CN111202349A

CN111202349A - Control method of brush handle and brush rod and robot

Info

Publication number: CN111202349A
Application number: CN202010107080.6A
Authority: CN
Inventors: 陈明华
Original assignee: Cloudminds Beijing Technologies Co Ltd
Current assignee: Cloudminds Beijing Technologies Co Ltd
Priority date: 2020-02-21
Filing date: 2020-02-21
Publication date: 2020-05-29

Abstract

The embodiment of the invention relates to the field of automation, and discloses a control method of a brush handle and a brush rod and a robot. The brush handle of the invention comprises: the first end of the brush rod is used for installing a brush head; the holding part is arranged at the second end of the brush rod and is used for holding the robot; the communication assembly is arranged on the holding part and used for receiving a control command sent by the robot; and the control assembly is respectively connected with the communication assembly and the brush rod and is used for controlling the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move. By adopting the embodiment, the brush handle can automatically move under the control instruction of the robot, the movement of the robot arm is reduced, and the cleaning efficiency of the robot is improved.

Description

Control method of brush handle and brush rod and robot

Technical Field

The embodiment of the invention relates to the field of automation, in particular to a control method of a brush handle and a brush rod and a robot.

Background

Cleaning brushes are commonly used to clean dirty areas such as windows, toilets, and the like. The cleaning brush comprises a cleaning brush handle and a cleaning brush head, and different cleaning brushes are adopted in different scenes to be cleaned.

The inventors found that the following problems exist in the related art: at present, with the continuous improvement of science and technology, various types of robots appear, and when the robots clean the common cleaning brush used, the cleaning efficiency of the scene to be cleaned is low, and the power consumption is large.

Disclosure of Invention

The embodiment of the invention aims to provide a brush handle, a brush rod control method and a robot, so that the brush handle can automatically move under the control instruction of the robot, the movement of the robot arm is reduced, and the efficiency of the brush handle washing operation is improved.

To solve the above technical problem, an embodiment of the present invention provides a brush handle, including: the first end of the brush rod is used for installing a brush head; the holding part is arranged at the second end of the brush rod and is used for holding the robot; the communication assembly is arranged on the holding part and used for receiving a control command sent by the robot; and the control assembly is respectively connected with the communication assembly and the brush rod and is used for controlling the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move.

The embodiment of the invention also provides a control method of the brush rod, which comprises the following steps: the control method of the brush rod applied to the brush handle comprises the following steps: receiving a control instruction sent by a robot; and controlling the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move.

Embodiments of the present invention also provide a robot including: a holding part and a robot main control unit; the robot main control unit is used for sending a control command to the brush holder held by the holding part; wherein the brush holder held by the holding part is the brush holder.

Compared with the prior art, the brush handle is internally provided with the communication assembly and the control assembly, the control assembly receives a control command sent by the robot through the communication assembly and controls the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move. Therefore, the brush holder can realize autonomous movement under the control instruction of the robot, and the robot does not need to drive the brush holder to move through the movement of the arm of the robot as in the prior art, so that excessive calculation resources of the robot are consumed; meanwhile, the brush holder automatically controls the movement of the brush rod to be more flexible relative to the robot arm, and the movement of the robot is reduced, so that the efficiency of the brush holder washing operation can be improved.

In addition, the control assembly includes: the device comprises a main control unit, a driving unit and a transmission unit; the main control unit is connected with the driving unit, the driving unit is connected with the transmission unit, and the transmission unit is connected with the second end of the brush rod; the main control unit is used for controlling the driving unit to drive the transmission unit to operate according to the control instruction so as to drive the brush rod to move. The main control unit controls the driving unit, and the transmission unit can be accurately controlled to operate through the driving unit, so that the brush rod is accurately driven to move, and the autonomous control of the control assembly is realized.

