CN218889601U

CN218889601U - Cleaning robot control device and cleaning robot

Info

Publication number: CN218889601U
Application number: CN202223118353.0U
Authority: CN
Inventors: 张云浩; 李宇浩
Original assignee: Maiyan Intelligent Technology Beijing Co ltd
Current assignee: Maiyan Intelligent Technology Beijing Co ltd
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-04-21
Anticipated expiration: 2032-11-23

Abstract

The utility model relates to the technical field of cleaning robot motion testing, in particular to a cleaning robot control device which comprises a control bracket and a holding part; the holding part is arranged on the control bracket and is convenient for the two hands to operate; the push-pull force sensor is arranged on the holding part and is used for feeding back the force applied to the holding part by an operator to the sensor acquisition controller; the sensor acquisition controller controls the travelling speed of the cleaning robot according to the push-pull force. The utility model has the beneficial effects that: the structure is simple, and the occupied space is small; the operation is simple, and the travelling speed and the travelling direction are automatically adjusted along with the action of an operator.

Description

Cleaning robot control device and cleaning robot

Technical Field

The utility model relates to the technical field of cleaning robot motion testing, in particular to a cleaning robot control device.

Background

With the development of social science and technology, cleaning robots are widely used in large offices or business places. In cleaning robot applications, the inevitable need is often felt to manually operate the mobile cleaning robot, which is often heavy and laborious to operate by a human.

To solve the above problems, currently, cleaning robots are generally provided with two manual operation modes:

1. steering wheel type, the robot is controlled by installing a steering wheel similar to an automobile on the robot.

This approach, which approximates the form of driving a car, requires increasing the pedal steering speed while controlling the direction with the steering wheel. And because of the need for a person to sit on the machine for operation, it is not well suited for some small cleaning robots, which are too small to have room for sitting.

2. The throttle handle is rotated, the hand is required to continuously rotate like a motorcycle to control the speed of the robot, and the experience is poor in the process of pushing the robot by a person.

Based on this, a cleaning robot control device is needed, which can be used conveniently and smoothly by most people.

Disclosure of Invention

The utility model aims to provide a cleaning robot control device which solves the problems in the prior art.

The utility model discloses a cleaning robot control device, which comprises a control bracket and a holding part, wherein the control bracket is provided with a handle; the holding part is arranged on the control bracket and is convenient for the two hands to operate; the push-pull force sensor is arranged on the holding part and is used for feeding back the force applied to the holding part by an operator to the sensor acquisition controller; the sensor acquisition controller controls the travelling speed of the cleaning robot according to the push-pull force.

Further, when the push-pull force sensor receives forward thrust, the sensor acquisition controller sends out a forward signal; when the push-pull force sensor receives the backward pulling force, the sensor acquisition controller sends out a backward signal; when the force received by the push-pull force sensor is zero, the sensor acquisition controller sends out a motion stopping signal.

Further, 2 push-pull force sensors are arranged and respectively correspondingly arranged at the holding parts of the left hand and the right hand.

Further, when the directions of the forces received by the 2 push-pull force sensors are opposite, the sensor acquisition controller sends out a movement signal for turning in the direction set by the push-pull force sensor receiving the backward pulling force.

Further, when the directions of the forces received by the 2 push-pull force sensors are the same but the magnitudes of the forces are different, the difference value of the two forces reaches a preset value, and the sensor acquisition controller sends out a movement signal for turning in the direction set by the push-pull force sensor which receives smaller force.

Preferably, the preset value is 1-10N.

Further, the utility model also discloses a cleaning robot provided with the control device.

The utility model has the beneficial effects that:

1. the structure is simple, and the occupied space is small;

2. the operation is simple, and the travelling speed and the travelling direction are automatically adjusted along with the action of an operator.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment 1 of the present utility model;

FIG. 2 is a schematic structural diagram of embodiment 2 of the present utility model;

FIG. 3 is a schematic diagram of a push-pull force sensor according to embodiment 1 of the present utility model;

FIG. 4 is a schematic diagram of a push-pull force sensor according to embodiment 2 of the present utility model;

fig. 5 is a control logic diagram of the present utility model.

Detailed Description

The following description of the specific embodiments of the present utility model will be further described with reference to the accompanying drawings and examples, which are only used to more clearly illustrate the technical solution of the present utility model, but are not to be construed as limiting the scope of the present utility model.

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

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

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Example 1

As shown in fig. 1, 3 and 5, a cleaning robot control device comprises a control bracket 1 and a holding part 2; the holding part 2 is arranged on the control bracket 1 and is convenient for two hands to operate; a push-pull force sensor 3 is arranged on the holding part 2, and the push-pull force sensor 3 is used for feeding back the force applied to the holding part 2 by an operator to a sensor acquisition controller 4; the sensor acquisition controller 4 controls the travelling speed of the cleaning robot according to the push-pull force.

When the push-pull force sensor 3 receives forward thrust, the sensor acquisition controller 4 sends out a forward signal; when the push-pull force sensor 3 receives the backward pulling force, the sensor acquisition controller 4 sends out a backward signal; when the force received by the push-pull force sensor 3 is zero, the sensor acquisition controller 4 sends out a motion stop signal.

The embodiment of the utility model also discloses a cleaning robot provided with the control device.

Example 2

As shown in fig. 2, 4 and 5, a cleaning robot control device includes a control bracket 1 and a grip 2; the holding part 2 is arranged on the control bracket 1 and is convenient for two hands to operate; the holding part 2 is provided with 2 push-pull force sensors 3 which are respectively and correspondingly arranged on the holding parts 2 of the left hand and the right hand; the push-pull force sensor 3 is used for feeding back the force applied to the grip part 2 by an operator to the sensor acquisition controller 4; the sensor acquisition controller 4 controls the travelling speed of the cleaning robot according to the push-pull force.

When the directions of the forces received by the 2 push-pull force sensors 3 are opposite, the sensor acquisition controller 4 sends out a movement signal for turning in the direction set by the push-pull force sensor 3 receiving the backward pulling force.

When the directions of the forces received by the 2 push-pull force sensors 3 are the same but the magnitudes of the forces are different, the difference between the two forces reaches a preset value, and the sensor acquisition controller 4 sends out a movement signal for turning in the direction set by the push-pull force sensor 3 receiving smaller force.

Preferably, the preset value is 5N.

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

Claims

1. The cleaning robot control device is characterized by comprising a control bracket (1) and a holding part (2); the holding part (2) is arranged on the control bracket (1) and is convenient for two-hand operation; a push-pull force sensor (3) is arranged on the holding part (2), and the push-pull force sensor (3) is used for feeding back the force applied to the holding part (2) by an operator to a sensor acquisition controller (4); the sensor acquisition controller (4) controls the travelling speed of the cleaning robot according to the push-pull force.

2. The cleaning robot handling device of claim 1, wherein said sensor acquisition controller (4) issues a forward signal when said push-pull force sensor (3) receives forward thrust; when the push-pull force sensor (3) receives a backward pulling force, the sensor acquisition controller (4) sends a backward signal; when the force received by the push-pull force sensor (3) is zero, the sensor acquisition controller (4) sends out a motion stopping signal.

3. The cleaning robot control device according to claim 1, wherein 2 push-pull force sensors (3) are provided, respectively corresponding to grip portions (2) mounted on the left and right hands.

4. A cleaning robot handling device according to claim 3, characterized in that said sensor acquisition controller (4) issues a movement signal turning in the direction in which said push-pull force sensor (3) receiving a backward pulling force is arranged, when the directions of the forces received by 2 push-pull force sensors (3) are opposite.

5. A cleaning robot handling device according to claim 3, characterized in that when the forces received by 2 push-pull force sensors (3) are in the same direction but the forces are different, the difference between the two forces reaches a preset value, and the sensor acquisition controller (4) sends out a movement signal turning in the direction set by the push-pull force sensor (3) receiving the smaller force.

6. The cleaning robot handling device of claim 5, wherein said reach preset value is 1-10N.

7. A cleaning robot, characterized in that a handling device according to any one of claims 1-6 is mounted.