CN117798944A - Barreled water barrel changing robot and control method - Google Patents

Abstract

The invention relates to the technical field of home robots, in particular to a barreled water barrel changing robot and a control method. The robot comprises a supporting part, a turnover grabbing part, a lifting part and a control module; the bottom of the supporting component is provided with wheels, and the supporting component is provided with an accommodating groove which is used for accommodating a bucket or a water dispenser placed on the ground; the overturning grabbing component is arranged above the accommodating groove and is used for grabbing the water bucket and overturning the water bucket; the lifting component is arranged on the supporting component and connected with the overturning grabbing component, and is used for lifting the overturning grabbing component; the control module is connected with the overturning grabbing component and the lifting component and is used for controlling the lifting component to rise or fall, controlling the overturning grabbing component to grab the water bucket positioned in the accommodating groove and overturning the water bucket. When the overturning grabbing component grabs the bucket and lifts or descends along with the lifting component, the robot can reduce the offset of the gravity center of the robot and reduce the risk of toppling of the robot.

Description

Barreled water barrel changing robot and control method

Technical Field

The invention relates to the technical field of home robots, in particular to a barreled water barrel changing robot and a control method.

Background

Along with the gradual improvement of the living standard of people, most families, offices and some public places are provided with barreled water drinking machines, so that the drinking machines become daily necessities, are convenient, sanitary and safe to use, meet the daily life needs of most people, almost all use matched barreled water in the drinking machines in the prior art, and need to replace a bucket for continuous use after the barreled water is drunk, but the general barreled water is about 18L to 20L, has large weight, is mostly manually and directly lifted up to be filled on a base of the drinking machines, is very laborious to replace, and is very inconvenient to old people, children, women and people with inconvenient physical conditions. Although a large number of robots for changing the bottled water are disclosed in the prior art, the robots are prone to toppling due to unstable center of gravity during the process of changing the bottled water.

Disclosure of Invention

The invention provides a barreled water barrel replacing robot and a control method, which are used for solving the problem that the robot in the prior art is easy to topple in the process of replacing a water barrel.

The invention provides a barreled water barrel changing robot, which comprises:

the water dispenser comprises a supporting part, a water dispenser and a water dispenser, wherein wheels are arranged at the bottom of the supporting part, and an accommodating groove is formed in the supporting part and is used for accommodating a water barrel or a water dispenser placed on the ground;

the overturning grabbing component is arranged above the accommodating groove and used for grabbing the water bucket and overturning the water bucket;

the lifting component is arranged on the supporting component, connected with the overturning grabbing component and used for lifting the overturning grabbing component;

the control module is connected with the overturning grabbing component and the lifting component and used for controlling the lifting component to lift or lower, controlling the overturning grabbing component to grab the water bucket positioned in the accommodating groove and overturning the water bucket.

According to the barreled water barrel changing robot of the invention, the lifting part comprises:

the two first telescopic assemblies are arranged on the supporting part at intervals, so that the accommodating groove is positioned between projections of the two first telescopic assemblies in the plane of the accommodating groove; the two first telescopic assemblies are also respectively connected with the overturning grabbing component and the control module; the control module drives the overturning grabbing component to move up and down relative to the accommodating groove by controlling the two first telescopic components.

According to the barreled water barrel changing robot of the invention, each first telescopic assembly comprises:

the two first telescopic rods are respectively arranged on the supporting part at intervals; each first telescopic rod is connected with the control module;

the first connecting piece is connected to two ends of the first telescopic rods, which deviate from the supporting parts, and the first connecting piece is connected with the overturning grabbing parts.

According to the barreled water barrel changing robot, the first telescopic rod comprises an electric telescopic rod.

According to the barreled water barrel changing robot, the overturning grabbing component comprises:

the two second telescopic assemblies are respectively arranged on the two first telescopic assemblies in a one-to-one correspondence manner and are also connected with the control module;

the two arc-shaped hoops are respectively in one-to-one correspondence with one sides of the two second telescopic assemblies far away from the first telescopic assemblies in a rotating fit manner, and the two arc-shaped hoops are arranged above the accommodating groove;

the overturning driving assembly is arranged on the second connecting assembly, connected with the two arc hoops and also connected with the control module;

the control module controls the two second telescopic assemblies to extend so as to drive the two arc-shaped hoops to move in opposite directions, and further enables the two arc-shaped hoops to grasp the water bucket positioned in the accommodating groove; the control module controls the overturning driving assembly to rotate so as to drive the arc-shaped anchor ear to rotate, and then the bucket is overturned for an angle.

According to the barreled water barrel changing robot of the invention, each second telescopic assembly comprises:

the two second telescopic rods are arranged on one first telescopic assembly in parallel at intervals and are connected with the control module;

the second connecting piece is connected between the two second telescopic rods and is also in running fit with the arc-shaped anchor ear.

According to the barreled water barrel changing robot, the second telescopic rod comprises an electric telescopic rod.

According to the barreled water barrel changing robot of the present invention, the supporting part comprises:

the two first support rods are arranged in parallel at intervals; at least two wheels are arranged on one side, facing the ground, of each second support rod at intervals;

and the second support rods are connected to the end parts of the two first support rods.

The barreled water barrel changing robot according to the invention further comprises:

the water flow rate detection module is arranged at the water outlet of the water dispenser and is in communication connection with the control module, and is used for detecting the actual water flow rate of the water outlet of the water dispenser;

the control module is used for receiving the actual water flow rate, and when the actual water flow rate is not larger than a water flow rate threshold value, the barreled water of the water dispenser is replaced.

The barreled water barrel changing robot according to the invention further comprises:

a brake component connected with the control module and used for abutting against or separating from the wheels;

the control module controls the braking component to be abutted against the wheel so as to stop the wheel from rotating.

The barreled water barrel changing robot according to the invention further comprises:

the instruction input module is used for inputting instruction information and sending the instruction information to the control module;

the control module controls the lifting part to ascend or descend according to the instruction information, controls the overturning grabbing part to grab or overturn, controls the starting or stopping of the wheels and controls the braking of the braking part.

The barreled water barrel changing robot according to the invention further comprises:

the infrared sensor is arranged on the lifting component and is used for detecting relative position information between the water dispenser or the water bucket and the lifting component;

the control module controls the wheels according to the received phase position information to enable the wheels to run towards the water dispenser or the water bucket.

The invention also provides a control method of the barreled water barrel-changing robot, which comprises the following steps:

collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module;

and the control module controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

According to the control method of the barreled water barrel changing robot, the actual water flow rate of the water outlet of the water dispenser is collected through the water flow rate detection module, and the control method comprises the following steps:

obtaining a real-time change curve of the real-time water flow rate and the time sequence according to the acquired time sequence and the real-time water flow rate of the water dispenser;

obtaining a fitting function y=f (t) corresponding to the real-time change curve according to the real-time change curve;

obtaining a second derivative y '=f' (t) of the fitting function y=f (t) according to the fitting function y=f (t);

if the second derivative y '=f' (t) is greater than the first threshold value in the time sequence, not replacing the water barrel on the water dispenser;

and if the second derivative y '=f' (t) is not larger than the first threshold value in the time sequence, replacing the bucket on the water dispenser.

The invention provides a barreled water barrel changing robot and a control method. By arranging the accommodating groove on the supporting part, when the robot is used for replacing a new water bucket (unopened barreled water) for the water dispenser, the accommodating groove is used for accommodating the water bucket or the water dispenser; a turnover grabbing component for grabbing the water bucket and overturning the water bucket is arranged above the accommodating groove; and the lifting component is arranged on the supporting component in a combined way and connected with the overturning grabbing component, so that when the overturning grabbing component grabs the bucket and is lifted and lowered, the offset of the gravity center of the robot can be reduced, and the risk of toppling of the robot is reduced. Through setting up the control module who is connected with upset snatch part and lifting means, can realize the automation and change bottled water for the water dispenser, reduce people's participation.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a barreled water changing robot provided by the invention;

FIG. 2 is a schematic structural view of the barreled water changing robot shown in FIG. 1 in a top view;

FIG. 3 is a schematic diagram of a system block diagram of a barreled water changing robot provided by the invention;

FIG. 4 is a schematic diagram of a control method of a barreled water barrel changing robot provided by the invention;

fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Reference numerals:

100. a support member; 110. a first support; 120. a second support; 130. a wheel;

200. turning over the grabbing component; 210. a second telescoping assembly; 220. arc-shaped anchor ear; 230. a flip drive assembly; 211. a second telescopic rod; 212. a second connecting rod;

300. a lifting member; 310. a first telescoping assembly; 311. a first telescopic rod; 312. a first connecting rod; 320. a first connection assembly;

400. a control module;

500. a braking member;

600. a water flow detection module;

700. an instruction input module; 710. a voice input unit; 720. a mobile terminal;

900. an infrared sensor;

810. a processor; 820. a communication interface; 830. a memory; 840. a communication bus.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.

