CN218852634U

CN218852634U - Anti-falling early warning control system and robot

Info

Publication number: CN218852634U
Application number: CN202320088825.8U
Authority: CN
Inventors: 瞿卫新; 杨兆锁
Original assignee: Haibo Suzhou Robot Technology Co ltd
Current assignee: Haibo Suzhou Robot Technology Co ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-04-14
Anticipated expiration: 2033-01-31

Abstract

The utility model relates to the technical field of robot, especially, relate to a dropproof early warning control system and robot. The anti-falling early warning control system comprises a machine body, an early warning sensor and a cliff sensor. The robot body can walk on the ground and clean the ground. The early warning sensor is arranged on the machine body and can transmit an early warning signal to the ground in front of the walking direction of the machine body and receive a returned early warning signal. The organism can slow down when the intensity of the early warning signal of receiving is less than first preset value. The cliff sensor is arranged on the machine body and can be kept open or opened after the machine body is decelerated to a preset speed so as to transmit a cliff signal to the ground right opposite to the front side edge of the machine body and receive a returned cliff signal. The machine body can stop walking when the strength of the cliff signal is lower than a second preset value. The robot comprises the anti-falling early warning control system, and the robot can be prevented from falling into a cliff area through the cooperative work of the early warning sensor and the cliff sensor, so that the cleaning coverage rate is improved.

Description

Anti-falling early warning control system and robot

Technical Field

The utility model relates to a robotechnology field especially relates to a dropproof early warning control system and robot.

Background

The floor sweeping robot can finish the cleaning work of the ground in a scene according to a set path. When the sweeping robot is used for sweeping, the robot may encounter cliff areas, namely steps, stairs or height fall areas. Therefore, the sweeping robot needs to find the cliff area in time in the walking process so as to avoid falling the cliff area.

At present, a chassis of a sweeping robot is provided with a cliff detection sensor, the cliff detection sensor can transmit and receive reflected signals such as laser or sound waves, and whether the strength of the transmitted and received signals is different or not is compared, so that whether a cliff area appears in front of the sweeping robot or not is judged. The existing sweeping robot has the following problems: when the cliff detection sensor detects the cliff area, the sweeping robot stops moving forward immediately and changes the walking track to bypass the cliff area, so that the ground around the cliff area is difficult to sweep, and the cleaning coverage rate of the sweeping robot is reduced. If the cliff detection mechanism breaks down or the feedback is slow, the braking of the sweeping robot is not timely, and the sweeping robot falls into the cliff area to influence the safe operation of the sweeping robot.

Therefore, a fall-prevention early warning control system and a robot are needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a dropproof early warning control system and robot to avoid the robot to fall the cliff region, improve the clean coverage of robot simultaneously.

To achieve the purpose, the utility model adopts the technical proposal that:

a fall arrest early warning control system comprising:

a machine body capable of walking on a floor and cleaning the floor;

the early warning sensor is arranged on the machine body and can transmit an early warning signal to the ground in front of the walking direction of the machine body and receive the returned early warning signal; the body is configured to be decelerated when the intensity of the received early warning signal is lower than a first preset value;

the cliff sensor is arranged on the machine body and can be kept open or opened after the machine body is decelerated to a preset speed so as to transmit a cliff signal to the ground right opposite to the front side edge of the machine body and receive the returned cliff signal; the machine body can stop walking when the strength of the cliff signal is lower than a second preset value.

Preferably, the early warning sensor includes a first transmitting module and a first receiving module, the first transmitting module can transmit the early warning signal to the ground in front of the body in the walking direction, and the first receiving module can receive the returned early warning signal.

Preferably, the cliff sensor includes a second transmitting module and a second receiving module, the second transmitting module is capable of transmitting the cliff signal to the ground directly opposite to the front edge of the machine body, and the second receiving module is capable of receiving the returned cliff signal.

Preferably, the warning sensor is disposed on a front side of the body and above the cliff sensor.

Preferably, the cliff sensor is disposed at a bottom of a front side of the body.

As a preferable scheme, the fall-prevention early warning control system further comprises a control module, the control module is arranged in the machine body, and the early warning sensor and the cliff sensor are both electrically connected with the control module so as to control the opening and closing of the early warning sensor and the cliff sensor; the control module is configured to collect the early warning signal and the cliff signal and adjust the walking speed of the machine body according to the magnitudes of the early warning signal and the cliff signal.

As a preferred scheme, the anti-falling early warning control system further comprises a control module, the control module is arranged in the machine body, and the early warning sensor and the cliff sensor are both in communication connection with the control module so as to control the on and off of the early warning sensor and the cliff sensor; the control module is configured to collect the early warning signal and the cliff signal and adjust the walking speed of the machine body according to the magnitudes of the early warning signal and the cliff signal.

As a preferable scheme, the fall-prevention early warning control system further comprises a motor and a roller, the roller comprises a driving wheel, the motor is arranged in the machine body, the driving wheel is arranged at the bottom end of the machine body, and the motor is in transmission connection with the driving wheel; the control module controls the rotating speed and the rotating direction of the driving wheel through the motor.

Preferably, the roller further comprises a universal wheel, and the universal wheel is further arranged at the bottom end of the machine body.

A robot comprises the anti-falling early warning control system.

The beneficial effects of the utility model are that:

the utility model provides a dropproof early warning control system, when early warning sensor received the early warning signal's that returns intensity is less than first default, then judge that the organism has been close to the cliff region, the organism begins to slow down and slowly is close to the cliff region to clean the regional peripheral ground in cliff. When the cliff sensor reaches the cliff area along with the machine body, if the strength of a cliff signal received by the cliff sensor is lower than a second preset value, the machine body is judged to be positioned at the edge of the cliff area, and the machine body stops walking to avoid falling into the cliff area. The early warning sensor and the cliff sensor work cooperatively to prevent the machine body from falling to a cliff area, so that the safety of the machine body is protected, meanwhile, the ground around the cliff area can be cleaned, and the cleaning coverage rate is improved.

The utility model provides a robot includes foretell dropproof early warning control system, can avoid the organism to fall to the cliff region through early warning sensor and cliff sensor's collaborative work, has protected the safety of organism, can also clean the regional peripheral ground in cliff simultaneously, has improved clean coverage.

Drawings

Fig. 1 is a front view of a robot for cleaning floor provided by the embodiment of the present invention.

The component names and designations in the drawings are as follows:

10. a ground surface; 20. a cliff area;

1. a body; 2. an early warning sensor; 3. a cliff sensor; 4. a control module; 5. a motor; 6. a roller; 61. a driving wheel; 62. a universal wheel.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements related to the present invention are shown in the drawings.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected", "connected" and "fixed" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

The embodiment provides a robot, and particularly, the robot is a sweeping robot and is mainly used for cleaning the floor (or floor, carpet, etc.) in a household. Of course, the robot may also be a transfer robot or the like, and is not particularly limited herein.

When the robot cleans the floor, it may encounter cliff areas, i.e. steps, stairs or height drop areas. In order to avoid the robot falling off the cliff area, a cliff detection mechanism is installed on a chassis of the existing robot, the cliff detection mechanism can transmit and receive reflected signals such as laser or sound waves, and whether the strength of the transmitted and received signals is different or not is compared, so that whether the cliff area appears in front of the sweeping robot or not is judged. When the cliff detection sensor detects the cliff area, the sweeping robot stops moving forward immediately and changes the walking track to bypass the cliff area, so that the ground around the cliff area is difficult to sweep, and the cleaning coverage rate of the sweeping robot is reduced. If the cliff detection mechanism breaks down or the feedback is slow, the braking of the sweeping robot is not timely, and therefore the sweeping robot falls into the cliff area to influence the safe operation of the sweeping robot.

In order to solve the above problem, as shown in fig. 1, the embodiment further provides a fall-prevention early warning control system, which specifically includes a machine body 1, an early warning sensor 2, and a cliff sensor 3. The robot body 1 is capable of walking on the floor 10 and cleaning the floor 10. The early warning sensor 2 is disposed on the machine body 1 and can transmit and receive an early warning signal to and from the ground 10 in front of the machine body 1 in the traveling direction. The machine body 1 can decelerate when the intensity of the received early warning signal is lower than a first preset value. The cliff sensor 3 is provided on the machine body 1 and can be kept open or opened after the machine body 1 is decelerated to a preset speed to emit a cliff signal to the ground 10 facing the front side edge of the machine body 1 and receive a return cliff signal. The machine body 1 can stop walking when the strength of the cliff signal is lower than a second preset value.

