motion make detection module 11's detection field of vision reciprocates, adjusts detection module 11's detection range acquires in real time the peripheral local environment of robot 1 of sweeping floor.
The telescopic stroke of the detection module 11 is changed through the motion module 12, so that the detection visual field of the detection module 11 moves up and down, the detection range of the detection module 11 is adjusted, and the detection module 11 can conveniently detect the local environment around the sweeping robot 1 in real time; through motion module 12 changes detection module 11's flexible direction makes detection module 11 luffing motion provides wider detection field of vision, is convenient for detection module 11 makes more accurate detection.
Further, the sweeping robot 1 establishes a map and performs positioning through the detection module 11 and a sensor built in the sweeping robot 1.
The built-in sensor of the sweeping robot 1 may be an inertial measurement unit such as a gyroscope or an acceleration sensor. In the cleaning process, the detection module 11 and the sensor acquire the surrounding environment information of the cleaning robot 1, a more accurate three-dimensional map is established, the planning and cleaning path determination is facilitated, and the collision is reduced.
Further, when robot 1 that sweeps floor detects out certain height in the traffic direction and has the barrier, detection module 11 acquires terrain clearance, direction and the distance information of barrier, when detection module 11 avoids the barrier, motion module 12 control detection module 11 toward robot 1 indentation of sweeping floor corresponds the height, and the record calculates the operation route record, and after passing through the barrier, detection module 11 stretches out again, continues real-time detection robot 1's the surrounding environment.
In this embodiment, the detection module 11 extends outward relative to the top of the sweeping robot 1, and the overall thickness of the sweeping robot is increased in the sweeping process, when the detection module 11 detects that an obstacle exists at a certain height in the running direction, if the sweeping robot 1 needs to enter a low space such as a table bottom or a cabinet bottom, information such as the ground clearance, the direction, the distance, and the like of the obstacle is acquired through the detection module 11, and when the detection module 11 avoids the obstacle, the movement module 12 controls the detection module 11 to retract to the sweeping robot 1 by the corresponding height, so that the height of the detection module 11 is reduced, and the sweeping robot 1 can conveniently pass through the obstacle; and recording and calculating a running path record, and after passing through the barrier, the detection module 11 stretches out again to continuously detect the surrounding environment of the sweeping robot 1 in real time. The detection module 11 only retracts a certain distance, and can still perform detection within a certain height range, and can identify whether the current state passes through the obstacle.
Furthermore, the included angle between the telescopic motion direction of the detection module 11 and the vertical central axis 3 is phi, wherein phi is more than or equal to 0 degrees and less than or equal to 60 degrees.
Further, the vertical direction stroke of the detection module 11 relative to the sweeping robot 1 is H, wherein H is greater than or equal to 0mm and less than or equal to 70 mm.
Further, the detecting module 11 detects an angle β in the up-down direction right in front of the detecting end, wherein β is equal to or larger than-30 degrees and equal to or smaller than 50 degrees, wherein the detecting angle below the horizontal line is negative, and the detecting angle above the horizontal line is positive.
Further, after the cleaning task of the cleaning robot 1 is finished, the detection module 11 retracts into the cleaning robot 1 to be stored.
When robot 1 finishes clean task, motion module 12 control detection module 11 retracts into accomodate in the robot 1 of sweeping the floor, avoid detection module 11 exposes, improves detection module 11's working life.
Further, after the cleaning of the whole area is completed, the sweeping robot 1 finds the charging pile for recharging according to the detection module 11 and a map established by a built-in sensor of the sweeping robot 1.
After receiving the locating signal that fills electric pile and send in certain extent, combine locating signal to fix a position, improve and return and fill position control accuracy, the robot of sweeping the floor 1 returns the stake and charges the back, ensures next the robot of sweeping the floor 1 cleans the work occasionally sufficient electric quantity.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (17)
1. The utility model provides a robot of sweeping floor which characterized in that: including detection module (11) and motion module (12), detection module (11) movable mounting in the body of robot (1) sweeps floor, motion module (12) are used for controlling detection module (11) for the body is outwards stretched out, makes detection module (11) telescopically activity set up in the body.
2. The sweeping robot of claim 1, wherein: the detection module (11) is extended outwards or retracted back relative to the top of the body through the movement module (12).
3. The sweeping robot of claim 1, wherein: motion module (12) are located the inside of robot (1) of sweeping the floor, motion module (12) include for telescopic component (121) of body activity, detection module (11) install in telescopic component (121), telescopic component's (121) flexible direction with the contained angle of the perpendicular axis (3) of robot (1) of sweeping the floor is phi, and wherein 0 is less than or equal to phi and is less than or equal to 60 deg.
4. The sweeping robot of claim 3, wherein: motion module (12) still includes swing subassembly (122), swing subassembly (122) include base (41) and swing driver (42), flexible subassembly (121) are installed base (41), swing driver (42) set up the below of base (41), swing driver (42) with be equipped with driving medium (43) between base (41), swing driver (42) are passed through driving medium (43) swing base (41), and then change the flexible direction of flexible subassembly (121), make the flexible direction of detection module (11) with the contained angle phi of perpendicular axis (3) is changeable.