In addition, the driving unit includes: a telescopic drive and/or a rotary drive; the telescopic driver is used for driving the transmission unit connected with the telescopic driver to operate so as to drive the brush rod to perform telescopic motion; the rotary driver is used for driving the transmission unit connected with the rotary driver to operate so as to drive the brush rod to rotate. The drive unit comprises a telescopic driver and/or a rotary driver, and the telescopic driver drives the transmission unit to operate so as to drive the brush rod to perform telescopic motion, so that the brush handle can be automatically cleaned within a certain range after the robot holds the brush handle, and the cleaning position of the brush handle does not need to be changed through the motion of the robot arm; the transmission unit is driven to operate through the rotary driver so as to drive the brush rod to perform rotary motion, the brush rod can rotate to drive the brush head mounted on the brush rod to rotate, and the cleaning efficiency can be greatly improved through the rotating brush head.

In addition, the brush holder also comprises: a power supply and power supply management unit; the power supply is connected with the power supply management unit, and the power supply management unit is respectively connected with the communication assembly and the control assembly; the power management unit is used for managing power supply of each component connected with the power management unit. The power management unit is arranged, power supply of each component connected with the power management unit can be reasonably managed through the power management unit, unnecessary power consumption is reduced, and the service efficiency of the power supply is improved.

In addition, the brush holder also comprises a wireless charging unit, and the wireless charging unit is connected with the power supply and is used for charging the power supply. Set up wireless charging unit, carry out wireless charging for this power, the convenient brush holder of wireless mode of charging charges.

In addition, the holding part is provided with a trigger module, and the trigger module is triggered when the robot holds the holding part; and the communication component establishes communication connection with the robot when detecting that the trigger module is triggered. The trigger module is arranged, and the trigger signal generated by the trigger module indicates the communication assembly to establish communication connection with the robot, so that the brush holder is communicated with the robot when being held by the robot, the consumption of electric quantity can be reduced, and the occupation of communication resources of the robot can be reduced.

Additionally, the communications component is to: receiving a starting signal sent by a robot; and the power management unit powers on the control component when detecting the starting signal. Before the robot does not send the starting signal, the control assembly is not electrified, and when the starting signal is detected, the control assembly is electrified, so that the power consumption of the whole brush handle can be reduced.

Additionally, the communications component is further configured to: and reporting the state information of the brush handle to the robot, wherein the state information at least comprises the electric quantity information of the power supply. And reporting the state information of the brush holder to the robot, wherein the state information at least comprises the electric quantity information of the power supply, so that the robot can supply power to the brush holder in time according to the state information, such as wireless charging or wired charging.

In addition, the transmission unit includes: a motor and a connecting structure; the motor is connected with the driving unit, and the connecting structure is connected with the motor and the brush rod.

In addition, the brush bar includes: a telescopic part and a rotating part; the first end of the telescopic part is connected with the rotating part, the rotating part is used as the first end of the brush rod, and the second end of the telescopic part is used as the second end of the brush rod; the telescopic driver drives the transmission unit connected with the telescopic driver to operate so as to drive the telescopic part to perform telescopic motion; the transmission unit that the rotary actuator drive is connected with rotary actuator operates to drive the rotating part and carry out rotary motion. The brush-holder stud includes pars contractilis and rotating part, carries out concertina movement and rotates through driving the rotating part through driving pars contractilis, and is flexible to be accomplished by different parts respectively with the rotation for the realization of brush holder is simpler, and is more nimble.

In addition, the state information further includes: failure information of the drive unit and/or failure information of the transmission unit. The status information of the brush handle is enriched.

In addition, the communication assembly is a low-power Bluetooth module. The low-power consumption Bluetooth module has low power consumption, and can reduce the power consumption of the brush holder.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic view of a specific construction of a handle according to a first embodiment of the present invention;

FIG. 2 is a schematic view showing a structure of a connecting member of a brush bar according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of a specific structure of a control assembly in a handle according to a first embodiment of the present invention;

FIGS. 4-6 are schematic diagrams of the connection of the components of the control assembly provided in accordance with the first embodiment of the present invention;

FIG. 7 is a schematic view of another construction of a handle according to the first embodiment of the present invention;

FIG. 8 is a schematic view of a specific construction of a handle according to a second embodiment of the present invention;

FIGS. 9-10 are schematic electrical connections of a handle according to a second embodiment of the present invention;

FIG. 11 is a flowchart illustrating a method for controlling a brush bar according to a third embodiment of the present invention;

fig. 12 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments.

