WO2015139608A1 - 自移动装置及其运动表面缺陷检测及控制方法 - Google Patents

自移动装置及其运动表面缺陷检测及控制方法 Download PDF

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Publication number
WO2015139608A1
WO2015139608A1 PCT/CN2015/074380 CN2015074380W WO2015139608A1 WO 2015139608 A1 WO2015139608 A1 WO 2015139608A1 CN 2015074380 W CN2015074380 W CN 2015074380W WO 2015139608 A1 WO2015139608 A1 WO 2015139608A1
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self
moving
moving device
vacuum
suction cup
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PCT/CN2015/074380
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English (en)
French (fr)
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周飞
吕小明
冯林强
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科沃斯机器人有限公司
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Publication of WO2015139608A1 publication Critical patent/WO2015139608A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • the invention relates to a self-moving device and a method for detecting and controlling the movement surface defect thereof, and belongs to the technical field of household small electrical appliances manufacturing.
  • the technical problem to be solved by the present invention is to provide a self-moving device and a method for detecting and controlling a surface defect thereof, which is sensitive to detection, whether it is a slit, a boss or a frameless boundary, Stable performance and high accuracy.
  • a self-moving device includes a body, the body is provided with a control unit, and the body is further provided with a moving surface defect detecting device, and the device comprises a detecting rod movably disposed on the body of the moving device, and the detecting rod is internally provided There is an air flow passage, the bottom end of the detecting rod is a free end, a cavity is arranged inside the free end, the air flow passage penetrates with the cavity to form a small suction cup structure, a spring is arranged on the detecting rod, and the spring is positioned between the body and the free end.
  • the cavity is connected to one end of the vacuum sensing device through a hose, and the vacuum sensing device is connected to the vacuuming device via a hose; the vacuum sensing device is connected to the control unit.
  • the detecting rod is fixed on the body of the self-moving device by a snap.
  • the self-end is in the shape of a spherical table.
  • a sealing gasket is provided on the contact surface of the free end of the detecting rod and the surface to be detected.
  • the body is provided with a stop portion, and the spring is between the stop portion and the bottom of the probe rod. In-position positioning.
  • the bottom of the body is further provided with a main suction cup, and the moving surface defect detecting device is disposed at a periphery of the main suction cup of the mobile device, and the number is set to be plural.
  • the moving surface defect detecting device is uniformly disposed on the periphery of the main suction cup of the mobile device.
  • the self-moving device may further include an adsorption unit and a walking unit disposed at the bottom of the body, the walking unit being connected to a driving unit; and, in order to facilitate the cleaning operation, the self-moving device further includes
  • the rag bracket has an opening in the middle of the rag bracket, and the body is rotatably embedded in the opening.
  • the adsorption unit can adopt various mechanisms or devices to achieve the adsorption of the body on the working surface, but in general, the adsorption unit is a suction cup, and the suction cup is connected to the vacuum pump through a hose, and the vacuum pump works to form a negative pressure in the suction cup.
  • the self-moving device is attracted to the work surface.
  • the rag support is square.
  • the invention also provides a method for detecting and controlling a moving surface defect of the above self-moving device, the method comprising the following steps:
  • Step 100 moving from the mobile device on the surface of the glass, the vacuum sensing device detects the vacuum degree of the cavity in real time, and sends data information to the control unit;
  • Step 200 The control unit processes the data information to determine whether the real-time vacuum of the cavity is less than the preset vacuum, and if so, proceeds to step 300; otherwise, returns to step 100;
  • Step 300 The control unit controls steering from the mobile device.
  • the present invention provides a self-moving device and a method for detecting and controlling a surface defect thereof.
  • the structure is simple and sensitive to detection, and can be detected whether it is a slit, a boss or a frameless boundary, and has stable performance and high accuracy.
  • FIG. 1 is a partial structural schematic view of a moving surface defect detecting device of the present invention
  • FIG. 2 is a schematic view showing the position of the moving surface defect detecting device on the self-moving device
  • FIG. 3 is a state diagram of a moving surface defect detecting device when the mobile device is normally walking
  • FIG. 4 is a state diagram of a moving surface defect detecting device when a moving device encounters a borderless border
  • Figure 5 is a state diagram of a moving surface defect detecting device when a moving device encounters a moving surface gap
  • Figure 6 is a state diagram of a moving surface defect detecting device when a moving device encounters a moving surface boss.
  • the moving surface defect detecting device includes a detecting lever 200 which is fixed to the body 100 of the self-moving device by a buckle 500.
  • the inside of the detecting rod 200 is provided with an air flow passage 230.
  • the bottom end of the detecting rod 200 is a free end, and the free end is internally provided with a cavity 220.
  • the air flow passage 230 and the cavity 220 penetrate to form a small suction cup structure.
  • the detecting rod 200 is provided with a spring 300.
  • the spring 300 is sleeved on the detecting rod 200.
  • the body 100 is provided with a stopping portion 110.
  • the spring 300 is positioned in the space between the stopping portion 110 and the bottom of the detecting rod.
  • the free end is moved on the moving surface, the free end is in the shape of a spherical table 210, the outer surface of the table is curved, and the bottom surface of the table 210 in contact with the moving surface is a plane.
  • a sealing pad 400 is disposed on the contact surface of the free end of the detecting rod 200 and the surface to be detected, that is, the inner side of the ball table 210 is provided with a sealing pad 400, and only the air flow passage at the center is kept in contact with the moving surface, thereby further securing the cavity 220 and The tightness of the moving surface.
  • the cavity 220 inside the detecting rod 200 is connected to one end of the vacuum sensing device 600 through a hose 800, and the vacuum sensing device 600 is connected to the vacuuming device 700 through a hose 800.
  • FIG. 2 is a schematic view showing the position of the moving surface defect detecting device on the self-moving device.
  • the small suction cup structure formed by the moving surface defect detecting device A is disposed at the periphery of the main suction cup of the self-moving device B, and the number of the small suction cup structure is not limited, and the air pressure of the small suction cup is detected by the vacuum sensing device 600. If the air pressure of the small suction cup in any direction drops below the set air pressure value, the self-moving device can recognize the direction as a dangerous area, and control the movement from the mobile device to stop or turn to avoid the danger.
  • the specific working process of the moving surface defect detecting device will be described in detail below with reference to the accompanying drawings.
  • the self-moving device may further include an adsorption unit and a walking unit disposed at the bottom of the body, and the walking unit is connected to a driving unit.
  • the self-moving device further includes a rag bracket, and an opening is provided in a middle of the rag bracket, and the body is rotatably embedded in the opening.
  • the rag support is square.
  • the adsorption unit of the mobile device can adopt various mechanisms or devices to achieve the adsorption of the body on the working surface, but in general, the adsorption unit is a suction cup, and the suction cup is connected to a vacuum pump through a hose (such as an air suction fan, The piston vacuum pump or the like, the vacuum pump works to form a negative pressure in the suction cup, so that the self-moving device is attracted to the working surface.
  • the walking unit of the mobile device can also be set as a micro-drive wheel or a track according to the needs of the moving surface.
  • Fig. 3 is a state diagram of a moving surface defect detecting device when the mobile device is normally walking.
  • the table 210 at the bottom end of the detecting rod 200 is pressed against the surface of the glass 1000 by the spring force of the spring 300, due to the inner side of the table 210 of the detecting rod 200.
  • a gasket 400 is provided to provide a good sealing effect.
  • the vacuuming device 700 operates and can be made dense by the hose 800.
  • the closed pipeline creates a certain negative pressure, and the vacuum sensing device 600 can detect the real-time negative pressure value inside the pipeline.
  • a standard negative pressure value is preset in the control unit of the mobile device. If the real-time negative pressure value is greater than or equal to the standard negative pressure value, it indicates that the self-moving device is in a normal walking state.
  • FIG. 4 is a state diagram of a moving surface defect detecting device when a moving device encounters a borderless border.
  • the vacuum sensing device The 600 can detect the change in the degree of vacuum, send a signal to the control unit, and the control unit immediately controls the action of retreating from the mobile device to avoid the boundary and prevent the fall.
  • Figure 5 is a state diagram of a moving surface defect detecting device when a moving device encounters a moving surface gap.
  • the closed circuit also leaks, and the vacuum sensing device 600 detects the change in the degree of vacuum and outputs a signal to the control unit.
  • the control unit controls the movement from the mobile device to avoid the defect.
  • Figure 6 is a state diagram of a moving surface defect detecting device when a moving device encounters a moving surface boss.
  • the ball table 210 of the detecting rod 200 is caused to rise due to the lifting, and the vacuum sensing device 600 is leaked.
  • a change in the degree of vacuum is detected, and a signal is output to the control unit, which in turn controls the self-moving device to perform a corresponding action to avoid the defect.
  • the invention also provides the above method for detecting and controlling a moving surface defect of a self-moving device, the method comprising the following steps:
  • Step 100 The mobile device moves on the surface of the glass, and the vacuum sensing device 600 detects the vacuum degree of the cavity in real time, and sends data information to the control unit;
  • Step 200 The control unit processes the data information to determine whether the real-time vacuum of the cavity is less than the preset vacuum, and if so, proceeds to step 300; otherwise, returns to step 100;
  • Step 300 The control unit controls steering from the mobile device.
  • the structure of the invention is simple and sensitive to detection, and can be detected whether it is a slit, a boss or a frameless boundary, and the performance is stable and the accuracy is high.
  • the self-moving device of the present invention may be a window cleaning robot, a wall cleaning robot, or the like, which can be adsorbed to various surfaces to be cleaned, such as a wall surface, an inclined surface, etc., by an adsorption device, thereby performing a cleaning work.

Abstract

一种自移动装置（B）及其运动表面缺陷检测及控制方法，该自移动装置（B）包括机体（100），机体（100）上设有控制单元，还设有运动表面缺陷检测装置（A），该装置（A）包括可移动设置在自移动装置（B）机体（100）上的探测杆（200），探测杆（200）内部设有气流通道（230），探测杆（200）的底端为自由端，自由端的内部设有空腔（220），气流通道（230）与空腔（220）贯通，形成一小吸盘结构，探测杆（200）上设有弹簧（300），弹簧（300）在机体（100）和自由端之间定位；空腔（220）与真空感应装置（600）的一端通过软管（800）相接，真空感应装置（600）与抽真空装置（700）通过软管（800）连接；真空感应装置（600）与控制单元相连。该自移动装置（B）结构简单、检测灵敏，无论是缝隙、凸台或无框边界均可检测，性能稳定且准确率高。

Description

自移动装置及其运动表面缺陷检测及控制方法 技术领域
本发明涉及一种自移动装置及其运动表面缺陷检测及控制方法，属于家用小电器制造技术领域。
背景技术
随着自移动装置如擦窗机器人的问世，擦窗这项工作变得越来越简单。现有市场上销售的擦窗机器人多采用真空吸附的方式将机器吸附在窗户上工作，当机器在无框玻璃、有缝隙的玻璃以及低台阶等情况的玻璃上行走作业时，存在一定的安全隐患，即：如果机器人对无框玻璃的边界、玻璃表面上的缝隙和低台阶边缘没有识别能力的话，就会照常从这些地方行走通过，而起到吸附作用的吸盘从这些地方经过时，会瞬间发生漏气，导致机器人跌落。因此，需要在机器人上设置某种检测机构，帮助机器人判断行走表面的缺陷并阻止机器人从这些地方经过，以避免坠落的发生。
发明内容
本发明所要解决的技术问题在于针对现有技术的不足，提供一种自移动装置及其运动表面缺陷检测及控制方法，结构简单检测灵敏，无论是缝隙、凸台或无框边界均可检测，性能稳定且准确率高。
本发明的所要解决的技术问题是通过如下技术方案实现的：
一种自移动装置，包括机体，该机体上设有控制单元，所述机体上还设有运动表面缺陷检测装置，该装置包括可移动设置在自移动装置机体上的检测杆，探测杆内部设有气流通道，探测杆的底端为自由端，自由端的内部设有空腔，气流通道与空腔贯通，形成一小吸盘结构，探测杆上设有弹簧，弹簧在机体和自由端之间定位；空腔与真空感应装置的一端通过软管相接，真空感应装置与抽真空装置通过软管连接；所述真空感应装置与控制单元相连。
为了方便固定，所述检测杆通过卡扣固定在自移动装置的机体上。
为了减小自移动装置在运动过程中，运动表面缺陷检测装置与作业表面之间的摩擦力，所述自有端呈球台状。
为了保持空腔与运动表面的密封性，所述探测杆的自由端与待探测表面的接触面上设有密封垫。
为了是弹簧有效定位，机体上设有挡止部，弹簧在挡止部和探测杆底部之间的空 间内定位。
根据需要，所述机体的底部还设有主吸盘，所述运动表面缺陷检测装置设置在自移动装置主吸盘的外围，设置数量为多个。
具体来说，所述运动表面缺陷检测装置均布设置在自移动装置主吸盘的外围。
除了上述结构设置之外，所述自移动装置还可以包括设置在机体底部的吸附单元和行走单元，所述行走单元与一驱动单元相连；另外，为了便于清洁作业，所述自移动装置还包括抹布支架，抹布支架中部设有开孔，所述机体可旋转嵌设在所述开孔内。
吸附单元可以采用多种机构或装置来实现机体在作业表面上的吸附，但通常情况下，所述吸附单元为吸盘，所述吸盘通过软管连接到真空泵，真空泵工作使吸盘内形成负压，使所述自移动装置吸附在作业表面。
为了便于自移动装置在作业表面的拐角处旋转，所述抹布支架呈方形。
本发明还提供一种上述的自移动装置的运动表面缺陷检测及控制方法，该方法包括如下步骤：
步骤100：自移动装置在玻璃表面运动，真空感应装置实时检测空腔的真空度，并发送数据信息给控制单元；
步骤200：控制单元处理数据信息，判断空腔的实时真空度是否小于预设真空度，若是，则进入步骤300；否则，返回步骤100；
步骤300：控制单元控制自移动装置转向。
综上所述，本发明提供一种自移动装置及其运动表面缺陷检测及控制方法，结构简单检测灵敏，无论是缝隙、凸台或无框边界均可检测，性能稳定且准确率高。
下面结合附图和具体实施例，对本发明的技术方案进行详细地说明。
附图说明
图1为本发明运动表面缺陷检测装置局部结构示意图；
图2为运动表面缺陷检测装置在自移动装置上的位置示意图；
图3为自移动装置正常行走时运动表面缺陷检测装置的状态图；
图4为自移动装置遇到无边框边界时运动表面缺陷检测装置的状态图；
图5为自移动装置遇到运动表面缝隙时运动表面缺陷检测装置的状态图；
图6为自移动装置遇到运动表面凸台时运动表面缺陷检测装置的状态图。
具体实施方式
图1为本发明运动表面缺陷检测装置局部结构示意图。如图1所示，运动表面缺陷检测装置包括探测杆200，通过卡扣500固定在自移动装置的机体100上。探测杆200的内部设有气流通道230，探测杆200的底端为自由端，自由端内部设有空腔220，气流通道230与空腔220贯通，形成一小吸盘结构。探测杆200上设有弹簧300，如弹簧300套设于探测杆200，机体100上设有挡止部110，弹簧300在挡止部110和探测杆底部之间的空间内定位。较佳的，方便自由端在运动表面移动，自由端呈球台状210，球台的外表面为弧形，球台210与运动表面相接触的底面为平面。探测杆200的自由端与待探测表面的接触面上设有密封垫400，也即球台210的内侧设有密封垫400，仅保留中心处的气流通道与运动表面接触，进一步保障空腔220与运动表面的密封性。探测杆200的内部的空腔220与真空感应装置600的一端通过软管800相接，真空感应装置600与抽真空装置700通过软管800连接。
图2为运动表面缺陷检测装置在自移动装置上的位置示意图。如图2所示，运动表面缺陷检测装置A所形成的本小吸盘结构设置在自移动装置B主吸盘的外围，小吸盘结构的设置数量不限，依靠真空感应装置600检测小吸盘的气压，如果哪个方向的小吸盘的气压下降超过设定气压值，自移动装置就能识别该方向为危险区域，控制自移动装置执行停机或转向等动作以避开危险。以下结合附图对运动表面缺陷检测装置的具体工作过程进行详细地说明。
结合图2所示，除了上述结构设置之外，所述自移动装置还可以包括设置在机体底部的吸附单元和行走单元，所述行走单元与一驱动单元相连。另外，为了便于清洁作业，所述自移动装置还包括抹布支架，抹布支架中部设有开孔，所述机体可旋转嵌设在所述开孔内。为了便于自移动装置在作业表面的拐角处旋转，所述抹布支架呈方形。自移动装置的吸附单元可以采用多种机构或装置来实现机体在作业表面上的吸附，但通常情况下，所述吸附单元为吸盘，所述吸盘通过软管连接到真空泵(如抽气风扇，活塞真空泵等)，真空泵工作使吸盘内形成负压，使所述自移动装置吸附在作业表面。除此之外，自移动装置的行走单元也可以根据运动表面的需要，设置为微驱动轮或履带。
图3为自移动装置正常行走时运动表面缺陷检测装置的状态图。如图3所示，当自移动装置吸附在窗户玻璃表面上的时候，探测杆200底端的球台210在弹簧300弹力的作用下，贴紧在玻璃1000表面，由于探测杆200的球台210的内侧设有密封垫400，能够起到很好的密封效果。此时，抽真空装置700工作，通过软管800能够使密 闭的这一路管路产生一定的负压，真空感应装置600能够检测到管路里面的实时负压值。在自移动装置的控制单元中预设一标准负压值，若实时负压值大于等于标准负压值时，表明自移动装置处于正常行走状态。
图4为自移动装置遇到无边框边界时运动表面缺陷检测装置的状态图。如图4所示，当自移动装置行走到无框玻璃1000的边界上时，探测杆200的球台210伸出到玻璃1000的边界之外，密闭的管路漏气，此时，真空感应装置600能够检测到真空度的变化，发送信号给控制单元，控制单元立即控制自移动装置执行后退的动作以避开边界，防止坠落。
图5为自移动装置遇到运动表面缝隙时运动表面缺陷检测装置的状态图。如图5所示，当探测杆200的球台210遇到玻璃1000表面上的缝隙时候，密闭管路同样会发生漏气，真空感应装置600检测到真空度的变化，输出信号给控制单元，同时控制单元会控制自移动装置执行相应的动作以避开缺陷。
图6为自移动装置遇到运动表面凸台时运动表面缺陷检测装置的状态图。如图6所示，当自移动装置行走到玻璃1000表面的低台阶边或凸起或凸楞时，探测杆200的球台210就会因抬起而导致密闭管路漏气，真空感应装置600检测到真空度的变化，同样输出信号给控制单元，控制单元进而会控制自移动装置执行相应的动作以避开缺陷。
本发明还提供上述的自移动装置的运动表面缺陷检测及控制方法，该方法包括如下步骤：
步骤100：自移动装置在玻璃表面运动，真空感应装置600实时检测空腔的真空度，并发送数据信息给控制单元；
步骤200：控制单元处理数据信息，判断空腔的实时真空度是否小于预设真空度，若是，则进入步骤300；否则，返回步骤100；
步骤300：控制单元控制自移动装置转向。
综上所述，本发明结构简单检测灵敏，无论是缝隙、凸台或无框边界均可检测，性能稳定且准确率高。另外，需要说明的是，本发明的自移动装置可以是擦窗机器人、壁面清洁机器人等，其可通过吸附装置吸附于各种待清洁表面，如墙面，倾斜面等，从而执行清洁工作。

Claims (10)

  1. 一种自移动装置，包括机体(100)，该机体上设有控制单元，其特征在于，所述机体上还设有运动表面缺陷检测装置(B)，该装置包括可移动设置在自移动装置机体(100)上的检测杆(200)，所述探测杆内部设有气流通道(230)，探测杆的底端为自由端，自由端的内部设有空腔(220)，气流通道与空腔贯通，形成一小吸盘结构，探测杆上设有弹簧(300)，弹簧在机体和自由端之间定位；空腔(220)与真空感应装置(600)的一端通过软管(800)相接，真空感应装置与抽真空装置(700)通过软管(800)连接；所述真空感应装置与控制单元相连。
  2. 如权利要求1所述的自移动装置，其特征在于，所述检测杆(200)通过卡扣(500)固定在自移动装置的机体(100)上。
  3. 如权利要求2所述的自移动装置，其特征在于，所述探测杆(200)的自由端与待探测表面的接触面上设有密封垫(400)。
  4. 如权利要求3所述的自移动装置，其特征在于，机体(100)上设有挡止部(110)，弹簧(300)在挡止部(110)和探测杆底部之间的空间内定位。
  5. 如权利要求1－4任一项所述的自移动装置，其特征在于，所述机体(100)的底部还设有主吸盘，所述运动表面缺陷检测装置(B)设置在自移动装置的主吸盘的外围，设置数量为多个。
  6. 如权利要求5所述的自移动装置，其特征在于，所述运动表面缺陷检测装置(B)在自移动装置主吸盘的外围均布设置。
  7. 如权利要求1所述的自移动装置，其特征在于，所述自移动装置包括设置在机体底部的吸附单元和行走单元，行走单元与驱动单元连接；还包括抹布支架，抹布支架中部设有开孔，所述机体可旋转的嵌设在所述开孔内。
  8. 如权利要求7所述的自移动装置，其特征在于，所述吸附单元为吸盘，所述吸盘通过软管连接到真空泵，真空泵工作使吸盘内形成负压，使所述自移动装置吸附在 作业表面。
  9. 如权利要求7所述的自移动装置，其特征在于，所述抹布支架呈方形。
  10. 一种如权利要求1－9任一项所述的自移动装置的运动表面缺陷检测及控制方法，其特征在于，该方法包括如下步骤：
    步骤100：自移动装置在玻璃表面运动，真空感应装置(600)实时检测空腔的真空度，并发送数据信息给控制单元；
    步骤200：控制单元处理数据信息，判断空腔的实时真空度是否小于预设真空度，若是，则进入步骤300；否则，返回步骤100；
    步骤300：控制单元控制自移动装置转向。
PCT/CN2015/074380 2014-03-17 2015-03-17 自移动装置及其运动表面缺陷检测及控制方法 WO2015139608A1 (zh)

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