CN203812090U - Surface treatment robot system - Google Patents
Surface treatment robot system Download PDFInfo
- Publication number
- CN203812090U CN203812090U CN201420178711.3U CN201420178711U CN203812090U CN 203812090 U CN203812090 U CN 203812090U CN 201420178711 U CN201420178711 U CN 201420178711U CN 203812090 U CN203812090 U CN 203812090U
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- surface treatment
- treatment machine
- robot
- robot system
- telepilot
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- 238000004381 surface treatment Methods 0.000 title claims abstract description 47
- 230000000875 corresponding effect Effects 0.000 claims abstract description 17
- 230000005484 gravity Effects 0.000 claims description 9
- 238000003825 pressing Methods 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Abstract
Provided is a surface treatment robot system. The surface treatment robot system comprises a surface treatment robot and a remote controller. The surface treatment robot comprises a control unit and a driving unit. The control unit receives the remote control instruction of the remote controller and controls the driving unit to carry out corresponding actions. The surface treatment robot is equipped with a direction sensor used for determining a reference direction. The direction sensor is connected with the control unit. The direction sensor sends the determined reference direction to the control unit. The control unit determines the walking direction of the robot according to the remote control instruction inputted by the input end of the remote controller and with the reference direction as reference. Different direction sensors are arranged in different surface treatment robots, determination of direction reference is achieved, and therefore the walking direction of the robot is determined, and the buttons on the remote controller correspond to the walking directions. No matter what state the robot is in, when any button on the remote controller is clicked or pressed for long, the robot can be adjusted to the corresponding direction for walking automatically. The surface treatment robot system is advantaged by simple and convenient operation and high working efficiency.
Description
Technical field
The utility model relates to a kind of surface treatment machine robot system, belongs to small household appliances manufacturing technology field.
Background technology
Existing surface treatment machine robot system, generally includes surperficial robot and telepilot.Take window wiping robot as example, on its telepilot, be mostly provided with front, rear, left and right key.This window wiping robot of accepting telepilot remote control self does not possess direction recognition function conventionally.Traditional control mode, walks left if want to allow its adjust direction when making progress walking states at window wiping robot, first needs to pin and turns left to key, presses forward direction key after the front end of window wiping robot forwards horizontal direction to again.That is to say, the direction of travel of existing control method Shi Budui robot judges, relies on visual inspection completely and by the manual control of telepilot, realizes the walking of robot.Therefore, existing surface treatment machine robot system human intervention degree is high, complex operation, and remote control efficiency is low.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of surface treatment machine robot system is provided, by different direction sensors being set in the surface treatment machine people different, directional reference is judged, then according to this directional reference, determine at least four direction of travel of surface treatment machine people, and make the button on telepilot corresponding one by one with surface treatment machine people's direction of travel.No matter surface treatment machine people is now in which kind of motion state, and when pressing or during long any one button by telepilot, robot all can be adjusted to corresponding direction walking automatically, simple to operation, work efficiency is high.
Technical matters to be solved of the present utility model is achieved by the following technical solution:
A kind of surface treatment machine robot system, comprise surface treatment machine people and telepilot, surface treatment machine people comprises control module and driver element, control module receives the telecommand of telepilot and controls driver element and carry out corresponding action, described surface treatment machine people is provided with for determining the direction sensor of reference direction, described direction sensor is connected with described control module, direction sensor sends to control module by definite reference direction, control module basis of reference direction the telecommand of inputting according to telepilot input end are determined the direction of travel of robot.
Described remote control commands input end at least comprises four direction button, is respectively used to four of front, rear, left and right direction of travel that input and described surface treatment machine people benchmark direction arrange telecommand one to one.
Different surface treatment machine robot systems, can realize the judgement to reference direction by different direction sensors is set.
Such as: the artificial inclined surface handling machine of described surface treatment machine people, described direction sensor is gravity sensor, by gravity sensor, determines vertical direction, and take this vertical direction as reference direction.
Described telecommand comprises take vertical direction as benchmark is towards upper and lower, left or right direction walking.
The artificial horizontal surface handling machine of described surface treatment machine people, described direction sensor is electronic compass or compass, by electronic compass or compass determine Due South to, and take Due South to being reference direction.
Described telecommand comprise take Due South to as benchmark towards due east, Zheng Xi, due south or direct north walking.
In sum, the utility model is by arranging different direction sensors in the surface treatment machine people different, directional reference is judged, then according to this directional reference, determine at least four direction of travel of surface treatment machine people, and make the button on telepilot corresponding one by one with surface treatment machine people's direction of travel.No matter surface treatment machine people is now in which kind of motion state, and when pressing or during long any one button by telepilot, robot all can be adjusted to corresponding direction walking automatically, simple to operation, work efficiency is high.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Accompanying drawing explanation
Fig. 1 is that between window wiping robot and telepilot, signal transmits schematic diagram;
Fig. 2 is telepilot principle of work schematic flow sheet.