The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.

The inventor finds that the current robot can use a cleaning brush to clean a designated position, the cleaning brush used by the robot is generally a cleaning brush used by a human, for example, the robot can hold the brush to clean a toilet. Although the degree of intelligence of the robot is very high, the arm motion of the robot is still not as flexible as that of a human arm, so that the cleaning efficiency of the robot is not high when the robot utilizes the cleaning brush, and meanwhile, too many computing resources of the robot are consumed by the motion of a large number of arms, so that the efficiency of the robot for cleaning a specified position is low, and the cost is high.

A first embodiment of the invention relates to a handle. The specific structure of the brush handle 1 is shown in figure 1, and comprises: brush bar 10, grip 20, communication assembly 30, and control assembly 40.

The first end 101 of the brush bar 10 is used for mounting the brush head 2; a holding part 20 arranged at the second end 102 of the brush rod 10 and used for being held by a robot; a communication module 30, which is arranged on the holding part 20 and is used for receiving a control command sent by the robot; and the control assembly 40 is respectively connected with the communication assembly 30 and the brush rod 10 and is used for controlling the brush rod 10 to move according to a control command so as to drive the brush head 2 mounted on the brush rod 10 to move.

Specifically, the first end 101 of the brush rod 10 may be provided with a connecting part 103 for fixing the brush head, and the connecting part 103 may be a buckle, for example, as shown in fig. 2, the buckle retracts into the brush rod 10 after being stressed, and returns to the original state after being stressed, and a groove corresponding to the buckle is provided on the brush head 2, so that the brush head 2 can be fixed by the brush rod 10 through the cooperation of the groove and the buckle. The second end 102 of the brush bar 10 is provided with a grip portion 20, and the grip portion 20 is used for being held by a robot. The surface of the grip portion 20 may be provided with anti-slip means, such as: the anti-slip rubber prevents the grip part 20 of the brush rod 10 from slipping out of the palm of the robot during movement.

The communication module 30 is disposed on the holding portion 20, for example, the communication module may be disposed inside a housing of the holding portion 20, so as to avoid the problem that the communication module 30 is exposed to the outside and damaged. The communication assembly 30 may employ a wireless communication module, such as a bluetooth module, a wireless fidelity module, or the like. In this embodiment, a bluetooth low energy module is used as the communication component 30 to reduce the power consumption of the handle.

The control assembly 40 may be disposed inside the housing of the holding portion 20, and the specific structure of each component in the control assembly 40 is shown in fig. 3, and includes: a main control unit 401, a drive unit 402 and a transmission unit 403; the main control unit 401 is connected to a drive unit 402, the drive unit 402 is connected to a drive unit 403, and the drive unit 403 is connected to the second end 102 of the brush bar 10 (not shown in figure 3). The main control unit 401 is used for controlling the driving unit 402 to drive the transmission unit 403 to operate according to the control command, so as to drive the brush rod 10 to move.

The main control unit 401, which may be a microprocessor, obtains the control command received by the communication assembly 30, and controls the driving unit 402 to drive the transmission unit 403 to operate according to the control command, so as to drive the brush rod 10 to move.

The driving unit 402 may include: the telescopic driver 4021 and/or the rotary driver 4022, and the telescopic driver 4021 is used for driving the transmission unit 403 connected with the telescopic driver 4021 to operate so as to drive the brush rod to perform telescopic motion; the rotation driver 4022 drives the transmission unit 403 connected to the rotation driver 4022 to rotate the brush bar 10.

In one example, the transmission unit 403 includes: a motor and a connecting structure; the motor is connected to the drive unit 402 and the connecting structure connects the motor to the brush bar 10.

The connection structure of each unit in the control module 40 will be described in detail with reference to fig. 4, 5, and 6.