In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

The barreled water changing robot of the present invention will be described with reference to fig. 1, 2 and 3.

In a specific embodiment of the present invention, there is provided a barreled water changing robot including a supporting part 100, a turnover grabbing part 200, a lifting part 300, and a control module 400; wheels 130 are installed at the bottom of the supporting member 100, and the supporting member 100 is formed with a receiving groove for receiving a water tub or a water dispenser placed on the ground; the overturning grabbing component 200 is arranged above the accommodating groove and is used for grabbing the water bucket and overturning the water bucket; the lifting member 300 is mounted to the supporting member 100 and connected to the overturning grabbing member 200 for lifting the overturning grabbing member 200; the control module 400 is connected to the flipping and grabbing member 200 and the lifting member 300 for controlling the lifting member 300 to be raised or lowered, and also for controlling the flipping and grabbing member 200 to grab the water tub located in the receiving tank, and flipping the water tub.

In the embodiment of the present invention, by providing the receiving groove on the supporting member 100, the receiving groove is used to receive the water bucket or the water dispenser when the robot is used to replace the water dispenser with a new water bucket (unopened barreled water); a turnover grasping member 200 for grasping and turnover the water tub is provided above the receiving tub; the lifting component 300 which is arranged on the supporting component 100 and connected with the overturning grabbing component 200 is combined, so that when the overturning grabbing component 200 grabs the bucket and is lifted and lowered, the offset of the gravity center of the robot can be reduced, and the risk of toppling of the robot is reduced. By arranging the control module 400 connected with the overturning grabbing component 200 and the lifting component 300, the automatic replacement of barreled water for the water dispenser can be realized, and the participation of people is reduced.

When the barreled water replacing robot provided by the embodiment of the invention is used for replacing barreled water of a water dispenser, the barrel replacing process mainly comprises the following steps: firstly, taking the bucket above the water dispenser out of the water dispenser, and then placing a new water bucket (the opened barreled water) on the water dispenser.

It is understood that the process of removing the water tub from the water dispenser includes:

firstly, the barreled water barrel-changing robot (hereinafter referred to as a robot for short) is moved to the position of the water dispenser, so that the water dispenser is positioned in the accommodating groove; the control module 400 moves down together with the flipping and grabbing member 200 by controlling the lifting member 300 until it moves to the third position; the control module 400 controls the overturning grabbing component 200 to grab an empty barrel on the water dispenser, after the empty barrel is grabbed, the control module 400 controls the lifting component 300 to ascend until the empty barrel leaves the water dispenser, then the robot is moved to a position for placing the empty barrel, the control module 400 controls the overturning grabbing component 200 to overturn the empty barrel, controls the lifting component 300 to descend, places the empty barrel on the ground, and the control module 400 controls the overturning grabbing component 200 to loosen the empty barrel. This completes the process of removing the empty drum from the water dispenser.

It will be appreciated that the process of placing a fresh water bucket (which is open barreled water) on a water dispenser includes:

moving the robot to a position where the water tub is placed, and accommodating the water tub in the accommodating groove of the support member 100; the control module 400 controls the lifting part 300 to descend, the lifting part 300 descends together with the overturning and grabbing part 200 until the overturning and grabbing part 200 descends to a first position, the control module 400 controls the overturning and grabbing part 200 to grab the bucket in the accommodating groove, after the bucket is grabbed, the control module 400 controls the lifting part 300 to ascend, and the lifting part 300 ascends together with the overturning and grabbing part 200 until the overturning and grabbing part 200 ascends to a second position; the robot is moved to a position where the water dispenser is placed, and the water dispenser is positioned in the receiving groove, the control module 400 controls the overturning grabbing component 200 to rotate so that the water bucket overturns to the center of the water bucket placement area of the water dispenser, then the control module 400 controls the lifting component 300 to descend, and the lifting component 300 descends together with the overturning grabbing component 200 until the water bucket is mounted in the water dispenser, so that the process of replacing barreled water of the water dispenser is completed.

