CN200974567Y - Cleaning robot running gear - Google Patents
Cleaning robot running gear Download PDFInfo
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- CN200974567Y CN200974567Y CN 200620157559 CN200620157559U CN200974567Y CN 200974567 Y CN200974567 Y CN 200974567Y CN 200620157559 CN200620157559 CN 200620157559 CN 200620157559 U CN200620157559 U CN 200620157559U CN 200974567 Y CN200974567 Y CN 200974567Y
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Abstract
A walking element of the cleaning robot belongs to the component of the robot, aiming to solve the problem of the walking element of the existing robot, to realize the movement in any direction and to achieve the traversal of the working environment through the simple algorithm. The utility model is provided with a drive device and a sensor system on the mechanical body; the drive device (1) consists of three drive units distributed with the same spacing between on the mechanical body; each drive unit includes a drive electric motor, an electric motor fixing seat, a communicating shaft and a mobile wheel; in the sensor system (2), the infrared sensor group is arranged on the front and back edges of the mechanical body; each group of the infrared sensor group includes ten to fifteen pairs of infrared sensing sensors on the arc-shaped fixing frame; in the sensor system (3), the ultrasonic sensor system group consists of the ultrasonic sensors arranged on the left and right sides of the mechanical body. The utility model is provided with the drive composite of three wheels; according to the information of the sensor system, the device can realize the overall movement of the cleaning robot and achieve the traversal purpose; the design is simple; the cost is low; and the device greatly improves the cleaning effects.
Description
Technical field
The utility model belongs to the robot constituent elements in electromechanical integration field, relates in particular to a kind of walking mechanism of cleaner robot, and robot is moved so that any attitude is comprehensive.
Background technology
Clean robot is mainly used in indoor, and do not need manual operation and independently carry out cleaning, many times be under unmanned nurse situation, finish clean up task to domestic environment.Therefore this robot needs to avoid any object in room, and can clean the ground in room to greatest extent.At present, existing many research institution and enterprises develop the clean robot model machine, and have few products to come out.Make a general survey of these existing clean robots, traveling gear all is to adopt two-wheel drive to add an auxiliary cardan wheel to constitute robot driving chassis, realize advancing by independent control two-wheel speed, retreat and turning etc., the name of producing as U.S. iRobot company is the clean robot of " Roomba ", its traveling gear is exactly the two-wheel drive that adopts, cardan wheel Fu mode, when running into obstacle, by sensing system acquired disturbance thing information, controller calls keeps away the barrier algorithm, the mobile cooperation of two drive wheels of control comes avoiding obstacles, because it can't realize comprehensive moving, robot will be realized relatively difficulty of complete ergodic algorithm.The actuating device that is used for robot cleaner that proposes just like Samsung Guangzhou Electronics Co., Ltd also, what adopt also is two-wheel drive, third round Fu mode, the actuating device design has vibration absorption unit, can prevent changes fault because the drive wheel that threshold or obstacle cause loses, but, therefore there is not essence to help to the cleaning efficiency that improves robot cleaner owing to can not realize comprehensive moving easily.Existing clean robot sensing system roughly can be divided into two kinds:
A kind of is to be formed by combining by a large amount of crash sensors, ultrasonic transduter and infrared pickoff, for robot provides local collisionless navigation.When this sensing system is applied to the cleaning robot system of " two-wheel drive-cardan wheel servo-actuated ", because the traveling gear of " two-wheel drive---cardan wheel servo-actuated " need be carried out when keeping away barrier and stop, turning, reverse end for end or adjust action such as direct of travel, this makes that to keep away the barrier algorithm complicated unusually, needs could determine to keep away the barrier route through a large amount of calculating; In addition, owing to being two-wheel drive, traveling gear can't be realized comprehensive the moving under any ambient condition, and therefore often robot can't well be carried out pre-designed complete overlay path planning, and the robot meeting is frequent and obstacle bumps.
Another kind is to set up environmental map by CCD vision sensor, laser radar etc., for robot provides overall situation navigation and locating information.Although this sensing system can be set up the global context map, can obtain the obstacle situation of working environment in advance, data processing amount is huge, the algorithm complexity, feature extraction and depth information recover difficulty, and it is too big therefore should to use limitation.In addition, complicated algorithm need dispose the controller of corresponding arithmetic capability, and this quasi-controller and sensor itself often cost an arm and a leg, and this also is the reason of existing part clean robot product price up to thousands of dollars.
Summary of the invention
The utility model provides a kind of robot running gear, is intended to solve the problems referred to above that existing robot running gear exists, and realizes with the motion of any attitude towards any direction, reaches traversal to working environment by simple algorithm.
A kind of walking mechanism of cleaner robot of the present utility model, comprise basic machine, actuating device and sensing system, basic machine is a disc, be used for installing actuating device and sensing system, sensing system is made up of infrared pickoff group, group of ultrasonic sensors and signal processing circuit, it is characterized in that: (1) actuating device is made up of three driver elements that distribute in the basic machine equal intervals, and each driver element comprises drive motor, motor fixing seat, adapter shaft and moves wheel; Drive motor is installed on the basic machine by motor fixing seat, moves wheel and links to each other with motor shaft by adapter shaft; (2) described infrared pickoff group comprises two groups of infrared pickoff groups, and every group of infrared pickoff group is made of the infrared induction sensor the 10-15 that equidistantly is installed on the fixed support, and fixed support is a camber line shape, is installed in the edge, front and back of basic machine; (3) described group of ultrasonic sensors is made of two pairs of ultrasonic transduters that are installed in respectively on two permanent seats, and every pair of ultrasonic transduter is by accepting inductive head and emission inductive head composition, and two permanent seat symmetries are installed in the basic machine left and right sides; (4) described signal processing circuit comprises infrared pickoff signal processing circuit and ultrasonic transduter signal processing circuit, is installed in the basic machine upper surface.
Described walking mechanism of cleaner robot, it is further characterized in that: (1) described drive motor is a DC servo motor; Move wheel and be made up of two directional wheels, the line in the center of two adjacent son wheels of two directional wheels and the axle center of corresponding female wheel is 15 ° of-30 ° of angles in the space, to guarantee that moving wheel contacts with ground with maximum outline circle in the process of walking all the time; End cap is locked at the end of described adapter shaft by tapped bore, prevents that mobile wheel from moving axially in the process of walking; (2) the cooresponding central angle of described fixed support camber line is 120 °-150 °; The distance of described permanent seat and basic machine disc centre is slightly smaller than the distance of fixed support circular arc and basic machine disc centre.
Described walking mechanism of cleaner robot, described three driver elements can the basic machine disc centre be basic point, are distributed on the same circumference, mutual angle is 120 °.
The utility model adopts and constitutes three drive wheel chassis systems by motor, directional wheel and associated component, and each moves wheel and both can be driven by cooresponding motor, also can be used as flower wheel servo-actuated vertically; Ultrasonic transduter search angle of the present utility model is 30 °, can detect with the sensor body is the obstacle of center 60 degree scopes, the investigative range of the sensing system that is made of arc distribution infrared pickoff group and group of ultrasonic sensors can cover the scope of clean robot periphery 360 degree, the local inspected object of investigative range combination at both has certain redundancy, to guarantee certain reliability.When the cleaning machine man-hour, obstacle in 360 ° of degree scopes of the continuous sniffing robot periphery of described arc infrared pickoff group and group of ultrasonic sensors, give in addition judgment processing of robot controller after detection signal is handled by signal processing circuit, carry out the foundation of keeping away the barrier algorithm as traveling gear with this.The utility model according to the information of sensing system, can be realized robot periphery 360 degree detection of obstacles by the driving combination of three wheels, the motion of realization robot omnibearing reaches the traversal purpose, simplicity of design, with low cost, improve the cleaning effect of clean robot greatly.
Description of drawings
Fig. 1 is an embodiment backplan of the present utility model;
Fig. 2 is the position view of driver element on basic machine among Fig. 1;
Fig. 3 is single driver element scheme drawing;
Fig. 4 is the drive wheel scheme drawing in the driver element;
Fig. 5 is the position view of the utility model sensing system on basic machine.
The specific embodiment
As shown in Figure 1, traveling gear of the present utility model comprises basic machine 1 and actuating device; Basic machine 1 is a disc, is used for installing traveling gear and sensing system, also is the carrier of other functional component of clean robot, for example dust collecting system comprises: two dirt hairbrush 1-1 and 1-3, battery pack 1-2, jamb duster 1-4, dust absorption fan 1-5 and dust-collecting box 1-6.Actuating device is made up of three driver element 2-1,2-2 and 2-3.
As shown in Figure 2, three driver element 2-1,2-2 and 2-3 need be basic point with basic machine 1 disc centre, are distributed on the same circumference 2-4, and radius of a circle is rationally determined according to the clean robot designing requirement.The moving shaft line of each driver element and the motor shaft dead in line of drive motor, be referred to as the driver element line of centers, the driver element line of centers 2-1-1 of driver element 2-1, the driver element line of centers 2-2-1 of driver element 2-2, the driver element line of centers 2-3-1 of driver element 2-3, the projection of the line of centers of three driver elements on the basic machine disk plane meets at the disc centre point, and the angle of centreline space is 120 degree.
As shown in Figure 3, each driver element comprises drive motor 3, motor fixing seat 4, adapter shaft 5, end cap 6 and moves wheel 7; Drive motor 3 is a DC servo motor, is installed on the motor fixing seat 4, and motor fixing seat is installed on the basic machine 1 by screw, with this drive motor 3 is locked; Move wheel 7 and link to each other with adapter shaft 5 by key, an end of adapter shaft 5 links to each other with motor shaft by stop screw, and end cap 6 is locked at the end of adapter shaft 5 by tapped bore, prevents from mobilely to take turns 7 and move axially in the process of walking.
As shown in Figure 4, move wheel 7 and is made up of two directional wheels (TRANSWHEEL) 7-1, this directional wheel has 8 son wheels, and circle distribution is on the excircle that mother takes turns.The line 7-3 and the 7-4 in the center of two adjacent son wheel 7-2 of two directional wheels and the axle center of corresponding female wheel 7-1 are 15 ° of-30 ° of angles in the space, to guarantee that moving wheel contacts with ground with maximum outline circle in the process of walking all the time.For the design of driver element parts, can under the prerequisite that guarantees the realization identical function, take different modes.Such as, directional wheel also can adopt 16 sons to take turns; Also can be driver element and install protective cover additional, avoid infringement with the protection driver element.
As shown in Figure 5, sensing system of the present utility model comprises the preceding infrared pickoff group 8-1 of arc distribution, back infrared pickoff group 8-2, left group of ultrasonic sensors 9-1, right group of ultrasonic sensors 9-2 and corresponding signal processing circuit 15.
Preceding infrared pickoff group 8-1 and back infrared pickoff group 8-2 are made of 13 pairs of infrared induction sensors 10 and corresponding preceding fixed support 11-1, back fixed support 11-2 respectively, being respectively arc distributes, preceding fixed support 11-1, back fixed support 11-2 are camber line shape, be installed near the edge, front and back of basic machine 1, the cooresponding central angle 12 of camber line is 130 °, and the infrared induction sensor that every group of 13 pairs of model are JY043W equidistantly is installed on the fixed support.A left side group of ultrasonic sensors 9-1 and right group of ultrasonic sensors 9-2 are that the ultrasonic transduter 13 of T/R-40 and left permanent seat 14-1 thereof and right permanent seat 14-2 constitute by model respectively, two permanent seat symmetries are installed in the basic machine left and right sides, model is that the ultrasonic transduter 13 of T/R-40 receives inductive head by one and an emission inductive head is formed, and is installed on the permanent seat.Signal processing circuit 15 is an ordinary circuit board, comprises infrared pickoff signal processing circuit and ultrasonic transduter signal processing circuit two parts, is installed in basic machine 1 upper surface, near preceding infrared pickoff group 8-1.
From arc distribution infrared pickoff group and group of ultrasonic sensors the installation site on basic machine as can be seen, sensor is circle distribution, the investigative range of the sensing system of formation can cover the scope of 360 ° on clean robot periphery.Keep away in the barrier algorithm, system will determine the obstacle azimuth information according to the position that one or several sensor that detects obstacle distributes on the basic machine circumference, in case detect obstacle, controller calls and keeps away the barrier strategy accordingly according to the relative azimuth of obstacle and robot.
The control signal of the utility model traveling gear is exported by system controller, and controller is respectively forward, reverse and speed control signal for each driver element provides 3 control signals.According to specifically keeping away barrier strategy, the action by three driver elements cooperate realize the advancing of traveling gear, retreat, turn left, action such as right-hand rotation, the distance of wherein advancing, retreating, the angle of turning left, turning right is controlled by controller.When the robot execution kept away barrier and path planning algorithm, by the synergistic combination that three driver elements move, the realization flexibility was kept away barrier and accurately path covering.
In the traversal of subrange, adopt robot ambulation of the present utility model to adopt the rectangular scanning algorithm, the core of this algorithm is the walking cooperation of three drive unit drives motors of design, make robot when subrange runs into obstacle, can not need the motor action such as stopping, turning to or fall back of single step unconditionally according to preplanned any direction and track walking.To satisfy particularity and the reliability of keeping away barrier.Its working process is, robot is walked along the place ahead by the combination of three drive wheels, when the camber line shape infrared pickoff that is positioned at robot the place ahead has detected obstacle, through signal processing circuit information is passed to controller, the controller control robot is along a left side or the traversing segment distance in right side, and controller control robot this moment is advanced towards the rear.In this process, robot controller control traveling gear moves according to keeping away the direction that the barrier algorithm reserves in advance, do not need to make single step stop, turning left or working direction is adjusted in action such as moving, the tune of turning right, avoided because single step stop, turning left or turn right move, particularity that error effect subrange that action such as tune brings travels through.Moreover when the camber line shape infrared pickoff that is positioned at the robot rear had detected obstacle, robot moved a segment distance along traversing direction continuation last time, advances towards the place ahead then, up to running into obstacle once more, carries out so repeatedly.In traversing process, when the side sensor also detects obstacle, illustrate that once the part traversal is finished.Assist with certain algorithm, complex space is divided into several local subspaces, can realize the traversal of robot complex environment.
In addition, when cleaning ambient obstacle more complicated,, may the small space of obstacle all be arranged and can't walk out this space smoothly because of three faces that enter for the clean robot of general two-wheel drive.The utility model will can be good at addressing this problem.The advantage of three drive wheel traveling geaies is to realize the comprehensive mobile of robot, therefore when robot is in three faces the small space of obstacle is all arranged, detection information according to sensing system, can easily find a side who does not have obstacle, and be working direction with this direction, walk out this space.
Claims (3)
1. walking mechanism of cleaner robot, comprise basic machine, actuating device and sensing system, basic machine is a disc, be used for installing actuating device and sensing system, sensing system is made up of infrared pickoff group, group of ultrasonic sensors and signal processing circuit, it is characterized in that: (1) actuating device is made up of three driver elements that distribute in the basic machine equal intervals, and each driver element comprises drive motor, motor fixing seat, adapter shaft and moves wheel; Drive motor is installed on the basic machine by motor fixing seat, moves wheel and links to each other with motor shaft by adapter shaft; (2) described infrared pickoff group comprises two groups of infrared pickoff groups, and every group of infrared pickoff group is made of the infrared induction sensor the 10-15 that equidistantly is installed on the fixed support, and fixed support is a camber line shape, is installed in the edge, front and back of basic machine; (3) described group of ultrasonic sensors is made of two pairs of ultrasonic transduters that are installed in respectively on two permanent seats, and every pair of ultrasonic transduter is by accepting inductive head and emission inductive head composition, and two permanent seat symmetries are installed in the basic machine left and right sides; (4) described signal processing circuit comprises infrared pickoff signal processing circuit and ultrasonic transduter signal processing circuit, is installed in the basic machine upper surface.
2. walking mechanism of cleaner robot as claimed in claim 1 is characterized in that: (1) described drive motor is a DC servo motor; Move wheel and be made up of two directional wheels, the line in the center of two adjacent son wheels of two directional wheels and the axle center of corresponding female wheel is 15 ° of-30 ° of angles in the space, to guarantee that moving wheel contacts with ground with maximum outline circle in the process of walking all the time; End cap is locked at the end of described adapter shaft by tapped bore, prevents that mobile wheel from moving axially in the process of walking; (2) the cooresponding central angle of described fixed support camber line is 120 °-1 50 °; The distance of described permanent seat and basic machine disc centre is slightly smaller than the distance of fixed support circular arc and basic machine disc centre.
3. walking mechanism of cleaner robot as claimed in claim 1 or 2 is characterized in that, described three driver elements are basic point with the basic machine disc centre, are distributed on the same circumference, and mutual angle is 120 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620157559 CN200974567Y (en) | 2006-11-24 | 2006-11-24 | Cleaning robot running gear |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200620157559 CN200974567Y (en) | 2006-11-24 | 2006-11-24 | Cleaning robot running gear |
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| CN200974567Y true CN200974567Y (en) | 2007-11-14 |
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| CN 200620157559 Expired - Lifetime CN200974567Y (en) | 2006-11-24 | 2006-11-24 | Cleaning robot running gear |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104773225A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Wheel-foot combined cleaning robot |
| CN104867297A (en) * | 2013-04-23 | 2015-08-26 | 张磊 | Multifunctional operation method of intelligent cleaning robot device |
| CN105030161A (en) * | 2015-06-17 | 2015-11-11 | 燕山大学 | Foot type mopping robot |
| CN105997396A (en) * | 2016-07-28 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core three-wheel-drive free-lifting high-speed robot electric hospital bed controller |
| CN106074036A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of wireless monokaryon three-wheel three axle adjustable electric sick bed |
| CN106074048A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN106074046A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of three core three-wheel drive are freely lifted robot electric sick bed controller |
| CN106176085A (en) * | 2016-07-28 | 2016-12-07 | 江苏若博机器人科技有限公司 | A kind of wireless double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| WO2018010006A1 (en) * | 2016-07-13 | 2018-01-18 | Crosswing Inc. | Mobile robot |
| CN107672685A (en) * | 2017-09-21 | 2018-02-09 | 广州市华科尔科技股份有限公司 | A kind of robot walking device |
| CN108890611A (en) * | 2018-07-12 | 2018-11-27 | 东莞理工学院 | A kind of binocular vision avoidance wheeled robot based on SLAM |
| CN111361677A (en) * | 2020-04-30 | 2020-07-03 | 宿迁小鲤工业设计有限公司 | Intelligent early warning formula balance car in advance and system processing of removal end |
-
2006
- 2006-11-24 CN CN 200620157559 patent/CN200974567Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104867297A (en) * | 2013-04-23 | 2015-08-26 | 张磊 | Multifunctional operation method of intelligent cleaning robot device |
| CN104867297B (en) * | 2013-04-23 | 2018-05-22 | 广州万粤知识产权运营有限公司 | Intelligent cleaning robot apparatus multifunction operating method |
| CN104773225A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Wheel-foot combined cleaning robot |
| CN105030161B (en) * | 2015-06-17 | 2017-08-11 | 燕山大学 | A kind of sufficient formula floor-mopping robot |
| CN105030161A (en) * | 2015-06-17 | 2015-11-11 | 燕山大学 | Foot type mopping robot |
| WO2018010006A1 (en) * | 2016-07-13 | 2018-01-18 | Crosswing Inc. | Mobile robot |
| CN106074036A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of wireless monokaryon three-wheel three axle adjustable electric sick bed |
| CN106176085A (en) * | 2016-07-28 | 2016-12-07 | 江苏若博机器人科技有限公司 | A kind of wireless double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN106074046A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of three core three-wheel drive are freely lifted robot electric sick bed controller |
| CN106074048A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN105997396A (en) * | 2016-07-28 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core three-wheel-drive free-lifting high-speed robot electric hospital bed controller |
| CN106394715A (en) * | 2016-12-02 | 2017-02-15 | 河海大学常州校区 | Omnidirectional moving wheel type robot platform and control method |
| CN107672685A (en) * | 2017-09-21 | 2018-02-09 | 广州市华科尔科技股份有限公司 | A kind of robot walking device |
| CN107672685B (en) * | 2017-09-21 | 2023-09-15 | 广州市华科尔科技股份有限公司 | Robot running gear |
| CN108890611A (en) * | 2018-07-12 | 2018-11-27 | 东莞理工学院 | A kind of binocular vision avoidance wheeled robot based on SLAM |
| CN111361677A (en) * | 2020-04-30 | 2020-07-03 | 宿迁小鲤工业设计有限公司 | Intelligent early warning formula balance car in advance and system processing of removal end |
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