The driving unit 402 is illustrated by taking a telescopic driver 4021 as an example, as shown in fig. 4, the telescopic driver 4021 is connected with a motor 4031-1, the motor 4031-1 is connected with a connecting structure 4032-1, the connecting structure is connected with the second end of the brush bar 10, and the connecting structure is used for converting the rotating force of the motor 4031-1 into a pushing force, for example, the connecting structure 4032-1 can be a screw 4032-1. The connecting structure 4032-1 converts the rotating force generated by the motor 4031-1 into a pushing force, so as to push the brush rod 10 connected with the connecting structure 4032-1 to perform a telescopic motion. Since the main control unit 401 needs to precisely control the length of the extension of the brush rod, a telescopic driver 4021 needs to be set, and the telescopic driver 4021 generates a driving signal for driving the motor, where the driving signal may include information such as a rotation speed and a rotation duration.

Fig. 5 illustrates a driving unit 402 as a rotation driver 4022, the rotation driver 4022 is connected to a motor 4031-2, the motor 4031-2 is connected to a connecting structure 4032, the connecting structure 4032 is connected to the second end 102 of the brush rod 10, the connecting structure can fix the motor 4031-2 in the brush rod, and the rotation force generated by the motor 4031-2 drives the brush rod 10 to rotate.

In fig. 6, the driving unit 402 includes a telescopic driver 4021 and a rotary driver 4022, the telescopic driver 4021 is connected to the motor 4031-1, the rotary driver 4022 is connected to the motor 4031-2, wherein the main control unit 401 is connected to the telescopic driver 4021 and the rotary driver 4022, respectively, and the main control unit 401 is connected to the communication module 30.

In another example, the brush bar 10 includes: a telescopic part 10-1 and a rotary part 10-2; the brush handle is constructed as shown in fig. 7, in which a first end of a telescopic part 10-1 is connected to a rotary part 10-2, the rotary part 10-2 is used as a first end of a brush rod 10, and a second end of the telescopic part 10-1 is used as a second end of the brush rod 10.

Describing the principle of the brush bar motion with reference to fig. 6 and 7, the telescopic driver 4021 is connected to the motor 4031-1, the rotary driver 4022 is connected to the motor 4031-2, the motor 4031-1 is connected to the telescopic portion 10-1 through a connecting structure (e.g., a lead screw) 4032-1, the motor 4031-2 is fixed to the housing of the rotary portion 10-2 through a connecting structure 4032-2, the rotating shaft of the motor 4031-2 is exposed out of the housing of the rotary portion 10-2, and the brush head 2 is connected to the rotating shaft of the motor 4031-2 and fixed to the rotary portion 10-2, when the rotary driver 4022 drives the motor 4031-2 to rotate, the motor 4031-2 drives the rotary portion 10-2 to rotate and also drives the brush head 2 to rotate; when the telescopic driver 4021 drives the motor 4031-1 to rotate, the connection structure 4032-1 converts the rotational force generated by the motor 4031-1 into a thrust force, so as to push the telescopic part 10-1 connected with the connection structure 4032-1 to perform telescopic motion.

It should be noted that the handle may be powered by an external power source.

To facilitate understanding of the work between the handle and the robot, a specific example is described below.

After the communication connection is established between the robot and the communication assembly 30 of the brush holder, a control instruction is sent to the communication assembly 30 of the brush holder, after the communication assembly 30 of the brush holder obtains the control instruction, the control instruction is transmitted to the main control unit 401, and if the control instruction comprises a rotation command; the main control unit 401 controls the telescopic driver 4021 to generate a driving signal according to the control command, drives the motor 4031-1 connected to the telescopic driver 4021, and the motor 4031-1 rotates to drive the connecting structure 4032-1 to generate a thrust to push the brush rod to perform telescopic motion. If the control command includes a rotation command, the main control unit 401 further controls the rotation driver 4022 to generate a rotation driving signal to drive the motor 4031-2 connected to the rotation driver 4022, the motor 4031-2 rotates to drive the gear 4032-2, and the gear 4032-2 drives the brush rod 10 to rotate, so as to drive the brush head 2 on the brush rod 10 to rotate.