In a specific embodiment of the invention, the barreled water barrel changing robot further comprises an in-place sensor; the in-place sensor is installed at a side wall of the receiving groove facing the front, and is electrically connected with the control module 400 for detecting whether the water dispenser or the water tub is located in the placement area.

It will be appreciated that when the water dispenser is located in the placement area, the central axis of the water dispenser coincides with the central axis of the water tub grasped by the flip-grip 200. The water bucket can be ensured to be installed on the water dispenser at one time, the problem of centering the water bucket and the water dispenser by adjusting the position of the robot is avoided, and the operation process is simplified.

In an embodiment of the present invention, the lifting member 300 comprises two first telescopic assemblies 310; the two first telescopic assemblies 310 are arranged on the supporting component 100 at intervals, so that the accommodating groove is positioned between projections of the two telescopic components in the plane of the accommodating groove; the two first telescopic assemblies 310 are also respectively connected with the overturning grabbing component 200 and the control module 400; the control module 400 drives the overturning grabbing component 200 to move up and down relative to the accommodating groove by controlling the two first telescopic components 310.

In the embodiment of the invention, by arranging two first telescopic assemblies 310, the accommodating groove is located between the projections of the two first telescopic assemblies 310 in the plane of the accommodating groove, and then the overturning grabbing component 200 is combined above the accommodating groove, and the overturning grabbing component 200 is also connected with the two first telescopic assemblies 310, so that when the robot is adopted to grab the bucket, in the process of driving the bucket to lift or descend, the gravity center offset of the robot can be further reduced, and the risk of toppling of the robot is reduced.

In the embodiment of the present invention, each first telescopic assembly 310 includes two first telescopic rods 311, and a first connection member; the two first telescopic rods 311 are respectively arranged on the supporting component 100 at intervals; each first telescopic rod 311 is connected with the control module 400; the first connecting piece is connected to one end of the two first telescopic rods 311, which is away from the supporting member 100, and the first connecting piece is connected to the overturning grabbing member 200.

According to the invention, the four first telescopic rods 311 realize synchronous lifting or descending of the overturning grabbing component 200, so that the running stability of the overturning grabbing component 200 is ensured, the structure of the robot is simplified, and the cost is reduced.

In the embodiment of the present invention, the control module 400 controls the four first telescopic links 311 to be lifted or lowered synchronously, so that the stability of the water tub lifted and lowered can be ensured. The first connecting piece connects the two first telescopic links 311, so that stability can be increased.

It will be appreciated that the first telescoping pole 311 comprises an electrically powered telescoping pole that is electrically connected, or communicatively connected, to the control module 400. The four electric telescopic rods can be controlled to synchronously lift or descend through the control module 400.

In the embodiment of the present invention, the two first telescopic assemblies 310 are further connected through the first connecting assembly 320, so that the stability of the structure can be increased, and the water bucket can be ensured to run more stably.

In the specific embodiment of the present invention, the overturning grabbing component 200 comprises two second telescopic assemblies 210, two arc-shaped hoops 220 and an overturning driving assembly 230; the two second telescopic assemblies 210 are respectively and correspondingly arranged on the two first telescopic assemblies 310 one by one and are also connected with the control module 400; the two arc-shaped hoops 220 are respectively in one-to-one corresponding rotation fit with one sides of the two second telescopic assemblies 210 far away from the first telescopic assemblies 310, and the two arc-shaped hoops 220 are arranged above the accommodating groove; the overturning driving assembly 230 is installed on the second connecting assembly, is connected with the two arc hoops 220, and is also connected with the control module 400; the control module 400 controls the two second telescopic assemblies 210 to extend so as to drive the two arc-shaped hoops 220 to move in opposite directions, and further enables the two arc-shaped hoops 220 to grasp the water bucket positioned in the accommodating groove; the control module 400 controls the turning driving assembly 230 to rotate to drive the arc-shaped hoop 220 to rotate so as to turn the bucket 180 degrees.