When the robot is switched on, the machine body 1 starts to walk on the floor 10 and clean the floor 10 passing by. At this time, the warning sensor 2 is kept in an on state. When the intensity of the warning signal received back by the warning sensor 2 is lower than the first preset value, it is determined that the body 1 has approached the cliff area 20, and the body 1 starts to decelerate and slowly approach the cliff area 20 to clean the floor 10 around the cliff area 20. The safe operating state is entered when the cliff sensor 3 arrives with the machine body 1 in the cliff area 20. When the strength of the cliff signal received by the cliff sensor 3 is lower than a second preset value, it is determined that the machine body 1 is located at the edge of the cliff area 20, and the machine body 1 stops traveling to avoid falling into the cliff area 20. Through the cooperative work of the early warning sensor 2 and the cliff sensor 3, the machine body 1 can be prevented from falling to the cliff area 20, the safety of the machine body 1 is protected, meanwhile, the ground 10 around the cliff area 20 can be cleaned, and the cleaning coverage rate is improved.

The cliff sensor 3 of the embodiment can be synchronously started after the robot is started, so that the cliff sensor 3 is always in a working state, and the safety and the reliability of the robot in the running process are further improved. Alternatively, the cliff sensor 3 is in an off state after the robot is turned on to reduce the energy consumption of the robot. When the robot is decelerated to a set speed, the cliff sensor 3 is opened along with the deceleration, so that the cliff sensor 3 is intelligently opened and closed, and the automation of the robot is improved.

It should be noted that the first preset value, the second preset value and the preset speed can be flexibly adjusted according to the specific situation of the ground 10, and are not limited in this respect. For example, when the floor 10 is a floor tile, carpet or glass, the first predetermined value, the second predetermined value and the predetermined speed are different.

As shown in fig. 1, the warning sensor 2 is provided on the front side of the machine body 1 and above the cliff sensor 3. The early warning sensor 2 comprises a first transmitting module and a first receiving module, the first transmitting module can transmit early warning signals to the ground 10 in front of the walking direction of the machine body 1, and the first receiving module can receive the returned early warning signals. The cliff sensor 3 is provided at the bottom of the front side of the machine body 1. The cliff sensor 3 includes a second transmitting module capable of transmitting a cliff signal to the ground 10 facing the front edge of the machine body 1, and a second receiving module capable of receiving the returned cliff signal.

It should be noted that the early warning sensor 2 of the present embodiment can transmit the early warning signal to the ground 10 within a range of 1.5m to 2mm in front of the walking direction of the machine body 1, so that the robot can early warn when approaching the cliff area 20, thereby the robot starts to decelerate in advance, the robot is prevented from falling into the cliff area 20 when the robot stops walking in time, and the safety of the robot is improved. The early warning sensor 2 and the cliff sensor 3 in this embodiment may be the same sensor, and only the working parameters need to be adjusted. Since the cliff sensor 3 is a mature technology in the prior art, the signal types and the working principles of the early warning sensor 2 and the cliff sensor 3 are not described in detail.

As shown in fig. 1, the fall-prevention early warning control system further includes a control module 4, the control module 4 is disposed in the machine body 1, and the early warning sensor 2 and the cliff sensor 3 are both electrically connected to the control module 4 to control the on/off of the early warning sensor 2 and the cliff sensor 3. The control module 4 can collect the returned early warning signal and the returned cliff signal, and adjust the walking speed of the machine body 1 according to the size of the returned early warning signal and the returned cliff signal. Since the control module 4 is prior art, it is not described herein in detail.

In other embodiments, the precaution sensor 2 and the cliff sensor 3 may both be communicatively connected to the control module 4 to control the opening and closing of the precaution sensor 2 and the cliff sensor 3. Meanwhile, the control module 4 collects the returned early warning signal and the returned cliff signal in a wireless communication mode, and adjusts the walking speed of the machine body 1 according to the size of the returned early warning signal and the returned cliff signal.

When the robot is started, the control module 4 controls the early warning sensor 2 to be synchronously opened, so that the early warning sensor 2 can transmit an early warning signal to the ground 10 in front of the machine body 1. The control module 4 collects the returned early warning signals received by the first receiving module and compares the strength of the collected early warning signals with a first preset value. When the intensity of the early warning signal is lower than a first preset value, it is determined that the machine body 1 is close to the cliff area 20, and the control module 4 controls the machine body 1 to start deceleration. When the machine body 1 decelerates to a preset speed, the control module 4 enters a safe working state through the cliff sensor 3, the control module 4 collects a returned cliff signal received by the second receiving module, and the strength of the collected cliff signal is compared with a second preset value. When the strength of the cliff signal is lower than the second preset value, it indicates that the machine body 1 has reached the edge of the cliff area 20, and the control module 4 controls the machine body 1 to stop walking again to avoid falling into the cliff area 20. Of course, the control module 4 can also control the machine body 1 to reverse or steer to avoid the cliff area 20.

