CN115721223A

CN115721223A - Robot base positioning method and device, robot and medium

Info

Publication number: CN115721223A
Application number: CN202110992928.2A
Authority: CN
Inventors: 张珂嘉; 罗元泰; 刘登明; 成巍; 姚国强
Original assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Current assignee: Chengdu Jiayou Weili Robot Technology Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2023-03-03

Abstract

The invention belongs to the technical field of robot navigation, and provides a robot base positioning method and device, a cleaning robot and a medium. The robot base positioning method comprises the steps of obtaining a first control instruction, moving to a second base according to the first control instruction, and obtaining a path of moving to the second base. According to the invention, the first control instruction is firstly acquired, then the robot moves to the second base according to the first control instruction, and finally the path moving to the second base is acquired.

Description

Robot base positioning method and device, robot and medium

Technical Field

The invention belongs to the technical field of robot navigation, and particularly relates to a robot base positioning method and device, a cleaning robot and a medium.

Background

Prior art CN111870182A discloses a robotic floor cleaning system with a mobile floor cleaning robot and an evacuation station (base 1) on 11/3/2020. The evacuation station is configured to evacuate debris from a cleaning bin of the robot, and includes: a housing defining a platform for receiving a cleaning robot, wherein an opening in an underside of the robot is aligned with a suction opening of the platform; and an evacuation vacuum operable to draw air into the evacuation station housing through the draw opening.

Prior art CN210749048U discloses in 2020, 6, 16 a cleaning base which (base 2) enables automatic cleaning of a cleaning robot mop.

In order to achieve more functions of the sweeping robot (such as automatic dust collection and mop cleaning), more bases (such as the base 1 and the base 2) need to be arranged, so that the robot needs to find a path going to two bases (or more than two bases) respectively. However, it can be seen from the above prior art that the existing robot can find a path to an independent base, that is, only a path to a first base can be found, but a path to a second base cannot be found.

Disclosure of Invention

In view of this, the present invention provides a method and an apparatus for positioning a robot base, a cleaning robot, and a medium, so as to solve the problem that the existing robot cannot find a path to a second base.

The technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides a method of positioning a robot base, the base comprising a first base and a second base, the method comprising:

acquiring a first control instruction;

moving to a second base according to the first control instruction;

a path to the second base is acquired.

As a preferable embodiment of the robot base positioning method, the moving to the second base according to the first control instruction is moving from the first base to the second base according to the first control instruction;

the acquiring a path to move to the second base is acquiring a path to move from the first base to the second base.

As a preferable aspect of the robot base positioning method, the method further includes:

and carrying out map construction in the moving process.

storing the acquired path into the map.

As a preferable aspect of the above robot base positioning method, the method further includes:

acquiring a second control instruction;

moving to the first base according to the second control instruction;

a path to the first base is acquired.

In a second aspect, the present invention provides a robot base positioning apparatus, the apparatus comprising:

the first acquisition module is used for acquiring a first control instruction;

the first moving module is used for moving to a second base according to the first control instruction;

a second acquisition module for acquiring a path of movement to the second base.

In a third aspect, the present invention provides a cleaning robot comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any one of the above.

In a fourth aspect, the present invention provides a storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any one of the above.

In summary, the invention has the following beneficial effects:

according to the robot base positioning method, the robot base positioning device, the cleaning robot and the medium, the first control instruction is obtained, then the robot base is moved to the second base according to the first control instruction, and finally the path of the robot base is obtained.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, without making creative efforts, other drawings can be obtained according to the drawings, and these drawings are all within the protection scope of the present invention.

Fig. 1 is a flowchart of a robot base positioning method in embodiment 1 of the present invention;

fig. 1a is a schematic diagram of a path of a robot moving to a second base according to embodiment 2 of the present invention;

fig. 1b is a schematic diagram of a robot moving path stored in a map according to embodiment 2 of the present invention;

fig. 1c is a schematic diagram of a path of the robot moving to the second base according to embodiment 3 of the present invention;

fig. 1d is a schematic diagram illustrating a movement path of a robot stored in a map according to embodiment 3 of the present invention;

FIG. 2 is a schematic view of a dust box according to embodiment 7 of the present invention;

FIG. 2a is a schematic view of another embodiment of the dust box of embodiment 7 of the present invention;

fig. 3 is a schematic sectional view of a dust box of embodiment 7 of the present invention with a cut-away upper cover;

FIG. 4 is a cross-sectional view of the latch of FIG. 3 with the latch broken away;

fig. 5 is a schematic structural view of the dust box in embodiment 7 of the present invention after the top cover is hidden;

fig. 6 is a schematic structural view of the dust box of embodiment 7 of the present invention after the upper cover is hidden;

FIG. 7 is a cross-sectional view of the dust storage member of FIG. 6 with the dust storage member broken away;

FIG. 8 is a schematic structural view of the dust box of embodiment 7 of the present invention after the covering member is hidden;

fig. 9 is a schematic structural view of another view angle of the dust box with the upper cover hidden according to embodiment 7 of the present invention;

FIG. 10 is a cross-sectional view of the dust box of embodiment 7 with the upper lid and the dust storage member broken away;

FIG. 11 is a schematic structural view of the dust box grabbed by the dumping base in embodiment 7 of the present invention;