In a specific embodiment of the present invention, by providing two second telescopic assemblies 210 connected to the control module 400, the control module 400 controls the extension of the two second telescopic assemblies 210 to further drive the corresponding arc-shaped anchor ear 220 to move in opposite directions so as to grasp the bucket. The arc-shaped hoop 220 can integrally rotate through the overturning driving assembly 230 connected with the arc-shaped hoop 220, and then the grabbed bucket is driven to overturn, so that 180-degree overturning of the bucket is realized. According to the invention, the two second telescopic assemblies 210 are matched with the arc-shaped anchor ear 220, so that the bucket can be grabbed, the overturning driving assembly 230 can be used for overturning the bucket, and compared with the bucket grabbing process of a mechanical arm and the like in the prior art, the bucket grabbing device is simpler in structure, simpler in operation and lower in manufacturing cost of a robot.

In an embodiment of the present invention, each second telescopic assembly 210 includes two second telescopic rods 211 and a second connector; the two second telescopic rods 211 are arranged in parallel with each other at intervals on one first telescopic assembly 310 and are connected with the control module 400; the second connecting piece is connected between the two second telescopic rods 211 and is also in running fit with the arc-shaped anchor ear 220. Through setting up the second telescopic link 211, not only can realize making the mesh of two arc staple bolt 220 opposite directions motion, but also can simplify the structure of robot, reduce the cost of robot. The second connection element can on the one hand increase the structural stability and on the other hand be connected to the arc-shaped anchor ear 220.

In some embodiments, the second telescoping rod 211 comprises an electrically telescoping rod that is electrically connected, or communicatively connected, to the control module 400. The four electric telescopic rods can be controlled to synchronously lift or descend through the control module 400.

In an embodiment of the present invention, the overturning grabbing component 200 further includes an elastic pad, where the elastic pad is disposed on a side surface of the arc-shaped hoop 220 facing away from the second telescopic component 210, and the elastic pad is also arc-shaped, so as to be adapted to the arc-shaped hoop 220. The elastic pad can increase the contact area with the bucket, so that the bucket is prevented from slipping and falling.

It is understood that resilient pads include, but are not limited to, rubber pads or foam pads.

In the embodiment of the present invention, the support member 100 includes two first support rods and a second support rod; the two first support rods are arranged in parallel at intervals; at least two wheels 130 are arranged at intervals on one side of each second support rod facing the ground; the second support rods are connected to the ends of the two first support rods. The two first support rods and the second support rod form a containing groove with one end open. The first support rod and the second support rod are adopted, so that manufacturing process steps can be reduced, the structure is simple, materials are saved, and cost is reduced.

In a specific embodiment of the present invention, the barreled water changing robot further includes a braking part 500; the brake member 500 is connected to the control module 400 for abutment with or separation from the wheel 130; the control module 400 controls the braking member 500 to abut against the wheel 130 to stop the rotation of the wheel 130, thereby realizing emergency braking of the robot and ensuring safety. It will be appreciated that braking by manually contacting the braking member 500 is used to ensure safety.

In a specific embodiment of the invention, the barreled water barrel changing robot further comprises a water flow rate detection module; the water flow rate detection module is arranged at the water outlet of the water dispenser and is in communication connection with the control module 400, and is used for detecting the actual water flow rate at the water outlet of the water dispenser; the control module 400 is configured to receive the actual water flow rate, and to replace the barreled water of the water dispenser when it is determined that the actual water flow rate is not greater than the water flow rate threshold.

Because the water flow rate of the outlet of the water dispenser is gradually reduced until no water flows out when water is quickly lost in the water barrel of the water dispenser, whether water exists in the water barrel on the water dispenser can be determined by detecting the actual water flow rate of the water outlet of the water dispenser.

It will be appreciated that the water flow rate threshold is a value determined empirically in advance, preset in the control module 400.

In a specific embodiment of the present invention, the barreled water changing robot further comprises an instruction input module 700; the instruction input module 700 is configured to input instruction information and send the instruction information to the control module 400; the control module 400 controls the lifting or lowering of the lifting member 300 according to the instruction information, controls the gripping or turning of the turning gripping member 200, controls the starting or stopping of the wheels 130, and controls the braking of the braking member 500.