A second embodiment of the invention relates to a handle. The second embodiment is a further improvement of the first embodiment, and the main improvements are as follows: in a second embodiment of the invention, the handle further comprises: the power source 50 and the power management unit 60 are used for supplying power to the brush holder through the power source 50 and the power management unit 60, and the brush holder does not need to be supplied with power through an external power source, and the circuit connection structure of the brush holder is shown in fig. 8.

In one example, the power supply 50 is connected to a power management unit 60, the power management unit 60 being connected to the communication component 30 and the control component 40, respectively; the power management unit 60 is configured to manage power supply to each component connected to the power management unit 60.

Specifically, as shown in fig. 8, the power supply 50 may be a lithium battery, and a charging interface for charging may be provided on the power supply 50, and the charging interface may be used for wired charging of the power supply 50. A wireless charging unit 70 may also be disposed in the handle, the wireless charging unit 70 is connected to the power source 50 and is used for charging the power source 50, and the circuit connection structure of the handle is shown in fig. 9. The wireless charging unit 70 charges the power supply 50 by receiving a wireless charging signal. Fig. 10 is a detailed circuit connection diagram of the brush handle, wherein the driving unit comprises a telescopic driver 4021 and a rotary driver 4022.

It is worth mentioning that by arranging the wireless charging unit 70, the brush holder does not need to be charged by inserting a charging wire, thereby simplifying the charging step of the brush holder; meanwhile, due to the fact that wireless charging is adopted, a charging wire is not needed, and the use scene of the brush handle is enlarged.

The wireless signal transmitting unit for transmitting the wireless charging signal may be provided in the tool cart. Can also set up at the within range of 0 ~ 20cm apart from this brush holder, for example, can set up wireless signal transmission unit in the robot palm for the robot can realize the abluent operation mode in limit of charging at the in-process of practical this brush holder.

In one example, the grip 20 is further provided with a triggering module that is triggered when the robot grips the grip 20; the communication component 30 establishes a communication connection with the robot upon detecting that the trigger module is triggered.

Specifically, the triggering module may be a sensor, such as a pressing sensor, a proximity sensor, etc., and the sensor may be disposed inside the housing of the grip portion 20 or on the surface of the housing of the grip portion 20. The triggering module 201 may also be a button, and the button may be disposed on the outer surface of the housing of the holding portion 20, so that the button is triggered when the robot holds the holding portion. The communication component 30 can determine whether the trigger module is triggered by detecting whether there is a trigger signal, and if the trigger signal is detected, determine that the trigger module is triggered, and if the trigger signal is not detected, determine that the trigger module is not triggered; when it is determined that the triggering module 201 is triggered, the communication component 30 establishes a communication connection with the robot.

After the robot detects that the communication component 30 of the brush holder is connected, a starting signal is sent to the brush holder 1, and the communication component 30 of the brush holder receives the starting signal sent by the robot; the power management unit 60 powers up the control component 40 upon detecting the activation signal.

Specifically, the communication component 30 transmits the received start signal to the power management unit 60, and the power management unit 60 powers on the control component 40 when detecting the start signal, wherein the control component 40 includes: the device comprises a main control unit, a driving unit and a transmission unit.

It is worth mentioning that the triggering signal generated by the triggering module indicates the communication component to establish communication connection with the robot, so that the brush holder communicates with the robot when being held by the robot, thereby reducing the consumption of electric quantity and the occupation of communication resources of the robot. Before the robot does not send the starting signal, the control assembly is not electrified, and after the starting signal of the robot is received, the control assembly is electrified, so that the power consumption of the whole brush handle is reduced.

In one example, the communication component 30 is further configured to report status information of the handle to the robot, where the status information includes at least power information of the power source.

Specifically, the power management unit 60 may monitor the power information of the power in real time, transmit the power information of the power to the communication component 30, and report the power information of the power to the robot through the communication component. The state information may be reported at a preset interval duration, or, when the remaining power of the power supply reaches a preset threshold, the state information is reported to the robot by the communication component. And after receiving the state information of the brush holder, the robot executes corresponding operation according to the state information. For example, if the amount of electricity has reached a predetermined threshold, the robot will return to the wireless charging area so that the brush handle can be wirelessly charged. It is understood that the status information may also include: failure information of the drive unit and/or failure information of the transmission unit. The fault information of the driving unit is transmitted to the main control unit by the driving unit, the fault information of the transmission unit is transmitted to the main control unit by the transmission unit, the main control unit transmits the acquired fault information of the driving unit and/or the fault information of the transmission unit to the communication assembly, the communication assembly reports the state information to the robot, and the robot can report a response handler according to the fault information so as to repair the brush handle.

The brush holder that this embodiment provided carries out wireless charging for this power through setting up wireless charging unit, and wireless charging's mode makes things convenient for the brush holder to charge, has also prolonged the length of time that this brush holder electrified was used.

A third embodiment of the invention relates to a control method of a brush rod, which is applied to a brush handle, and the specific flow of the control method of the brush rod is shown in figure 11.

Step S301: and when the robot is detected to hold the brush handle, establishing communication connection with the robot.

Specifically, the brush holder is provided with a trigger module, when the robot holds the brush holder, the trigger module is triggered to generate a trigger signal, the trigger signal is sent to the communication component, and after the communication component detects the trigger signal, communication connection with the robot is established.

Step S302: and receiving a starting signal sent by the robot and powering up a control component in the brush handle.

Specifically, after detecting that communication connection is established between the robot and the communication assembly of the brush holder, the robot sends a starting signal to the brush holder, the communication assembly in the brush holder transmits the starting signal to the power management unit, and the power management unit powers on the control assembly connected with the power management unit after detecting the starting signal.

It is worth mentioning that after cleaning is finished, the robot can also send a stop signal to the brush holder, and after the stop signal is sent, the robot can actively break the communication connection with the brush holder. The communication assembly in the handle can transmit the stop signal to the control assembly and the power management unit, the control assembly stops controlling the movement of the brush rod, and the power management unit powers down the control assembly.

Step S303: and receiving a control command sent by the robot.

Step S304: and controlling the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move.

The communication assembly in the brush handle transmits the control command to the control assembly, and the control assembly controls the brush rod to move according to the control command so as to drive the brush head on the brush rod to move.

Step S305: and reporting the state information of the brush holder to the robot, wherein the state information at least comprises the electric quantity information of the power supply in the brush holder.

Specifically, the power management unit can monitor the electric quantity information of the power supply in real time, transmit the electric quantity information of the power supply to the communication assembly, and report the electric quantity information of the power supply to the robot through the communication assembly. The state information may be reported at a preset interval duration, or, when the remaining power of the power supply reaches a preset threshold, the state information is reported to the robot by the communication component. And after receiving the state information of the brush holder, the robot executes corresponding operation according to the state information. For example, if the amount of electricity has reached a predetermined threshold, the robot will return to the wireless charging area so that the brush handle can be wirelessly charged. It is understood that the status information may also include: failure information of the drive unit and/or failure information of the transmission unit. The fault information of the driving unit is transmitted to the main control unit by the driving unit, the fault information of the transmission unit is transmitted to the main control unit by the transmission unit, the main control unit transmits the acquired fault information of the driving unit and/or the fault information of the transmission unit to the communication assembly, the communication assembly reports the state information to the robot, and the robot can report a response handler according to the fault information so as to repair the brush handle.

A fourth embodiment of the present invention relates to a robot having a specific configuration as shown in fig. 12, and including: a gripping section 31 and a robot main control unit 32; the robot main control unit 32 is used for sending a control command to the brush holder held by the holding part 31; wherein the handle of the first or second embodiment is held by the holding part 31.

The robot main control unit comprises at least one processor; and a memory communicatively coupled to the at least one processor; the memory and the processor are connected by a bus, which may include any number of interconnected buses and bridges, linking together one or more of the various circuits of the processor and the memory. The bus may also link various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.

The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.

Those skilled in the art can understand that all or part of the steps in the method of the foregoing embodiments may be implemented by a program to instruct related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A handle for a toothbrush, comprising:

the first end of the brush rod is used for installing a brush head;

the holding part is arranged at the second end of the brush rod and is used for holding the robot;

the communication assembly is arranged on the holding part and used for receiving a control command sent by the robot;

and the control assembly is respectively connected with the communication assembly and the brush rod and is used for controlling the brush rod to move according to the control command so as to drive the brush head mounted on the brush rod to move.

2. The handle of claim 1, wherein the control assembly comprises: the device comprises a main control unit, a driving unit and a transmission unit;

the main control unit is connected with the driving unit, the driving unit is connected with the transmission unit, and the transmission unit is connected with the brush rod;

the main control unit is used for controlling the driving unit to drive the transmission unit to operate according to the control instruction so as to drive the brush rod to move.

3. The handle according to claim 2, wherein the drive unit comprises: a telescopic drive and/or a rotary drive;

the telescopic driver is used for driving the transmission unit connected with the telescopic driver to operate so as to drive the brush rod to perform telescopic motion;

the rotary driver is used for driving a transmission unit connected with the rotary driver to operate so as to drive the brush rod to rotate.

4. A handle according to any of claims 1 to 3, further comprising: a power supply and power supply management unit;

the power supply is connected with the power supply management unit, and the power supply management unit is respectively connected with the communication assembly and the control assembly;

the power management unit is used for managing power supply of each component connected with the power management unit.

5. The handle of claim 4, further comprising a wireless charging unit connected to the power source and configured to charge the power source.

6. A handle according to any of claims 1 to 3, wherein the grip portion is provided with a trigger module which is triggered when the robot grips the grip portion; the communication component establishes communication connection with the robot when detecting that the trigger module is triggered.

7. The handle of claim 3, wherein the communication assembly is configured to:

receiving a starting signal sent by the robot; and the power management unit powers on the control assembly when detecting the starting signal.

8. The handle of claim 2 or 3, wherein the communication assembly is further configured to:

and reporting the state information of the brush handle to the robot, wherein the state information at least comprises the electric quantity information of the power supply.

9. The handle according to claim 3, wherein the transmission unit comprises: a motor and a connecting structure;

the motor is connected with the driving unit, and the connecting structure is connected with the motor and the brush rod.

10. A handle according to claim 9, wherein the stem comprises: a telescopic part and a rotating part;

the first end of the telescopic part is connected with the rotating part, the rotating part is used as the first end of the brush rod, and the second end of the telescopic part is used as the second end of the brush rod;

the telescopic driver drives the transmission unit connected with the telescopic driver to operate so as to drive the telescopic part to perform telescopic motion;

the rotary driver drives the transmission unit connected with the rotary driver to operate so as to drive the rotary part to perform rotary motion.

11. The handle of claim 8, wherein the status information further comprises: failure information of the drive unit and/or failure information of the transmission unit.

12. The handle of claim 1, wherein the communication component is a bluetooth low energy module.

13. A method of controlling a brush bar, when applied to a handle as claimed in any one of claims 1 to 11, the method comprising:

receiving a control instruction sent by a robot;

and controlling the brush rod to move according to the control command so as to drive the brush head arranged on the brush rod to move.

14. The method of claim 13, wherein prior to receiving the control command from the robot, the method further comprises:

when the robot is detected to hold the brush handle, establishing communication connection with the robot;

and receiving a starting signal sent by the robot and electrifying a control component in the brush handle.

15. The method of claim 14, wherein after the establishing the communication connection with the robot, the method of controlling the brush bar further comprises:

and reporting the state information of the brush holder to the robot, wherein the state information at least comprises the electric quantity information of the power supply in the brush holder.

16. A robot, comprising: a holding part and a robot main control unit;

the robot main control unit is used for sending a control command to the brush handle held by the holding part; wherein the handle held by the gripping member is a handle according to any one of claims 1-12.