FIG. 12 is a schematic view of the dust dumping base dumping the dust box according to embodiment 7 of the present invention;

fig. 13 is a schematic structural view of the gripping device of embodiment 7 of the present invention after the gripping device has hidden the upper cover;

FIG. 14 is a schematic view of a structure of a driving apparatus in embodiment 7 of the present invention;

fig. 15 is a schematic structural view of a driving apparatus in embodiment 7 of the present invention after hiding a detection bracket;

FIG. 16 is a schematic structural view of a lower cover of the grasping apparatus according to embodiment 7 of the present invention;

FIG. 17 is a schematic structural view of the gripping device and the driving device acting on the upper cover of the dust box in embodiment 7 of the present invention;

fig. 18 is a schematic structural diagram of a mobile device according to embodiment 7 of the present invention;

fig. 19 is a schematic structural view of a rotary elevating mechanism in embodiment 7 of the present invention;

FIG. 20 is a schematic structural view of a base with a hidden housing according to embodiment 7 of the present invention;

FIG. 21 is a schematic view showing the structure of the top of the support arm in example 7 of the present invention;

fig. 22 is a schematic structural view of the rotary lifting mechanism of embodiment 7 of the present invention after the housing is hidden;

fig. 23 is a schematic structural view of a lifting platform in embodiment 7 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. In case of conflict, the embodiments of the present invention and various features of the embodiments may be combined with each other within the scope of the present invention.

Example 1

The embodiment 1 of the invention discloses a robot base positioning method, wherein a base comprises a first base and a second base, and the method comprises the following steps:

s1, acquiring a first control instruction;

s2, moving to a second base according to the first control instruction;

and S3, acquiring a path moving to the second base.

In the embodiment, the base positioning method firstly obtains the first control instruction, then moves to the second base according to the first control instruction, and finally obtains the path moving to the second base.

Example 2

The embodiment 2 of the invention discloses a robot base positioning method, wherein a base comprises a first base and a second base, and the method comprises the following steps:

s01, a user sends a first control instruction to the robot through mobile equipment; the mobile device may include a smart phone, cellular phone, personal digital assistant, laptop computer, tablet computer, smart watch, or other portable (e.g., handheld) computing device capable of transmitting data or instructions to the robot. And if the mobile equipment is a mobile phone, for example, the user opens an application program on the mobile phone, and the user remotely controls the robot to move to the second base through the application program, and then the robot moves to the second base after receiving a corresponding control command.

S11, the robot acquires a first control instruction, wherein the first control instruction is used for controlling the robot to move to a second base position;

s12, the robot moves to a second base according to the first control instruction, as shown in figure 1 a;

s13, the robot acquires a path moving to the second base, wherein the path moving to the second base is shown by a solid line in fig. 1 a;

s14, the robot carries out map construction in the moving process, namely the robot carries out map construction in the process of the step S12;

and S15, storing the acquired path moved to the second base into a map, as shown in FIG. 1 b.

Example 3

The embodiment 3 of the invention discloses a robot base positioning method, wherein a base comprises a first base and a second base, and the method comprises the following steps:

s01, a user sends a second control instruction to the robot through the mobile device; if the mobile device is a mobile phone, for example, the user opens an application program on the mobile phone, and the user remotely controls the robot to move to the first base through the application program, then the robot moves to the first base after receiving a corresponding control instruction.

S11, the robot acquires a second control instruction, wherein the second control instruction is used for controlling the robot to move to the first base position;

s12, the robot moves to the first base according to the second control instruction, as shown in figure 1 c;

s13, the robot acquires a path moving to the first base, and the path moving to the first base is shown as a solid line in fig. 1 c;

s21, the user sends a first control instruction to the robot through the mobile device; for example, when the user remotely controls the robot to move from the first base to the second base through the application program, the robot receives the corresponding control command and then moves from the first base to the second base.

S31, the robot acquires a first control instruction, wherein the first control instruction is used for controlling the robot to move from the first base to the second base;

s32, the robot moves from the first base to the second base according to the first control command, as shown in figure 1 c;

s33, the robot acquires a path from the first base to the second base, wherein the path from the first base to the second base is shown by a solid line in figure 1 c;

s34, the robot carries out map construction in the moving process, namely the robot carries out the map construction in the process of the step S32;

and S35, storing the acquired path of the robot moving to the first base and the acquired path of the robot moving from the first base to the second base into a map, as shown in FIG. 1 d.

Example 4

The embodiment 4 of the invention discloses a robot base positioning device, which comprises:

the first acquisition module is used for acquiring a first control instruction;

As a preferable aspect of the above base positioning device, the device further includes:

and the map building module is used for building a map in the moving process.

And the path storage module is used for storing the acquired path into the map.

The third acquisition module is used for acquiring a second control instruction;

the second moving module is used for moving to the first base according to the second control instruction;

and the fourth acquisition module is used for acquiring a path moving to the first base.

Example 5

The robot base positioning method of the embodiment of the invention can be realized by a cleaning robot. The cleaning robot may include a processor and a memory storing computer program instructions. In particular, the processor may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits that may be configured to implement embodiments of the present invention. The memory may include mass storage for data or instructions. By way of example, and not limitation, memory may include a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical disks, magneto-optical disks, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory may include removable or non-removable (or fixed) media, where appropriate. The memory may be internal or external to the data processing apparatus, where appropriate. In a particular embodiment, the memory is non-volatile solid-state memory. In a particular embodiment, the memory includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these. The processor reads and executes the computer program instructions stored in the memory to implement any one of the robot base positioning methods in the above embodiments.

Example 6

In combination with the robot base positioning method in the foregoing embodiments, the embodiments of the present invention may be implemented by providing a computer-readable storage medium. The computer readable storage medium having stored thereon computer program instructions; the computer program instructions, when executed by a processor, implement any of the robot base positioning methods in the above embodiments.

It should also be noted that the exemplary embodiments noted in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.

Example 7

The method for positioning the base in embodiment 7 of the present invention is improved on the basis of embodiments 1 to 6, and specifically, in this embodiment, the first base is a cleaning base, the second base is a trash dumping base, and the cleaning base is well known to those skilled in the art and will not be described in detail herein because its structure is well known; although in other embodiments the second base may be a conventional charging base. As shown in fig. 11 and 12, the garbage dumping base in the present embodiment includes a gripping device 2, a moving device 1, a driving device, and a first controller. The working principle of the garbage dumping base is as follows: the gripping device 2 grips the dust box 3 (or dust bag) on the cleaning robot 4 as shown in fig. 11; then the moving device 1 moves the gripping device 2 and the dust box 3 to the garbage dumping position, and then the rear driving device drives the dust box 3 to dump the garbage as shown in fig. 12. In this embodiment. To facilitate understanding of the structure and operation of the base for dumping garbage, the moving device 1, the gripping device 2, the driving device, and the dust box 3 will be described below.

Dust box 3

As shown in fig. 2, the dust box 3 includes a main body 35, an upper cover 36 and a lower cover 37, the main body 35 is a frame structure with upper and lower openings, and the upper cover 36 is fixedly mounted on the main body 35 to seal the upper opening of the main body 35; the lower cover 37 is rotatably connected to the lower portion of the dust box body 35, and when the lower cover 37 is rotated to be fitted to the lower opening of the dust box body 35, the lower cover 37 seals the lower opening of the dust box body 35. As shown in fig. 6 and 7, two buckles 373 are further provided on the lower cover 37, and the two buckles 373 are located on opposite sides of the lower cover 37, which is rotatably connected with the dust box body 35; meanwhile, as shown in fig. 8, a clamping groove 3510 matched with the buckle 373 is also arranged at the lower part of the dust box body 35, and when the lower cover 37 rotates to be attached to the lower opening of the dust box body 35, the buckle 373 on the lower cover 37 is buckled into the clamping groove 3510 on the dust box body 35.

As shown in fig. 2a, an unlocking button 32, a lid opening button 33 and two iron attracting pieces 31 (in other embodiments, the iron attracting pieces may be replaced by magnets) are provided on the upper surface of the upper lid 36, and an unlocking mechanism is further provided on the upper lid 36, wherein the unlocking button 32 is used for driving the unlocking mechanism to work, and the unlocking mechanism is provided along the length direction of the dust box 3 in this embodiment. As shown in fig. 3, the upper cover 36 includes a top cover 361, a sealing body 362, a filter holder 363, and two latches 364, wherein the top cover 361, the filter holder 363, and the sealing body 362 are sequentially disposed from top to bottom. Two catches 364 are installed between the top cover 361 and the filter holder 363, and the two catches 364 are respectively provided at opposite sides of the unlocking button 32, two second wedge pieces 321 are provided on the unlocking button 32, a first wedge piece 365 is provided at an end of each catch 364 adjacent to the unlocking button 32, and one second wedge piece 321 is in contact with one first wedge piece 365, so that the two catches 364 are brought close to each other by being lowered through the second wedge piece 321 and the first wedge piece 365 by pressing the unlocking button 32, thereby retracting the catches 364 inside the upper cover 36, thereby unlocking the connection between the dust box 3 and the cleaning robot 4. As shown in fig. 4, a spring installation groove is further formed in the latch 364, a first return spring 366 is installed in the spring installation groove, an extension member 367 extending into the spring installation groove is further provided on the lower surface of the top cover 361, one end of the first return spring 366 contacts with the extension member 367, and the other end of the first return spring 366 contacts with the inner wall of the spring installation groove. The compressed first return spring 366 applies a pressure to the latch 364 that moves toward the outside of the dust box 3 after the unlock button 32 button is no longer pressed, thereby resetting the latch 364. As shown in fig. 5, a filter unit 368 is attached to the filter holder 363.

As shown in fig. 6, the dust box body 35 includes a dust storage component 351 and two covering components 352, a dust storage cavity is disposed inside the dust storage component 351, and the two covering components 352 are respectively disposed on two opposite sides of the dust storage component 351. Still be equipped with drive arm 353 on dust storage component 351, can be on dust storage component 351 along vertical direction reciprocating motion at drive arm 353, uncap button 33's lower extreme passes upper cover 36 back and drive arm 353 fixed connection, then can drive arm 353 and descend through pressing uncap button 33. As shown in fig. 7, a lid opening push rod 354 is fixedly mounted on a lower portion of the actuator arm 353, and a lower end of the lid opening push rod 354 contacts an upper surface of the lower lid 37, so that the lower lid 37 can be pushed open by the actuator arm 353 and the lid opening push rod 354 descending when the lid opening button 33 is pressed.

As shown in fig. 8, a link mechanism is provided between each wrapping member 352 and the dust storage member 351, the link mechanism includes a first link 355 and a second link 356, one end of the first link 355 is rotatably connected to the dust storage member 351, the other end of the first link 355 is rotatably connected to one end of the second link 356, and the other end of the second link 356 is rotatably connected to the lower cover 37; one drive hole is provided on each first link 355. Two ends of the transmission arm 353 are respectively fixedly connected with a driving rod 357, each driving rod 357 passes through the dust storage member 351 to a position between the dust storage member 351 and the covering member 352, and the driving rod 357 passes through a driving hole of the first connecting rod 355. When the lid opening button 33 is pressed, the transmission arm 353, the driving rod 357, the first link 355 and the second link 356 can drive the lower cover 37 to rotate counterclockwise along the rotational connection between the lower cover 37 and the dust box body 35, as shown in fig. 8, at this time, the garbage in the dust box 3 falls into the trash can from the opening below the dust box body 35. As shown in fig. 10, a second return spring 331 is further sleeved on the lid opening push rod 354, the return spring 331 is located between the dust storage 351 and the transmission arm 353, an upper end of the return spring 331 contacts the transmission arm 353, and a lower end of the return spring 331 contacts the dust storage 351. When the door opening button 33 is pressed, the second return spring 331 is compressed; when the door opening button 33 is not pressed, the second return spring 331 extends to move the door opening button 33 upward, and the door opening button 33 rotates the lower cover 37 clockwise along the rotational connection between the lower cover 37 and the dust box body 35 via the transmission arm 353, the driving lever 357, the first link 355, and the second link 356 as shown in fig. 8, so that the lower cover 37 is closed. As shown in fig. 9, a pressing plate 358 is further disposed on the transmission arm 353, the pressing plate 358 is located inside the dust storage cavity of the dust storage member 351, when the lid-opening button 33 is pressed, the lid-opening button 33 can drive the opening pressing plate 358 to move downwards through the transmission arm 353, and the pressing plate 358 can press the garbage in the dust storage cavity to move downwards, so that the garbage can be discharged quickly.

Gripping device 2

As shown in fig. 13 and 16, the grasping apparatus 2 includes a grasping housing including a grasping lower cover 212 and a grasping upper cover mounted on the grasping lower cover 212, a grasping mechanism provided on the grasping housing, and a distance detection sensor 24. The grabbing mechanism is a magnetic grabbing mechanism, and in other embodiments, the grabbing mechanism further comprises grabbing modes such as grabbing through two sides of the dust box, for example, the grabbing mechanism is set as a mechanical claw. The grasping mechanism in this embodiment includes two electromagnets 221, and the two electromagnets 221 are provided on the grasping lower cover 212. As shown in fig. 16, the lower surface of the grasping lower cover 212 is provided with a receiving hole corresponding to each electromagnet 221, one electromagnet 221 is installed in one receiving hole, and the magnetic attraction surface of the electromagnet 221 is parallel to the lower surface of the grasping lower cover 212. As shown in fig. 17, when one of the adsorption iron pieces 31 is provided on the upper surface of the dust box 3 with respect to each of the electromagnets 221, the electromagnet 221 of the grasping device 2 grasps the dust box 3 by passing through the adsorption iron piece 31 of the dust box 3. The distance detection sensor 24 is installed in the grip cover 212, and the distance detection probe 241 of the distance detection mechanism penetrates the lower surface of the grip cover 212, as shown in fig. 16, and the distance detection probe 241 is parallel to the lower surface of the grip cover 212.

Driving device

As shown in fig. 13, 14 and 15, the driving means includes a ninth driving motor 235, a first gear 236, a first rack 233, a second rack 234, a first lift bar 231, a second lift bar 232, a first photosensor 2315, a second photosensor 2316 and a third photosensor 2317. A seventh guide rail 213 and an eighth guide rail 214 are provided on the grasping lower cover 212, and the guide directions of the seventh guide rail 213 and the eighth guide rail 214 are set vertically downward. A first slide block 237 is arranged on the first rack 233, the first slide block 237 of the first rack 233 is slidably connected in the seventh guide rail 213, a second slide block 238 is arranged on the second rack 234, and the second slide block 238 of the second rack 234 is slidably connected in the eighth guide rail 214. The ninth driving motor 235 is fixedly installed on the grabbing and taking down cover 212, the first gear 236 is fixedly installed on the output shaft of the ninth driving motor 235, wherein the first rack 233 and the second rack 234 are respectively arranged at two opposite sides of the first gear 236, and the rack surface of the first rack 233 is arranged opposite to the rack surface of the second rack 234; the first and

second racks

233 and 234 are engaged with the first gear 236. The first rack 233 and the second rack 234 can be driven to lift vertically by the forward and reverse rotation of the output shaft of the ninth driving motor 235; since the first rack 233 and the second rack 234 are engaged with both sides of the first gear 236, respectively, when the first rack 233 ascends, the second rack 234 descends, and when the first rack 233 descends, the second rack 234 ascends.

As shown in fig. 15, the first push rod 231 is disposed at the lower end of the first slide block 237, and a first buffer spring is disposed at the lower end of the first push rod 231, so that when the first rack 233 moves downwards, the first push rod 231 can be driven to move downwards, and the first buffer spring can buffer the first push rod 231, thereby preventing other parts from being damaged due to excessive movement of the first push rod 231. As shown in fig. 15, the second push rod 232 is disposed at the lower end of the second slide block, and a second buffer spring is disposed at the lower end of the second push rod 232, so that when the second rack 234 moves downward, the second push rod 232 can be driven to move downward, and the second buffer spring can buffer the second push rod 232, thereby preventing other parts from being damaged due to excessive movement of the second push rod 232. As shown in fig. 16, through holes through which the first lift pins 231 and the second lift pins 232 pass are respectively provided on the lower surface of the grasping lower cover 212. Therefore, the first and

second push rods

231 and 232 can be driven to pass through the through hole along the vertical direction through the positive and negative rotation of the output shaft of the ninth driving motor 235.

As shown in fig. 15, a first detecting member 2313 is further disposed on the first rack 233, wherein the first detecting member 2313 is located at a lower end position of the first rack 233; a second detecting member 2314 is further disposed on the second rack 234, wherein the second detecting member 2314 is located at a middle position of the second rack 234. A detection bracket is further installed in the grabbing lower cover, and the first photoelectric sensor 2315, the second photoelectric sensor 2316 and the third photoelectric sensor 2317 are all installed on the detection bracket. The first photosensor 2315 is disposed above the second photosensor 2316 in the vertical direction, the first photosensor 2315 and the second photosensor 2316 are used for detecting the first detecting member 2313, and the third photosensor 2317 is used for detecting the second detecting member 2314. When the third photoelectric sensor 2317 detects the second detection piece 2314, which represents that the first rack 233 and the second rack 234 are located at the initial positions, the lower end surfaces of the first ejector rod 231 and the second ejector rod 232 are flush with the lower surface of the grabbing lower cover; when the first photosensor 2315 detects the first detecting member 2313, the first rack 233 is located at the highest position, the second rack 234 is located at the lowest position, the first push rod 231 retracts inside the lower cover, and the second push rod 232 protrudes and grabs the lower surface of the lower cover; when the second photo sensor 2316 detects the first detecting member 2313, the first rack 233 is located at the lowest position, the second rack 234 is located at the highest position, the first push rod 231 protrudes and grasps the lower surface of the lower cover, and the second push rod 232 retracts inside the lower cover.

The first input of first controller is connected with distance detection sensor 24's output, the second input of first controller is connected with first photoelectric sensor 2315's output, the third input of first controller is connected with second photoelectric sensor 2316's output, the fourth input of first controller is connected with third photoelectric sensor 2317's output, the first output of first controller is connected with electro-magnet 221's input, the second output of first controller is connected with ninth driving motor 235's input.

Mobile device 1

As shown in fig. 18, the mobile device 1 includes a base 11, a supporting arm 13, and a rotary lifting mechanism 12 disposed above the base 11, and a charging mechanism for charging the cleaning robot 4 is further disposed on the base 11, the charging mechanism includes two charging contacts 111 disposed on the base 11, and when the cleaning robot 4 moves to a trash dumping base, the cleaning robot 4 contacts with the two charging contacts 111 to perform charging. The supporting arm 13 is fixedly installed above the base 11, and the supporting arm 13 is in an inverted L shape and surrounds the rotary lifting mechanism 12. As shown in fig. 19, the rotary elevating mechanism 12 includes a rotary housing 121, an upper rotary shaft 122 and a lower rotary shaft 123, the upper rotary shaft 122 is fixedly installed at the upper end of the rotary housing 121, and the lower rotary shaft 123 is fixedly installed at the lower end of the rotary housing 121; wherein the upper rotating shaft 122 is rotatably connected to the supporting arm 13, and the lower rotating shaft 123 is rotatably connected to the base 11, so that the rotary housing 121 can rotate between the supporting arm 13 and the base 11. The upper rotation shaft 122 at the upper end of the rotary case 121 by the support arm 13 provides rotational support, thereby improving the smoothness of the rotation of the rotary case 121.

As shown in fig. 20, a horizontal movement mechanism is provided in the base 11, the horizontal movement mechanism includes a tenth driving motor 125, a second gear 126 and a third gear 127, an output shaft of the tenth driving motor 125 is disposed vertically downward, the second gear 126 is mounted on the output shaft of the tenth driving motor 125, the second gear 126 and the third gear 127 are driven by a plurality of gears, and the third gear 127 is coaxially and fixedly connected with the lower rotation shaft 123. Therefore, the rotation of the output shaft of the tenth driving motor 125 can drive the lower rotating shaft 123 and the rotating housing 121 to rotate (again, because a vertical movement mechanism is arranged in the rotating housing 121, which will be described later, that is, the horizontal movement mechanism drives the vertical movement mechanism to rotate in the horizontal direction). As shown in fig. 21, a fourth photosensor 132 and a fifth photosensor 133 are mounted on the upper end of the support arm 13, the upper rotation shaft 122 penetrates the inside of the support arm 13 and is connected with a third detection piece 129 and an eighth detection piece 128, the fourth photosensor 132 is used for detecting the eighth detection piece 128, the fifth photosensor 133 is used for detecting the third detection piece 129, wherein the initial position of the third detection piece 129 is located at the position detected by the fifth photosensor 133, when the rotation shaft 122 rotates 90 °, the third detection piece 129 and the eighth detection piece 128 rotate 90 ° along with the rotation shaft 122, at which time the fifth photosensor 133 cannot detect the third detection piece 129, and the fourth photosensor 132 can detect the eighth detection piece 128.

As shown in fig. 22, a vertical movement mechanism including a seventh rack 1211, a lifting platform 1210, a sixth guide rail 1217, a third driving motor 1212, and a fourth gear 1213, a sixth photoelectric sensor 1215, and a seventh photoelectric sensor 1216 are further provided in the rotary housing 121. The seventh rack 1211 and the sixth guide rail 1217 are both disposed in the vertical direction, and the seventh rack 1211 and the sixth guide rail 1217 are both fixedly disposed within the rotary case 121. The lifting platform 1210 slides on the sixth guide rail in the vertical direction, the third driving motor 1212 is fixedly mounted on the lifting platform 1210, and the output shaft of the third driving motor 1212 is coaxially and fixedly connected with the fourth gear 1213; the fourth gear 1213 is engaged with the seventh rack 1211, and the fourth gear 1213 is driven to rotate by the rotation of the output shaft of the third driving motor 1212, and the lifting platform 1210 is driven to lift (again, since the lifting platform 1210 is connected to the gripping device, that is, the vertical movement mechanism drives the gripping device to move in the vertical direction) by the engagement of the fourth gear 1213 and the seventh rack 1229. As shown in fig. 22, a sixth photoelectric sensor 1215 is installed at the upper portion in the rotary housing 121, a seventh photoelectric sensor 1216 is installed at the lower portion in the rotary housing 121, and a fourth detecting element 1218 and a ninth detecting element 1231 are also installed on the elevating platform 1210, the sixth photoelectric sensor 1215 is used for detecting the ninth detecting element 1231, and the seventh photoelectric sensor 1216 is used for detecting the fourth detecting element 1218. When the lifting platform 1210 moves upwards to the sixth photoelectric sensor 1215 to detect the ninth detecting element 1231, the lifting platform 1210 moves to the highest position; when the lifting platform 1210 moves downward until the seventh photo sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210 moves to the low-high position.

As shown in fig. 23, a telescoping mechanism, an eighth photoelectric sensor 1222 and a ninth photoelectric sensor 1223 are disposed on the lifting platform 1210, the telescoping mechanism includes a fourth driving motor 1219, a second guide bar 1220 and a third rack 1221, the second guide bar 1220 and the third rack 1221 are disposed in parallel, and the second guide bar 1220 is parallel to the horizontal direction. A second guide hole through which the second guide rod 1220 passes is formed in the lifting platform 1210, and a third guide hole through which the third rack 1221 passes is formed in the lifting platform 1210. The fourth driving motor 1219 is fixedly mounted on the lifting platform 1210, and a sixth gear 1224 is coaxially and fixedly connected to an output shaft of the fourth driving motor 1219, and the sixth gear 1224 is engaged with the third rack 1221. Meanwhile, the second guide rod 1220 and the third rack 1221 are both fixedly connected with the gripping device 2, and then the output shaft of the fourth driving motor 1219 can drive the gripping device 2 to move along the guide direction of the second guide rod 1220 through the sixth gear 1224 and the third rack 1221 after rotating, so that the gripping device is far away from or close to the vertical movement mechanism. Eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 fixed mounting is on lift platform 1210, and eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 set gradually along the length direction of third rack 1221, still are equipped with fifth detector 1226 in the one end of third rack 1221, and this eighth photoelectric sensor 1222 and ninth photoelectric sensor 1223 are used for detecting fifth detector 1226. As shown in fig. 23, when the third rack 1221 moves to the left until the eighth photosensor 1222 detects the fifth detecting element 1226, the grasping apparatus 2 moves to a position closest to the lifting platform 1210; when the third rack 1221 moves to the right until the ninth photosensor 1223 detects the fifth detecting member 1226, the grasping apparatus 2 moves to a position farthest from the lifting platform 1210.

As shown in fig. 19, a first moving slot 1227 is further disposed on the rotating housing 121 opposite to the second guide bar 1220, a second moving slot is further disposed on the rotating housing 121 opposite to the third rack 1221, the first moving slot and the second moving slot are both opened along the vertical direction, the second guide bar 1220 passes through the first moving slot and is connected to the gripping device 2, and the third rack 1221 passes through the second moving slot and is connected to the gripping device 2.

The fifth input terminal of the first controller is connected to the output terminal of the fourth photosensor 132, the sixth input terminal of the first controller is connected to the output terminal of the fifth photosensor 133, the seventh input terminal of the first controller is connected to the output terminal of the sixth photosensor 1215, the eighth input terminal of the first controller is connected to the output terminal of the seventh photosensor 1216, the ninth input terminal of the first controller is connected to the output terminal of the eighth photosensor 1222, and the tenth input terminal of the first controller is connected to the output terminal of the ninth photosensor 1223. The third output of the first controller is connected to the input of the tenth drive motor 125, the fourth output of the first controller is connected to the input of the third drive motor 1212, and the fifth output of the first controller is connected to the input of the fourth drive motor 1219.

The specific working steps of the garbage dumping base in this embodiment are as follows:

s1, after the cleaning robot 4 finishes sweeping, the cleaning robot 4 searches and finds out the position of a garbage dumping base;

s2, the cleaning robot 4 moves to the position of the garbage dumping base, and whether the cleaning robot 4 is located at a set position is calibrated;

s3, charging the cleaning robot 4 by the garbage dumping base;

s4, the initial position of the gripping device 2 is as shown in fig. 12 (as shown in a state where the dust box 3 is not shown in fig. 12); the first controller controls the output shaft of the tenth driving motor 125 to rotate counterclockwise, and the output shaft of the tenth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s5, when the fourth photoelectric sensor 132 detects the eighth detecting piece 128, the rotating shell 121 rotates clockwise by 90 degrees, and at this time, the first controller controls the tenth driving motor 125 to stop moving; meanwhile, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the first controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s6, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 moves to above the dust box 3 and the grabbing device 2 is located above the dust box 3 in the vertical direction, and at this time, the first controller controls the fourth driving motor 1219 to stop moving; when the ninth photoelectric sensor 1223 detects the fifth detecting element 1226, the first controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213 to drive the lifting platform 1210 and the grabbing device 2 to move downward;

s7, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the lifting platform 1210 and the grabbing device 2 move to the lowest position as shown in FIG. 11, and at this time, the first controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the first controller controls the output shaft of the ninth driving motor 235 to rotate clockwise, the output shaft of the ninth driving motor 235 drives the second push rod 232 located at the initial position to descend through the first gear 236 and the second rack 234, and the output shaft of the ninth driving motor 235 drives the first push rod 231 located at the initial position to ascend through the first gear 236 and the first rack 233;

s8, when the first photoelectric sensor 2315 detects the first detection piece 2313, the first ejector rod 231 moves to the highest position, the second ejector rod 232 moves to the lowest position, at the moment, the first controller controls the ninth driving motor 235 to stop moving, and the second ejector rod 232 presses the unlocking button 32 of the dust box 3 after descending so that the dust box 3 is not connected with the cleaning robot 4 any more; meanwhile, when the first photosensor 2315 detects the first detecting member 2313, the first controller controls the electromagnet 221 to generate an attraction force, thereby magnetically attracting the dust box 3 to the grasping apparatus 2;

s9, the first controller controls the output shaft of the third driving motor 1212 to rotate anticlockwise, and the output shaft of the third driving motor 1212 is meshed with the seventh rack 1211 through the fourth gear 1213 so as to drive the lifting platform 1210, the grabbing device 2 and the dust box 3 to move upwards;

s10, when the sixth photoelectric sensor 1215 detects the ninth detection piece 1231, the lifting platform 1210, the grabbing device 2 and the dust box 3 move to the highest position, and at the moment, the first controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the first controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, as shown in fig. 22, the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s11, when the eighth photosensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the first controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the first controller controls the output shaft of the tenth driving motor 125 to rotate clockwise, and the output shaft of the tenth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s12, when the fifth photoelectric sensor 133 detects the third detecting element 129, the rotating housing 121 rotates counterclockwise by 90 °, and at this time, the first controller controls the tenth driving motor 125 to stop moving; meanwhile, when the fifth photosensor 133 detects the third detecting element 129, as shown in fig. 23, the first controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 moves away from the rotating housing 121;

s13, when the ninth photosensor 1223 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to above the trash can 5, and at this time, the first controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the first controller controls the output shaft of the ninth driving motor 235 to rotate counterclockwise, the output shaft of the motor drives the second push rod 232 located at the lowest position to ascend through the first gear 236 and the second rack 234, and the output shaft of the motor drives the first push rod 231 located at the highest position to descend through the gear and the first rack 233. In the present embodiment, when the grabbing device 2 and the dust box 3 move to above the trash can 5 (the trash can 5, the trash bag, the trash box, and other trash storing devices), the grabbing device 2 and the dust box 3 move to the dumping position. In other embodiments, instead of a trash can, a trash dumping area may be provided on the floor, and the gripping device and the dust box are moved to a trash dumping position when moved over the trash dumping area, and then the driving device drives the dust box to dump the trash.

S14, when the second photoelectric sensor 2316 detects the first detection piece 2313, the first ejector rod 231 moves to the lowest position, the second ejector rod 232 moves to the highest position, the first controller controls the ninth driving motor 235 to stop moving at the moment, and the first ejector rod 231 descends and presses the cover opening button 33 of the dust box 3 to open the lower cover of the dust box 3 for dumping; in order to improve the material pouring effect of the dust box 3, the first push rod 231 can be controlled to move back and forth for a plurality of times between the initial position and the lowest position, so that the lower cover of the dust box 3 can be driven to open the cover for a plurality of times.

S15, after the dust box 3 is poured, the first controller controls an output shaft of a ninth driving motor 235 to rotate clockwise, the output shaft of the motor drives a second ejector rod 232 located at the highest position to descend through a gear and a second rack 234, and the output shaft of the motor drives a first ejector rod 231 located at the lowest position to ascend through the gear and a first rack 233;

s16, when the third photoelectric sensor 2317 detects the second detecting element 2314, the first and

second push rods

231 and 232 move to the initial positions, and at this time, the first controller controls the ninth driving motor 235 to stop moving; at this time, the lower cover of the dust box 3 is closed; meanwhile, when the third photosensor 2317 detects the second detecting element 2314, the first controller controls the output shaft of the fourth driving motor 1219 to rotate in the counterclockwise direction, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping device 2 connected to the third rack 1221 and the dust box 3 move close to the rotating housing 121;

s17, when the eighth photosensor 1222 detects the fifth detecting element 1226, the grabbing device 2 and the dust box 3 move to a position close to the rotating housing 121, and at this time, the first controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the first controller controls the output shaft of the tenth driving motor 125 to rotate counterclockwise, and the output shaft of the tenth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate clockwise through the second gear 126, so as to drive the rotating housing 121 to rotate clockwise;

s18, when the eighth detecting element 128 is detected by the fourth photoelectric sensor 132, the rotating housing 121 rotates clockwise by 90 °, and at this time, the first controller controls the tenth driving motor 125 to stop moving; meanwhile, when the fourth photosensor 132 detects the eighth detecting element 128, the first controller controls the output shaft of the fourth driving motor 1219 to rotate clockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move rightward through the sixth gear 1224, so that the grasping device 2 and the dust box 3 connected to the third rack 1221 move away from the rotating housing 121;

s19, when the ninth photosensor 1223 detects the fifth detector 1226, the grabbing device 2 and the dust box 3 move to above the cleaning robot 4, and the dust box 3 is located above the cleaning robot 4 in the vertical direction, at this time, the first controller controls the fourth driving motor 1219 to stop moving; when the ninth photosensor 1223 detects the fifth detecting element 1226, the first controller controls the output shaft of the third driving motor 1212 to rotate clockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210, the grabbing device 2, and the dust box 3 to move downward;

s20, when the seventh photoelectric sensor 1216 detects the fourth detecting element 1218, the lifting platform 1210, the gripping device 2, and the dust box 3 move to the lowest position, and at this time, the dust box 3 is installed in the cleaning robot 4, and the first controller controls the third driving motor 1212 to stop moving; meanwhile, when the seventh photoelectric sensor 1216 detects the fourth detection piece 1218, the first controller controls the electromagnet 221 to stop working;

s21, after the preset time when the third driving motor 1212 stops moving, which may be 1 second in this embodiment, the first controller controls the output shaft of the third driving motor 1212 to rotate counterclockwise, and the output shaft of the third driving motor 1212 is engaged with the seventh rack 1211 through the fourth gear 1213, so as to drive the lifting platform 1210 and the grabbing device 2 to move upward;

s22, when the sixth photoelectric sensor 1215 detects the ninth detection piece 1231, the lifting platform 1210 and the grabbing device 2 move to the highest position, and at the moment, the first controller controls the third driving motor 1212 to stop moving; meanwhile, when the sixth photosensor 1215 detects the ninth detecting element 1231, the first controller controls the output shaft of the fourth driving motor 1219 to rotate counterclockwise, and the output shaft of the fourth driving motor 1219 drives the third rack 1221 to move leftward through the sixth gear 1224, so that the grasping apparatus 2 connected to the third rack 1221 moves closer to the rotary housing 121;

s23, when the eighth photosensor 1222 detects the fifth detector 1226, the capture device 2 moves to a position close to the rotation housing 121, and the first controller controls the fourth driving motor 1219 to stop moving; meanwhile, when the eighth photosensor 1222 detects the fifth detecting element 1226, the first controller controls the output shaft of the tenth driving motor 125 to rotate clockwise, and the output shaft of the tenth driving motor 125 drives the third gear 127 and the lower rotating shaft 123 to rotate counterclockwise through the second gear 126, so as to drive the rotating housing 121 to rotate counterclockwise;

s24, when the fifth photosensor 133 detects the third detecting element 129, the rotating housing 121 rotates counterclockwise by 90 °, at which time the grasping apparatus 2 returns to the initial position, and when the fifth photosensor 133 detects the third detecting element 129, the first controller controls the tenth driving motor 125 to stop moving.

In the process from step S9 to step S19, the distance detection probe 241 detects the distance from the dust box 3 to the gripping device 2 in real time, and feeds back the distance measurement value to the first controller, and the first controller determines whether the gripping device 2 grips the dust box 3 or not according to the measurement value, or the first controller determines whether the dust box 3 falls or not according to the measurement value.

Of course, in this embodiment, the gripping device of the dumping base can also grip a new disposable dust box to be installed on the cleaning robot.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of positioning a robot base, the base comprising a first base and a second base, the method comprising:

acquiring a first control instruction;

moving to a second base according to the first control instruction;

a path to move to the second base is obtained.

2. The robot base positioning method of claim 1, wherein the moving to a second base according to the first control command is moving from a first base to a second base according to the first control command;

3. The robot base positioning method of claim 2, further comprising:

and carrying out map construction in the moving process.

4. The robot base positioning method of claim 3, further comprising:

storing the acquired route into the map.

5. A robot base positioning method according to any of claims 1-4, characterized in that the method further comprises:

acquiring a second control instruction;

moving to the first base according to the second control instruction;

a path to the first base is acquired.

6. A robot base positioning apparatus, the apparatus comprising:

the first acquisition module is used for acquiring a first control instruction;

7. A cleaning robot, characterized by comprising: at least one processor, at least one memory, and computer program instructions stored in the memory that, when executed by the processor, implement the method of any of claims 1-5.

8. A storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1-5.