It is understood that the instruction information includes replacement bucket instruction information. When the control module 400 receives the instruction information of changing the water bucket, the robot firstly takes down the empty water bucket on the water dispenser, and then reversely buckles the new water bucket on the water dispenser. The specific process comprises the following steps: the control module 400 controls the wheels 130 to move to the position of the water dispenser so that the water dispenser is in the accommodating groove, after the water dispenser is installed in place, the control module 400 controls the lifting part 300 to move downwards together with the overturning grabbing part 200 until the water dispenser moves to the third position, the control module 400 controls the overturning grabbing part 200 to grab the empty bucket on the water dispenser, after the water dispenser is grabbed, the control module 400 controls the lifting part 300 to ascend until the empty bucket leaves the water dispenser, then the robot is moved to the position for placing the empty bucket, the control module 400 controls the overturning grabbing part 200 to overturn the empty bucket, controls the lifting part 300 to descend, the empty bucket is placed on the ground, and the control module 400 controls the overturning grabbing part 200 to loosen the empty bucket, so that the process of taking down the empty bucket on the water dispenser is completed.

Next, the control module 400 controls the wheels 130 to move to a new water tub (i.e., an unopened water tub) position, and the water tub is accommodated in the accommodation groove of the support part 100; the control module 400 controls the lifting part 300 to descend, the lifting part 300 descends together with the overturning and grabbing part 200 until the overturning and grabbing part 200 descends to a first position, the control module 400 controls the overturning and grabbing part 200 to grab the bucket in the accommodating groove, after the bucket is grabbed, the control module 400 controls the lifting part 300 to ascend, and the lifting part 300 ascends together with the overturning and grabbing part 200 until the overturning and grabbing part 200 ascends to a second position; the robot is moved to a position where the water dispenser is placed, the water dispenser is positioned in the accommodating groove, after the water dispenser is installed in place, the control module 400 controls the overturning grabbing component 200 to rotate so that the water barrel is overturned to the water outlet of the water barrel to face the center of the water barrel placement area of the water dispenser, then the control module 400 controls the lifting component 300 to descend, and the lifting component 300 descends together with the overturning grabbing component 200 until the water barrel is installed in the water dispenser, so that barrel replacement of the water dispenser is completed.

In some embodiments, the instruction input module 700 includes a voice input unit 710; the voice input unit 710 is communicatively coupled to the control module 400. The robot is more intelligent by inputting instruction information through the voice input unit 710.

In some embodiments, the instruction input module 700 further includes a mobile terminal 720, the mobile terminal 720 being electrically connected to the control module 400. The control of the robot is more fit to the daily life of people by inputting instruction information through the mobile terminal 720.

It is understood that mobile terminal 720 includes a cell phone, ipad, or computer, among others.

In a specific embodiment of the present invention, the barreled water changing robot further includes an infrared sensor 900; the infrared sensor 900 is disposed on the lifting member 300, and is used for detecting the relative position information between the water dispenser or the water bucket and the lifting member 300; the control module 400 controls the wheel 130 according to the received phase position information to make the wheel 130 operate toward the water dispenser or the water tub. The robot can be more intelligent by detecting the relative position of the water fountain or bucket and the lifting member 300 through the infrared sensor 900.

In a specific embodiment of the invention, the barreled water barrel changing robot further comprises an alarm module; the alarm module is electrically connected with the control module 400, and when the water barrel on the water dispenser needs to be replaced, the control module 400 controls the alarm module to start alarming so as to remind a user of inputting instruction information to replace the water barrel of the water dispenser.

The control method of the barreled water changing robot of the present invention will be described with reference to fig. 4.

In a specific embodiment of the invention, the invention also provides a control method of the barreled water barrel-changing robot, which comprises the following steps:

s100, collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module;

and S200, the control module 400 controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

In the specific embodiment of the invention, the actual water fluidity of the water outlet of the water dispenser is monitored in real time, and the actual water flow rate is compared with a water flow rate threshold; when the actual water flow rate is not greater than the water flow rate threshold, the water tank on the water dispenser is indicated to be in a water shortage state quickly, so that the water tank on the water dispenser needs to be replaced at the moment, dry burning of the water dispenser can be avoided, and the empty water tank can be replaced in time. The control process of replacing the water tub is not described herein.