Embodiment
Embodiment mono-
The surface treatment machine robot system providing is in the present embodiment inclined surface handling machine people, comprising: inclined surface handling machine people and telepilot, the window wiping robot of usining describes as the artificial example of inclined surface handling machine.Fig. 1 is that between window wiping robot and telepilot, signal transmits schematic diagram; Fig. 2 is telepilot principle of work schematic flow sheet.As Fig. 1 and in conjunction with as shown in Fig. 2, the present embodiment provides a kind of window wiping robot system, described window wiping robot system comprises window wiping robot 100 and telepilot 200, window wiping robot 100 comprises control module and driver element, and control module receives the guidance command of telepilot 200 and carries out corresponding action.On window wiping robot, be also provided with for determining the gravity sensor of reference direction, gravity sensor is connected with control module, and take its definite vertical direction and send to control module as reference direction, in telepilot 200, be provided with signal projector, in window wiping robot 100, correspondence is provided with signal receiver, window wiping robot 100 receives the signal that telepilot 200 sends and transfers the signal to the control module, and control module be take vertical direction and as benchmark the instruction of sending according to telepilot, controlled driver element and complete corresponding action.
By specific embodiment, the course of work of the present utility model is described in detail below.
Embodiment mono-
Window wiping robot 100, in open state, first, is determined vertical direction by the gravity sensor 300 being arranged on window wiping robot 100; And take this vertical direction and determine the upper and lower, left and right four direction of window wiping robot 100 operation as benchmark, accept respectively that telepilot is front 210, rear 220, left 230, the control of 240 4 buttons in the right side.Window wiping robot receives the guidance command of telepilot and completes corresponding action, for example: no matter now the front end of window wiping robot, towards what direction, all can be realized window wiping robot walking upward by long by front 210 buttons.Arbitrary moment is decontroled button during the course, and window wiping robot is stop motion at once.Generally, telepilot, except with direction key, also has stop key, and in the remote control mode of the present embodiment, the stop key on telepilot can be used for the people that starts the machine.
Embodiment bis-
Window wiping robot 100 is in walking states, take makes progress walks is example, now, can be by pressing before telepilot 210, arbitrary in rear 220, left 230, right 240 4 buttons take vertical direction by key control window wiping robot and towards correspondence direction, walk as benchmark.When needs, controlling window wiping robot transfers to while walking left, press left button 230, signal projector on telepilot 200 transmitting one instruction of walking left, signal receiver on window wiping robot 100 receives command adapted thereto and sends to control module, control module be take the pose that first the determined vertical direction of gravity sensor adjust window wiping robot as benchmark makes its front end towards left, then controls drive unit drives window wiping robot and walks towards left.Same reason, when pressing right button or rear key, control module first control window wiping robot adjust pose to its front end towards right-hand or below, then drive unit drives window wiping robot is walked towards correspondence direction.Certainly, when pressing rear key, control module can be controlled the action that window wiping robot has directly retreated downward walking equally.In the remote control mode of the present embodiment, can utilize stop key on telepilot to stop the walking of robot.
Comprehensive above-mentioned two kinds of embodiment are known, if user needs window wiping robot to move upward, first, will be in the definite vertical direction of acceleration of gravity, and take this vertical direction and determine the upper and lower, left and right four direction of window wiping robot operation as benchmark, rely on respectively four of front, rear, left and right that telepilot is corresponding by key control.Secondly, the utility model has comprised multiple remote control mode, both can be grown and be pressed the mode that front key do not put and control by user, can control by pressing the mode of front key again.If user is long, press front key, if now robot does not move upward, first original place turns to top, and then straight line moves upward.If window wiping robot is original just towards top, directly move upward.Arbitrary moment is decontroled front key in the process of walking, and window wiping robot is stop motion at once.If user adopts the mode of pressing front key, window wiping robot can also be walked by auto-steering automatically, if need to make robot stop motion in the process of walking, presses the stop key on telepilot.The function of rear key, left-right key and remote control mode are by that analogy.
Embodiment tri-
A kind of horizontal surface handling machine robot system is provided in the present embodiment, comprises: horizontal surface handling machine people and telepilot.In the present embodiment, the artificial sweeping robot of horizontal surface handling machine.On sweeping robot, be provided with direction sensor, this direction sensor can be electronic compass or compass, by electronic compass or compass determine Due South to, and take Due South to being reference direction.Sweeping robot comprises control module and driver element, control module receives the telecommand of telepilot and controls driver element and carry out corresponding action, described direction sensor is connected with control module, electronic compass or compass send to control module by definite reference direction, control module is determined the corresponding direction of travel of robot according to reference direction, and corresponding one by one with the telecommand of telepilot input end input.Described telecommand comprise take Due South to as benchmark towards due east, Zheng Xi, due south or direct north walking, front 210, rear 220, left 230, right 240 4 buttons that can define equally telepilot represent respectively the command input end in positive north, due south, Zheng Xi, due east.
The specific works process of sweeping robot is such: first, sweeping robot, in a certain state, can be both the stationary state of just starting shooting, and can be also the motion state in cleaning process.Now, if need sweeping robot to move westwards, press or grow by the left button of telepilot, if sweeping robot is in west to motion state, continuing operation; If be in other directions, according to electronic compass or the determined Due South of compass to being reference direction, first the pose of adjusting sweeping robot to its front end towards positive west to, holding point by or the long left button of press telepilot, sweeping robot continues to walk towards this direction.
In the present embodiment, can comprise multiple remote control mode equally, both can grow not put by button by user and control walking, discharge the mode that button stops walking and control, can control by pressing the mode that stops walking by stop key by key control walking binding site again.
Certainly, what above-described embodiment was cited is all the such positive dirction of upper and lower, left and right or East, West, South, North, by the further segmentation to angle, also can realize the walking of surface treatment machine robot system in non-positive dirction and control, as increased southeastern direction or northwest to instruction etc. in embodiment bis-.
In sum, the utility model is by arranging different direction sensors in the surface treatment machine people different, directional reference is judged, then according to this directional reference, determine at least four direction of travel of surface treatment machine people, and make the button on telepilot corresponding one by one with surface treatment machine people's direction of travel.No matter surface treatment machine people is now in which kind of motion state, and when pressing or during long any one button by telepilot, robot all can be adjusted to corresponding direction walking automatically, simple to operation, work efficiency is high.
Claims (6)
1. a surface treatment machine robot system, comprise surface treatment machine people and telepilot, surface treatment machine people comprises control module and driver element, control module receives the telecommand of telepilot and controls driver element and carry out corresponding action, it is characterized in that, described surface treatment machine people is provided with for determining the direction sensor of reference direction, described direction sensor is connected with described control module, direction sensor sends to control module by definite reference direction, control module basis of reference direction the telecommand of inputting according to telepilot input end are determined the direction of travel of robot.
2. surface treatment machine robot system as claimed in claim 1, it is characterized in that, described remote control commands input end at least comprises four direction button, is respectively used to four of front, rear, left and right direction of travel that input and described surface treatment machine people benchmark direction arrange telecommand one to one.
3. surface treatment machine robot system as claimed in claim 2, it is characterized in that, the artificial inclined surface handling machine of described surface treatment machine people, described direction sensor is gravity sensor, by gravity sensor, determine vertical direction, and take this vertical direction as reference direction.
4. surface treatment machine robot system as claimed in claim 3, is characterized in that, described telecommand comprises take vertical direction as benchmark is towards upper and lower, left or right direction walking.
5. surface treatment machine robot system as claimed in claim 2, it is characterized in that, the artificial horizontal surface handling machine of described surface treatment machine people, described direction sensor is electronic compass or compass, by electronic compass or compass determine Due South to, and take Due South to being reference direction.
6. surface treatment machine robot system as claimed in claim 5, is characterized in that, described telecommand comprise take Due South to as benchmark towards due east, Zheng Xi, due south or direct north walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420178711.3U CN203812090U (en) | 2014-04-14 | 2014-04-14 | Surface treatment robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420178711.3U CN203812090U (en) | 2014-04-14 | 2014-04-14 | Surface treatment robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203812090U true CN203812090U (en) | 2014-09-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201420178711.3U Expired - Lifetime CN203812090U (en) | 2014-04-14 | 2014-04-14 | Surface treatment robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977927A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Surface treatment robot system |
| CN114743368A (en) * | 2022-04-01 | 2022-07-12 | 深圳市多亲科技有限公司 | Universal remote control device capable of being automatically configured through spatial orientation sensing and operation method thereof |
-
2014
- 2014-04-14 CN CN201420178711.3U patent/CN203812090U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977927A (en) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | Surface treatment robot system |
| WO2015158242A1 (en) * | 2014-04-14 | 2015-10-22 | 科沃斯机器人有限公司 | Surface treatment robotic system |
| US10429835B2 (en) | 2014-04-14 | 2019-10-01 | Ecovacs Robotics Co., Ltd. | Surface treatment robotic system |
| US11099555B2 (en) | 2014-04-14 | 2021-08-24 | Ecovacs Robotics Co., Ltd. | Surface treatment robotic system |
| CN114743368A (en) * | 2022-04-01 | 2022-07-12 | 深圳市多亲科技有限公司 | Universal remote control device capable of being automatically configured through spatial orientation sensing and operation method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |