CN201719182U - Trouble coming-out system of automated cleaning robot - Google Patents
Trouble coming-out system of automated cleaning robot Download PDFInfo
- Publication number
- CN201719182U CN201719182U CN2009203522578U CN200920352257U CN201719182U CN 201719182 U CN201719182 U CN 201719182U CN 2009203522578 U CN2009203522578 U CN 2009203522578U CN 200920352257 U CN200920352257 U CN 200920352257U CN 201719182 U CN201719182 U CN 201719182U
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- auxiliary wheel
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- 238000004140 cleaning Methods 0.000 title claims abstract description 15
- 239000011469 building brick Substances 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 239000000428 dust Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Electric Vacuum Cleaner (AREA)
Abstract
The utility model discloses a trouble coming-out system of an automated cleaning robot, which aims to reduce the occurrence of invalid operation. The system comprises a body with a motion control unit, at least an auxiliary wheel with a through hole, and a sensing component, wherein the sensing component comprises a signal sending component and a signal receiving component, the signal sending component and the signal receiving component utilize a light source to carry out signal sensing and are in correspondence to each other, and the signal receiving component is electrically connected with the motion control unit of the body. When the auxiliary wheel rotates, light source signals sent by the signal sending component can be transmitted to the signal receiving component intermittently by penetrating the through hole on the auxiliary wheel, and when the motion control unit learns that the light source transmission between the signal sending component and the signal receiving component is continuous according to the signals sent by the signal receiving component, the motion control unit judges that the auxiliary wheel stops rotation, so as to send a trouble coming-out command to a moving device to execute the trouble coming-out motion.
Description
Technical field
The utility model relates to a kind of automated cleaning machine people's the system that gets rid of poverty, and refers in particular to a kind of design of assisting automatic cleaner to break away from this bar when hindered by the non-collision contact.
Background technology
Use the clean robot of automation to carry out dust suction in indoor environment and sweep and be a kind of general prior art, its implement notion for impel by the control logic of walking robot certainly have the dust catcher function clean robot in space to be cleaned in the unattended purpose that is issued to cleaning floor, automation ground.
And automatic cleaner device people of the prior art possesses mostly and has when colliding bar, can fall back according to carrying out from the robot walking logic, rotation, the commutation function such as instruction of advancing, but when causing body to advance if this automatic cleaner device people suffers from the obstruction (for example the landform of protuberance hinders a jiao of body or a side are arched upward) of non-collision formula during advancing, because collided obstruction fall back or action logic such as commutation is not activated, make automatic cleaner device people will still continue to carry out the action command that advances and clean, and cause automatic cleaner device people's CD-ROM drive motor and dust exhaust apparatus or the like to continue to carry out invalid running, and then meaningless the activity duration of having expended power supply and having delayed whole cleaning.
The utility model content
Main purpose of the present utility model is to provide a kind of automated cleaning machine people's the system that gets rid of poverty, to reduce the generation of invalid operation.
The automated cleaning machine people's that the utility model provides the system of getting rid of poverty includes:
One body, be that a tool is from the automated cleaning machine people who walks control logic, inside is provided with an action control unit, this action control unit is that a dependence logic is set the electronic building brick with control body shift action, place, body bottom is provided with a mobile device, and this mobile device is electrically connected at action control unit and driven by this action control unit and the action of control body;
At least one auxiliary wheel, be located at the bottom of body, be used to cooperate mobile device with the weight of supporting body and keep body upright attitude, when advancing steadily, and auxiliary wheel runs through between the wheel face two side and is provided with at least one open-work, so that auxiliary wheel is intermittently covered the printing opacity between the wheel face two side when rotated;
One sensing component, the sender assembly and the reception assembly that comprise mutual correspondence, this sender, reception assembly are to utilize light source to carry out the electronic building brick of signal sensing, be located at the both sides of auxiliary wheel, and open-work corresponding to auxiliary wheel, when auxiliary wheel rotated, then the emitted light source signal of sender assembly can see through the open-work on the auxiliary wheel and intermittently be passed on the reception assembly, and the reception assembly is electrically connected to the action control unit of body;
And the action control unit of body also is used for carrying out following control with logical program:
Know when the signal that reaches according to this reception assembly send out, the light sources transmit of reception inter-module is non-when intermittent, judges that auxiliary wheel stops the rotation, and mobile device is sent the instruction of getting rid of poverty for its execution action of getting rid of poverty.
Optionally, above-mentioned mobile device is at least one driving wheel that drives with motor.The above-mentioned instruction of getting rid of poverty is for retreating instruction and/or rotate instruction.
In the utility model, when body is obstructed can't advance the time, be not subjected to that mechanical power-actuated auxiliary wheel will any propelling action is static rotate because of body is subjected to, thus, send out, the light conduction of reception inter-module will can not be intermittent conduction because of the rotation of auxiliary wheel, and with this foundation that stops to advance as the judgement body, then assign the instruction of stepping back (the perhaps rotation or the cooperation rotation etc. that falls back) and can reach the purpose that allows body get rid of poverty really, thereby reduced the generation of invalid operation.