In a specific embodiment of the present invention, collecting an actual water flow rate of a water outlet of a water dispenser by a water flow rate detection module includes:

obtaining a real-time change curve of the real-time water flow rate and the time sequence according to the acquired time sequence and the real-time water flow rate of the water dispenser;

according to the real-time change curve, obtaining a fitting function y=f (t) corresponding to the real-time change curve;

obtaining a second derivative y '=f' (t) of the fitting function y=f (t) according to the fitting function y=f (t);

if the second derivative y '=f' (t) in the time sequence is determined to be greater than the first threshold, not replacing the water barrel on the water dispenser;

and if the second derivative y '=f' (t) is not larger than the first threshold value in the time sequence, replacing the bucket on the water dispenser.

In the specific embodiment of the invention, a real-time change curve of the real-time water flow rate and the time sequence is obtained through the time sequence and the real-time water flow rate of the water dispenser; obtaining a fitting function y=f (t) corresponding to the real-time change curve through the real-time change curve; and then obtaining the second derivative y' of the fitting function y=f (t) according to the fitting function y=f (t) ^＝ f' (t); finally, according to the relation between the second derivative y '=f' (t) at the target moment and the first threshold value, whether the bucket on the water dispenser is empty or not can be accurately determined, and the risk of misjudgment is reduced.

When the water outlet of the water dispenser normally discharges water, the actual water flow rate is not changed greatly, and the water flow rate can be regarded as a constant speed, and the second derivative is zero at the moment. Before a new water barrel is replaced, a user completely puts water stored in the water dispenser, when the new water barrel is placed on the water dispenser, the water is firstly put into a water tank of the water dispenser, at the moment, the water flowing out of a water outlet in a shorter time is also intermittent, the actual water flow rate is not larger than a water flow rate threshold value, but the water barrel is in a full water state in reality, and the water barrel is not required to be replaced, so that the problem of false alarm is avoided, in the specific embodiment of the invention, the water barrel on the water dispenser is replaced by comparing a second derivative y '=f' (t) in a time sequence with a first threshold value, and if the second derivative y '=f' (t) in the time sequence is not larger than the first threshold value; otherwise, the water barrel on the water dispenser is not replaced.

It will be appreciated that the first threshold is a value close to zero.

In some embodiments, the first threshold is any value between-0.5 and 0.5. Further, the first threshold is infinitely close to zero.

Fig. 5 illustrates a physical schematic diagram of an electronic device, as shown in fig. 5, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a method of controlling a barreled water change robot, the method comprising: collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module; and the control module controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, where the computer program product includes a computer program, where the computer program can be stored on a non-transitory computer readable storage medium, and when the computer program is executed by a processor, the computer can execute the control method of the barreled water barrel changing robot provided by the above methods, and the method includes: collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module; and the control module controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

In still another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for controlling a barreled water change robot provided by the above methods, the method comprising: collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module; and the control module controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (14)

1. The utility model provides a bottled water trades bucket robot which characterized in that includes:

a support member (100) having wheels (130) mounted at the bottom thereof, the support member (100) being formed with a receiving groove for receiving a water tub or a water fountain placed on the ground;

the overturning grabbing component (200) is arranged above the accommodating groove and is used for grabbing the water bucket and overturning the water bucket;

the lifting component (300) is arranged on the supporting component (100) and connected with the overturning grabbing component (200) for lifting the overturning grabbing component (200);

the control module (400) is connected with the overturning grabbing component (200) and the lifting component (300) and is used for controlling the lifting component (300) to lift or lower, controlling the overturning grabbing component (200) to grab the water bucket positioned in the accommodating groove and overturning the water bucket.

2. The barreled water change robot according to claim 1, wherein the lifting member (300) comprises:

two first telescopic assemblies (310) are arranged on the supporting component (100) at intervals, so that the accommodating groove is positioned between projections of the two first telescopic assemblies (310) in the plane of the accommodating groove; the two first telescopic assemblies (310) are also respectively connected with the overturning grabbing component (200) and the control module (400); the control module (400) drives the overturning grabbing component (200) to move up and down relative to the accommodating groove by controlling the two first telescopic components (310).

3. The barreled water change robot of claim 2, wherein each of the first telescoping assemblies (310) comprises:

two first telescopic rods (311) which are respectively arranged on the supporting component (100) at intervals; each first telescopic rod (311) is connected with the control module (400);

the first connecting piece is connected to one ends of the two first telescopic rods (311) which deviate from the supporting component (100), and the first connecting piece is connected with the overturning grabbing component (200).

4. A barreled water change robot according to claim 3, characterized in that the first telescopic rod (311) comprises an electric telescopic rod.

5. The barreled water change robot according to claim 2, wherein the overturning grabbing part (200) comprises:

the two second telescopic assemblies (210) are respectively arranged on the two first telescopic assemblies (310) in a one-to-one correspondence manner and are also connected with the control module (400);

the two arc-shaped hoops (220) are respectively in one-to-one correspondence with one sides of the two second telescopic assemblies (210) far away from the first telescopic assemblies (310) in a rotating fit mode, and the two arc-shaped hoops (220) are arranged above the accommodating groove;

the overturning driving assembly (230) is arranged on the second connecting assembly, connected with the two arc hoops (220) and also connected with the control module (400);

the control module (400) controls the two second telescopic assemblies (210) to extend so as to drive the two arc-shaped hoops (220) to move in opposite directions, and further the two arc-shaped hoops (220) grab the water bucket positioned in the accommodating groove; the control module (400) controls the overturning driving assembly (230) to rotate so as to drive the arc-shaped hoop (220) to rotate, and then the bucket is overturned for 180 degrees.

6. The barreled water change robot of claim 5, wherein each of the second telescopic assemblies (210) comprises:

two second telescopic rods (211) which are arranged on one first telescopic component (310) at intervals in parallel and are connected with the control module (400);

the second connecting piece is connected between the two second telescopic rods (211) and is also in running fit with the arc-shaped anchor ear (220).

7. The barreled water change robot of claim 6, wherein the second telescopic rod (211) comprises an electric telescopic rod.

8. The barreled water change robot according to any one of claims 1 to 7, wherein the support member (100) comprises:

the two first support rods are arranged in parallel at intervals; at least two wheels are arranged on one side, facing the ground, of each second support rod at intervals;

and the second support rods are connected to the end parts of the two first support rods.

9. The barreled water change robot of claim 8, further comprising:

the water flow rate detection module is arranged at the water outlet of the water dispenser and is in communication connection with the control module (400) and is used for detecting the actual water flow rate of the water outlet of the water dispenser;

the control module (400) is used for receiving the actual water flow rate, and when the actual water flow rate is not larger than a water flow rate threshold value, the barreled water of the water dispenser is replaced.

10. The barreled water change robot of claim 8, further comprising:

a brake member (500) connected to the control module (400) and configured to abut against or separate from the wheel (130);

the control module (400) controls the brake member (500) to abut against the wheel to stop rotation of the wheel (130).

11. The barreled water change robot of claim 10, further comprising:

a command input module (700) for inputting command information and transmitting the command information to the control module (400);

the control module (400) controls the lifting part (300) to ascend or descend according to the instruction information, controls the overturning grabbing part (200) to grab or overturn, controls the starting or stopping of the wheels (130) and controls the braking of the braking part (500).

12. The barreled water change robot of claim 11, further comprising:

an infrared sensor (900), wherein the infrared sensor (900) is arranged on the lifting component (300) and is used for detecting relative position information between the water dispenser or the water bucket and the lifting component (300);

the control module (400) controls the wheel (130) according to the received phase position information to operate the wheel (130) toward the water dispenser or the water tub.

13. A control method of a barreled water barrel changing robot, characterized in that it is used for the barreled water barrel changing robot according to any one of claims 9 to 12, comprising:

collecting the actual water flow rate of a water outlet of the water dispenser through a water flow rate detection module;

the control module (400) controls the robot to start replacing the bucket on the water dispenser under the condition that the actual water flow rate is not greater than the water flow rate threshold value.

14. The method for controlling a barreled water changing robot according to claim 13, wherein the collecting the actual water flow rate of the water outlet of the water dispenser by the water flow rate detection module comprises:

obtaining a real-time change curve of the real-time water flow rate and the time sequence according to the acquired time sequence and the real-time water flow rate of the water dispenser;

obtaining a fitting function y=f (t) corresponding to the real-time change curve according to the real-time change curve;

obtaining a second derivative y '=f' (t) of the fitting function y=f (t) according to the fitting function y=f (t);

if the second derivative y '=f' (t) is greater than the first threshold value in the time sequence, not replacing the water barrel on the water dispenser;

and if the second derivative y '=f' (t) is not larger than the first threshold value in the time sequence, replacing the bucket on the water dispenser.