5. The sweeping robot of claim 3, wherein: flexible subassembly (121) are including movable part and drive division, the movable part is including flexible post (31), the drive division includes electric drive (32), detection module (11) set up flexible post (31), be equipped with transmission fitting piece (44) between flexible post (31) and electric drive (32), electric drive (32) pass through transmission fitting piece (44) drive flexible post (31) are stretched out or are rolled back.
6. The sweeping robot of claim 5, wherein: the transmission fitting piece (44) comprises a driving gear (441) and a rack (442) which are matched with each other, the rack (442) is vertically and fixedly arranged at the bottom end face of the telescopic column (31), and the driving gear (441) is arranged at the driving shaft of the electric driver (32).
7. The sweeping robot of claim 1, wherein: the detection module (11) is provided with a rotary driver, and a rotary shaft of the rotary driver is arranged on the axis of the detection module (11) in the telescopic motion direction, so that the detection module (11) rotates by taking the axis of the telescopic motion direction as a central line.
8. A method for detecting and controlling sweeping is characterized in that: the method comprises the following steps:
the detection module (11) extends outwards to acquire the whole environmental information around the sweeping robot (1);
determining the running direction of the cleaning work according to the overall environment information;
the sweeping robot (1) carries out sweeping work, and meanwhile, the detection module (11) continuously detects to obtain local environment information around the sweeping robot (1);
the sweeping robot (1) detects that an obstacle exists at a certain height in the running direction, and the detection module (11) retracts towards the sweeping robot (1) so that the sweeping robot (1) can pass through the obstacle;
after the sweeping robot (1) crosses the obstacle, the detection module (11) is driven to stretch out again, and the detection work is continued.
9. A method of detecting a controlled sweep as set forth in claim 8 wherein: the process of acquiring the overall environmental information around the sweeping robot (1) comprises the following steps:
the sweeping robot (1) stretches out the detection module (11), the detection module (11) passes through the rotation of the rotary driver, and the whole environment information around the sweeping robot (1) is obtained.
10. A method of detecting a controlled sweep as set forth in claim 8 wherein: the process of acquiring the local environment information around the sweeping robot (1) comprises the following steps:
the floor sweeping robot (1) is characterized in that the movement module (12) is changed to enable the telescopic stroke or/and the telescopic movement direction of the detection module (11) to enable the detection visual field of the detection module (11) to move up and down, and the detection range of the detection module (11) is adjusted to acquire the peripheral local environment of the floor sweeping robot (1) in real time.
11. A method of detecting a controlled sweep as set forth in claim 8 wherein: the sweeping robot (1) establishes a map and positions the map through the detection module (11) and a sensor arranged in the sweeping robot (1).
12. A method of detecting a controlled sweep as set forth in claim 8 wherein: robot (1) of sweeping the floor detects out when there is the barrier in certain height on the traffic direction, detection module (11) acquire terrain clearance, direction and the distance information of barrier, when detection module (11) dodge the barrier, motion module (12) control detection module (11) toward robot (1) of sweeping the floor indentation, record and calculation operation route record, behind the barrier, detection module (11) stretches out again, continues real-time detection robot (1) of sweeping the floor all ring edge borders.
13. A method of detecting a controlled sweep as set forth in claim 8 wherein: the included angle between the telescopic motion direction of the detection module (11) and the vertical central axis (3) is phi, wherein phi is more than or equal to 0 degree and less than or equal to 60 degrees.
14. A method of detecting a controlled sweep as set forth in claim 8 wherein: the vertical direction stroke of the detection module (11) relative to the sweeping robot (1) is H, wherein H is more than or equal to 0mm and less than or equal to 70 mm.
15. A method of detecting a controlled sweep as set forth in claim 8 characterized in that the detection module (11) detects an angle of β with-30 ° ≦ β ≦ 50 ° for the up-down direction immediately in front of the detection end.
16. A method of detecting a controlled sweep as set forth in claim 8 wherein: after the cleaning task of the sweeping robot (1) is finished, the detection module (11) retracts into the sweeping robot (1) to be stored.
17. A method of detecting a controlled sweep as set forth in claim 8 wherein: after the whole area is cleaned, the sweeping robot (1) finds charging piles according to the detection module (11) and a map established by a built-in sensor of the sweeping robot (1) for recharging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911418852.1A CN111158369A (en) | 2019-12-31 | 2019-12-31 | Floor sweeping robot and method for detecting and controlling sweeping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911418852.1A CN111158369A (en) | 2019-12-31 | 2019-12-31 | Floor sweeping robot and method for detecting and controlling sweeping |
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| CN111158369A true CN111158369A (en) | 2020-05-15 |
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| CN201911418852.1A Pending CN111158369A (en) | 2019-12-31 | 2019-12-31 | Floor sweeping robot and method for detecting and controlling sweeping |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113384192A (en) * | 2021-06-21 | 2021-09-14 | 同温层(深圳)机器人科技有限公司 | Intelligent direction adjusting and detecting device for floor sweeping robot |
| CN114652238A (en) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | Downward extending mechanism of sweeper |
-
2019
- 2019-12-31 CN CN201911418852.1A patent/CN111158369A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113384192A (en) * | 2021-06-21 | 2021-09-14 | 同温层(深圳)机器人科技有限公司 | Intelligent direction adjusting and detecting device for floor sweeping robot |
| CN114652238A (en) * | 2022-03-02 | 2022-06-24 | 深圳市杉川机器人有限公司 | Downward extending mechanism of sweeper |
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