As shown in fig. 1, the fall-prevention early warning control system further comprises a motor 5 and a roller 6, the roller 6 comprises a driving wheel 61, the motor 5 is arranged in the machine body 1, the bottom end of the machine body 1 is provided with the driving wheel 61, and the motor 5 is in transmission connection with the driving wheel 61. The control module 4 controls the rotation speed and the steering of the driving wheel 61 through the motor 5 so as to enable the machine body 1 to walk and steer according to a preset track.

Further, the roller 6 further comprises a universal wheel 62, and the bottom end of the machine body 1 is further provided with the universal wheel 62. The universal wheel 62 is used as a driven wheel, not only can support the machine body 1 together with the driving wheel 61, but also can be driven by the driving wheel 61 to synchronously move and turn, so that the stability and flexibility of the moving and turning process of the machine body 1 are improved. The number and the installation position of the driving wheel 61 and the universal wheel 62 can be flexibly adjusted, and are not particularly limited herein.

The robot of the embodiment comprises the anti-falling early warning control system, the body 1 can be prevented from falling to the cliff area 20 through the cooperative work of the early warning sensor 2 and the cliff sensor 3, the safety of the robot is protected, meanwhile, the ground 10 around the cliff area 20 can be cleaned, and the cleaning coverage rate of the robot is improved.

The above embodiments have only been explained the basic principle and characteristics of the present invention, the present invention is not limited by the above embodiments, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these changes and modifications all fall into the scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A fall protection early warning control system, characterized by comprising:

a machine body (1) which can travel on a floor (10) and clean the floor (10);

the early warning sensor (2) is arranged on the machine body (1) and can transmit an early warning signal to the ground (10) in front of the walking direction of the machine body (1) and receive the returned early warning signal; the machine body (1) is configured to be able to decelerate when the intensity of the early warning signal received is lower than a first preset value;

a cliff sensor (3) which is arranged on the machine body (1) and can be kept open or opened after the machine body (1) is decelerated to a preset speed so as to transmit a cliff signal to the ground (10) opposite to the front side edge of the machine body (1) and receive the returned cliff signal; the machine body (1) can stop walking when the strength of the cliff signal is lower than a second preset value.

2. The fall arrest warning control system according to claim 1, characterized in that the warning sensor (2) comprises a first transmitting module capable of transmitting the warning signal to the ground (10) in front of the walking direction of the machine body (1) and a first receiving module capable of receiving the returned warning signal.

3. A fall arrest warning control system according to claim 1, characterised in that the cliff sensor (3) comprises a second transmitting module capable of transmitting the cliff signal to the ground (10) against which the front edge of the body (1) faces and a second receiving module capable of receiving the returned cliff signal.

4. A fall arrest warning control system according to claim 1, characterised in that the warning sensor (2) is arranged on the front side of the body (1) above the cliff sensor (3).

5. The fall arrest warning control system according to claim 4, characterized in that the cliff sensors (3) are arranged at the bottom of the front side of the machine body (1).

6. The fall protection early warning control system according to claim 1, further comprising a control module (4), wherein the control module (4) is disposed in the machine body (1), and the early warning sensor (2) and the cliff sensor (3) are both electrically connected to the control module (4) to control the opening and closing of the early warning sensor (2) and the cliff sensor (3); the control module (4) is configured to be capable of collecting the returned early warning signal and the returned cliff signal and adjusting the walking speed of the machine body (1) according to the returned early warning signal and the returned cliff signal.

7. The fall protection early warning control system according to claim 1, further comprising a control module (4), wherein the control module (4) is disposed in the machine body (1), and the early warning sensor (2) and the cliff sensor (3) are both in communication connection with the control module (4) to control the on/off of the early warning sensor (2) and the cliff sensor (3); the control module (4) is configured to be capable of collecting the early warning signal returned and the cliff signal returned, and adjusting the walking speed of the machine body (1) according to the magnitudes of the early warning signal returned and the cliff signal returned.

8. The fall protection early warning control system according to claim 6 or 7, further comprising a motor (5) and a roller (6), wherein the roller (6) comprises a driving wheel (61), the motor (5) is arranged in the machine body (1), the driving wheel (61) is arranged at the bottom end of the machine body (1), and the motor (5) is in transmission connection with the driving wheel (61); the control module (4) controls the rotating speed and the rotating direction of the driving wheel (61) through the motor (5).

9. The fall arrest warning control system according to claim 8, characterized in that the rollers (6) further comprise universal wheels (62), the universal wheels (62) being further provided at the bottom end of the machine body (1).

10. A robot, characterized by comprising the fall-prevention early warning control system according to any one of claims 1 to 8.