Description of drawings
Fig. 1 is an allocation plan of the present utility model.
Fig. 2 is that partial component of the present utility model is implemented outside drawing.
Fig. 3 is another enforcement outside drawing of partial component of the present utility model.
Fig. 4 is that schematic diagram is implemented in action of the present utility model.
Fig. 5 is that schematic diagram is implemented in action of the present utility model.
Specific embodiment
Below in conjunction with Figure of description the specific embodiment of the present utility model is done detailed description.
Please referring to Fig. 1, Fig. 2 and Fig. 3, the automated cleaning machine people's of the present utility model system that gets rid of poverty can comprise a body (10), at least one auxiliary wheel (20) and a sensing component (30) in a preferred embodiment.
Aforesaid body (10) is one to have from walking the automated cleaning machine people of control logic, inside is provided with an action control unit (11), this action control unit (11) is the electronic building brick general name that a dependence logic is set the shift action of controlling body (10), place, body (10) bottom can be provided with a mobile device (12), this mobile device (12) comprises at least one driving wheel that motor drives, and mobile device (12) is electrically connected at action control unit (11) and driven by this action control unit (11) and the advancing of control body (10), retreat, action such as turn to.
Aforesaid auxiliary wheel (20) is located at the bottom of body (10), be used to cooperate mobile device (12) and be able to the weight of supporting body (10) and keep body (10) in upright attitude and when advancing steadily, and auxiliary wheel (20) runs through between wheel face two side (21) and is provided with at least one open-work (22), so that can intermittently cover the printing opacity between its wheel face two side (21) during the rotation of auxiliary wheel (20) in traveling process.
Aforesaid sensing component (30) can further comprise a sender assembly (31) and a reception assembly (32) of mutual correspondence, this sender, reception assembly (31) (32) is for to utilize specific light source to carry out the electronic building brick of signal sensing, it is located at the both sides of auxiliary wheel (20), and open-work (22) corresponding to auxiliary wheel (20), when auxiliary wheel (20) rotates, then the emitted light source signal of sender assembly (31) can see through the open-work (22) on the auxiliary wheel (20) and intermittently be passed on the reception assembly (32), and reception assembly (32) is electrically connected to the action control unit (11) of body (10).
And the utility model is write by the logical program of the action control unit (11) of body (10) and can be shown as and send out receiving signal that reception assembly (32) reaches, the light sources transmit of reception inter-module is non-when intermittent, the control signal that mobile device (12) is sent backward movement is to control the action that body (10) retreats, please further cooperate referring to Fig. 4 and Fig. 5, when body of the present utility model (10) is obstructed can't advance the time, be not subjected to that mechanical power-actuated auxiliary wheel (20) will any propelling action is static rotate because of body (10) is subjected to, thus, sending out, light conduction between reception assembly (31) (32) will can not be intermittent conduction because of the rotation of auxiliary wheel (20), and with this as the foundation of judging that body (10) stops to advance, then assign and step back (perhaps rotation, perhaps fall back and cooperate rotation etc.) instruction can reach the purpose that allows body get rid of poverty really.
More than; it only is preferred embodiment of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the variation that can expect easily or replacement all should be encompassed within the protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain that claim was defined.
Claims (3)
1. an automated cleaning machine people the system that gets rid of poverty is characterized in that, includes:
One body, be that a tool is from the automated cleaning machine people who walks control logic, inside is provided with an action control unit, this action control unit is that a dependence logic is set the electronic building brick with control body shift action, place, body bottom is provided with a mobile device, and this mobile device is electrically connected at action control unit and driven by this action control unit and the action of control body;
At least one auxiliary wheel, be located at the bottom of body, be used to cooperate mobile device with the weight of supporting body and keep body upright attitude, when advancing steadily, and auxiliary wheel runs through between the wheel face two side and is provided with at least one open-work, so that auxiliary wheel is intermittently covered the printing opacity between the wheel face two side when rotated;
One sensing component, the sender assembly and the reception assembly that comprise mutual correspondence, this sender, reception assembly are to utilize light source to carry out the electronic building brick of signal sensing, be located at the both sides of auxiliary wheel, and open-work corresponding to auxiliary wheel, when auxiliary wheel rotated, then the emitted light source signal of sender assembly can see through the open-work on the auxiliary wheel and intermittently be passed on the reception assembly, and the reception assembly is electrically connected to the action control unit of body;
And the action control unit of body also is used for carrying out following control with logical program:
Know when the signal that reaches according to this reception assembly send out, the light sources transmit of reception inter-module is non-when intermittent, judges that auxiliary wheel stops the rotation, and mobile device is sent the instruction of getting rid of poverty for its execution action of getting rid of poverty.
2. the automated cleaning machine people's as claimed in claim 1 system that gets rid of poverty is characterized in that, mobile device is at least one driving wheel that drives with motor.
3. the automated cleaning machine people's according to claim 1 and 2 system that gets rid of poverty is characterized in that, this instruction of getting rid of poverty comprises: retreat instruction and/or rotate instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203522578U CN201719182U (en) | 2009-12-31 | 2009-12-31 | Trouble coming-out system of automated cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009203522578U CN201719182U (en) | 2009-12-31 | 2009-12-31 | Trouble coming-out system of automated cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201719182U true CN201719182U (en) | 2011-01-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009203522578U Expired - Fee Related CN201719182U (en) | 2009-12-31 | 2009-12-31 | Trouble coming-out system of automated cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201719182U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356131A (en) * | 2013-07-24 | 2013-10-23 | 莱克电气股份有限公司 | Seizing-elimination processing method of robot dust collector |
| CN103908196A (en) * | 2013-01-05 | 2014-07-09 | 恩斯迈电子(深圳)有限公司 | Cleaning robot and cleaning system |
| CN108445878A (en) * | 2018-02-28 | 2018-08-24 | 北京奇虎科技有限公司 | A kind of obstacle processing method and sweeping robot for sweeping robot |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN108836195A (en) * | 2018-06-28 | 2018-11-20 | 广东乐生智能科技有限公司 | A kind of get rid of poverty method and the sweeping robot of sweeping robot |
| CN109528089A (en) * | 2018-11-19 | 2019-03-29 | 珠海市微半导体有限公司 | A kind of walk on method, apparatus and the chip of stranded clean robot |
| CN110192814A (en) * | 2019-06-20 | 2019-09-03 | 深圳市银星智能科技股份有限公司 | It gets rid of poverty method and from mobile device from mobile device |
| CN110974088A (en) * | 2019-11-29 | 2020-04-10 | 深圳市杉川机器人有限公司 | Sweeping robot control method, sweeping robot and storage medium |
| WO2020133708A1 (en) * | 2018-12-25 | 2020-07-02 | 深圳市云鼠科技开发有限公司 | Gyroscope-based floor mopping robot and posture detection and rescuing method therefor |
-
2009
- 2009-12-31 CN CN2009203522578U patent/CN201719182U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103908196A (en) * | 2013-01-05 | 2014-07-09 | 恩斯迈电子(深圳)有限公司 | Cleaning robot and cleaning system |
| CN103356131B (en) * | 2013-07-24 | 2016-01-13 | 莱克电气股份有限公司 | For the processing method of getting rid of poverty of robot cleaner |
| CN103356131A (en) * | 2013-07-24 | 2013-10-23 | 莱克电气股份有限公司 | Seizing-elimination processing method of robot dust collector |
| CN108445878B (en) * | 2018-02-28 | 2022-04-01 | 北京奇虎科技有限公司 | Obstacle processing method for sweeping robot and sweeping robot |
| CN108445878A (en) * | 2018-02-28 | 2018-08-24 | 北京奇虎科技有限公司 | A kind of obstacle processing method and sweeping robot for sweeping robot |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN108836195A (en) * | 2018-06-28 | 2018-11-20 | 广东乐生智能科技有限公司 | A kind of get rid of poverty method and the sweeping robot of sweeping robot |
| CN109528089A (en) * | 2018-11-19 | 2019-03-29 | 珠海市微半导体有限公司 | A kind of walk on method, apparatus and the chip of stranded clean robot |
| CN109528089B (en) * | 2018-11-19 | 2021-03-23 | 珠海市一微半导体有限公司 | Method, device and chip for continuously walking trapped cleaning robot |
| WO2020133708A1 (en) * | 2018-12-25 | 2020-07-02 | 深圳市云鼠科技开发有限公司 | Gyroscope-based floor mopping robot and posture detection and rescuing method therefor |
| CN110192814B (en) * | 2019-06-20 | 2021-07-02 | 深圳市银星智能科技股份有限公司 | Self-mobile equipment escaping method and self-mobile equipment |
| CN110192814A (en) * | 2019-06-20 | 2019-09-03 | 深圳市银星智能科技股份有限公司 | It gets rid of poverty method and from mobile device from mobile device |
| CN110974088A (en) * | 2019-11-29 | 2020-04-10 | 深圳市杉川机器人有限公司 | Sweeping robot control method, sweeping robot and storage medium |
| CN110974088B (en) * | 2019-11-29 | 2021-09-24 | 深圳市杉川机器人有限公司 | Sweeping robot control method, sweeping robot and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171120 Address after: Bailu town in Hunan province Chenzhou city Suxian district forest road by two and the stone tiger Avenue Interchange grambo Industrial Park Patentee after: HUNAN GRAND-PRO ROBOT TECHNOLOGY CO., LTD. Address before: Taiwan County, Taipei, China Patentee before: Yan Chengxiang |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110126 Termination date: 20171231 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |