WO2015139617A1 - 自移动装置及其行走控制方法 - Google Patents

自移动装置及其行走控制方法 Download PDF

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Publication number
WO2015139617A1
WO2015139617A1 PCT/CN2015/074394 CN2015074394W WO2015139617A1 WO 2015139617 A1 WO2015139617 A1 WO 2015139617A1 CN 2015074394 W CN2015074394 W CN 2015074394W WO 2015139617 A1 WO2015139617 A1 WO 2015139617A1
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WO
WIPO (PCT)
Prior art keywords
base body
outer frame
pin
self
moving device
Prior art date
Application number
PCT/CN2015/074394
Other languages
English (en)
French (fr)
Inventor
汤进举
Original Assignee
科沃斯机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 科沃斯机器人有限公司 filed Critical 科沃斯机器人有限公司
Priority to EP15764248.9A priority Critical patent/EP3120742B1/en
Priority to US15/126,549 priority patent/US10196103B2/en
Priority to JP2016558052A priority patent/JP6709167B2/ja
Publication of WO2015139617A1 publication Critical patent/WO2015139617A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • 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
    • 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
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Definitions

  • the invention relates to a self-moving device and a walking control method thereof, and belongs to the technical field of household small electrical appliances manufacturing.
  • the window cleaning robot generally includes a body and an outer frame, wherein the body is circular, has a motion function, and the outer frame is square, and has a window cleaning function.
  • connection states between the body and the outer frame namely: separation or snapping.
  • separation or snapping When separated, the body can be rotated relative to the outer frame; when fastened, the body is fixed relative to the outer frame, and the rotation cannot be performed between the two, and the outer frame can only rotate together with the body.
  • the engaging mechanism cannot be engaged in place, which affects the normal operation of the robot.
  • the technical problem to be solved by the present invention is to provide a self-moving device and a walking control method thereof, which can accurately and effectively detect the connection state between the base body and the outer frame by detecting and adjusting the posture.
  • the method ensures that the base body and the outer frame are engaged in the engaged state, and the structure is simple and the sensitivity is high.
  • a self-moving device includes an outer frame and a base body rotatably coupled to the outer frame, the base body is provided with a control unit and a walking unit, and the base body is connected with a fixing pin, and one end of the fixing pin is movable and fixed On the base body, the other end is a pin head, and the outer frame is correspondingly provided with a pin groove; when the pin head is locked and fixed in the pin groove, the base body is fixedly coupled with the outer frame and is engaged When the pin head is separated from the pin slot, the base body is rotatable relative to the outer frame; the base body is provided with a detecting mechanism, and the detecting mechanism detects that the pin head is locked and fixed in the pin slot, and the control unit
  • the walking unit is controlled to execute a corresponding action instruction according to the detection signal of the detecting mechanism.
  • the detecting mechanism can be implemented by using a plurality of structures.
  • the detecting mechanism is an optocoupler sensor disposed on the base body, and a pin arm is protruded from the outer periphery of the pin head.
  • the baffle arm When disengaged from the pin slot, the baffle arm is located on the signal transmission path of the optocoupler sensor; when the pin head is snap-fitted in the pin slot, the baffle arm is disengaged from the signal transmission path of the optocoupler sensor.
  • the detecting mechanism can also adopt a Hall sensor or a stroke open turn off.
  • the fixing pin is sleeved with a spring, and the spring is positioned between the base body and the pin head.
  • the optocoupler sensor is fixed on the base body through an optical coupler.
  • the two ends of the optocoupler mount are respectively provided with a signal transmitter and a signal receiver, and the signal transmitter and the signal receiver are respectively provided.
  • a gap is provided between the barrier arms.
  • the base body is provided with a motor and a cam driven by the same, and the cam moves corresponding to the driving fixing pin, and the fixing pin is sleeved with a spring on the fixing pin.
  • a blocking portion is provided, the spring being positioned between the outer frame and the blocking portion;
  • the base body is provided with an electromagnet, and the fixing pin is disposed on and driven by the electromagnet.
  • the invention also provides a walking control method for a self-moving device, which specifically includes:
  • the control walking unit executes a corresponding action instruction.
  • control method includes the following steps:
  • Step 100 Booting from the mobile device
  • Step 200 walking from the mobile device
  • Step 300 After the obstacle is detected by the mobile device during the walking process, the control unit controls the rotation of the base body, and the detecting mechanism detects the position state of the base body and the outer frame. If it is detected that the two are in the engaged state, the process proceeds to step 400; otherwise, Adjust the pose and repeat the test until the two are in the engaged state;
  • Step 400 Continue walking in the new direction from the mobile device.
  • the step 100 and the step 200 further include a step 110: the detecting mechanism detects the position state of the base body and the outer frame, and if it is detected that the two are in the engaged state, the process proceeds to step 200; otherwise, the posture is adjusted and the detection is repeated. Until the two are in a stuck state.
  • the step 300 specifically includes the steps of:
  • Step 310 The base body is rotated by a first preset angle with respect to the outer frame
  • Step 320 If it is detected that the two are in the engaged state, proceed to step 400; otherwise, the base performs a rotation adjustment of the second predetermined angle until it is determined that the engagement is in place.
  • the first preset angle in the step 310 is 90°, or 180° continuously; the second preset angle in the step 320 is ⁇ 15°.
  • the present invention provides a self-moving device and a walking control method thereof, which can accurately and effectively detect the connection state between the base body and the outer frame, and ensure that the base body and the outer frame are in a manner of detecting and adjusting the posture. Walking in the stuck state, the structure is simple and the sensitivity is high.
  • FIG. 1 is a partial structural view showing a state of engagement of a mobile device according to an embodiment of the present invention
  • FIG. 2 is a schematic partial structural view of a release state of a mobile device according to the present invention.
  • FIG. 3 is a schematic diagram showing the working principle of the first embodiment of the self-moving device of the present invention.
  • Figure 4 is a schematic view showing the movement direction of the self-moving device of the present invention.
  • Figure 5 is a partial structural view showing the state of engagement of the second embodiment of the self-moving device of the present invention.
  • FIG. 6 is a partial structural diagram of a third embodiment of a self-moving device according to the present invention.
  • Figure 7 is a schematic structural view of a second embodiment of the detecting mechanism of the present invention.
  • FIG. 8 is a schematic structural view of a third embodiment of the detecting mechanism of the present invention.
  • FIG. 1 is a partial structural view of a self-moving device according to a first embodiment of the present invention
  • FIG. 2 is a schematic partial structural view of a self-moving device according to a first embodiment of the present invention.
  • the present invention provides a self-moving device including an outer frame 100 and a base 200 rotatably coupled to the outer frame 100.
  • the base 200 is provided with a control unit and a walking unit.
  • a fixing pin 300 is connected to the base 200.
  • One end of the fixing pin 300 is movably fixed to the base body 200, and the other end is a pin head.
  • the outer frame is correspondingly provided with a pin groove 110.
  • the base body When the pin head is locked and fixed in the pin groove, the base body is fixedly coupled with the outer frame to be engaged; when the pin head is separated from the pin groove, the base body is rotatable relative to the outer frame.
  • the base body is provided with a detecting mechanism.
  • the control unit controls the walking unit to execute a corresponding action command according to the detection signal of the detecting mechanism.
  • the fixing pin 300 is fixed to the base 200 by a screw 310.
  • the other end of the fixing pin 300 is a pin head 320.
  • the outer frame 100 is correspondingly provided with a pin slot 110.
  • the fixing pin 300 moves downward, the pin head 320 is snap-fitted in the pin groove 110 to lock the outer frame 100 and the base body 200 so that the two cannot move relative to each other.
  • the fixing pin 300 moves upward, the pin head 320 is disengaged from the pin groove 110, and the base body 200 is freely rotatable on the outer frame 100. 1 and 2, in order to facilitate the upper and lower movement of the fixing pin 300, the fixing pin 300 is sleeved with a spring 400 which is positioned between the base body 200 and the pin head 320.
  • FIG. 3 is a schematic diagram of the working principle of the first embodiment of the self-moving device of the present invention.
  • an optocoupler sensor is disposed on the base body, and the optical coupling is transmitted.
  • the sensor is fixed to the base body 200 by an optocoupler mount 120.
  • the shape of the optocoupler mount 120 is "[", and its two ends are respectively provided with a signal transmitter 121 and a signal receiver 122.
  • the shape is not limited thereto, and those skilled in the art can perform corresponding structural settings according to specific needs.
  • a stop arm 330 is protruded from the pin head 320.
  • the height of the arm 330 is correspondingly set, so that the pin head 320 is locked and fixed.
  • the stop arm 330 is located on the signal transmission path of the optocoupler sensor in the pin slot 110 or when the pin head 320 is disengaged from the pin slot 110.
  • FIG. 4 is a schematic view showing the movement direction of the mobile device according to the present invention.
  • the working process in this embodiment will be described in detail in conjunction with FIG. 4. Since the mobile device B works on the glass surface with the frames M, N, the starting position is at X. At this time, the self-moving device B runs normally along the frame M, and performs linear motion between the base body 200 and the outer frame 100.
  • the engaging mechanism A is engaged with each other, the pin head 320 is pressed into the pin groove 110 by the elastic force of the spring 400, and the two are linearly moved together. 1 is combined with FIG. 3, in which case the height of the arm 330 is lower than the signal transmission path height of the optocoupler sensor, and the signal transmitter 121 and the signal receiver 122 can communicate normally.
  • the base 200 needs to be turned under the driving force of the driving wheel 1000 disposed at the bottom of the base 100, when the rotating force is greater than the spring force of the spring 400.
  • the pin head 320 is lifted and released from the pin slot 110.
  • the engaging mechanism A is opened.
  • FIG. 2 is combined with FIG.
  • the height of the arm 330 is just located on the signal transmission path of the optocoupler sensor, the signal transmitter 121 and the signal receiver 122 cannot communicate normally, and the relative rotation between the base 200 and the outer frame 100 occurs.
  • the engaging mechanism A re-locks the base body 200 and the outer frame 100, and the two continue to move linearly along the frame N, that is, at the Z position in the figure.
  • the arm blocks the transmission and reception of the signal.
  • the arm does not block the transmission and reception of the signal, and the robot receives the signal.
  • Signal judge the machine to complete the rotation and snap into the next action.
  • the engaging mechanisms are separated from each other, and the base body is rotated by a first predetermined angle with respect to the frame, and the angle may be 90°. At this time, it is judged whether the signal of the optocoupler sensor is received.
  • the base body performs the rotation adjustment of the second preset angle until the judgment card In place, the second preset angle is ⁇ 15°.
  • the rotation preset angle is adjusted, and it is not necessary to rotate to a specific angle, which can be engaged during the rotation. For example, during the rotation of 90°, when the 85° has reached the engagement position, the base body is engaged with the outer frame under the action of the spring force.
  • the base body When the self-moving device is activated on the glass, if the signal receiver 122 receives the transmission of the signal transmitter 121 Signal, the base body is fastened to the outer frame. If the signal receiver 122 does not receive the transmission signal of the signal transmitter 121, the base body is separated from the outer frame, and the base body starts to turn left or right or alternately rotates left and right until the signal transmitter 121 is detected, the base body and the outer frame Fasten.
  • the base body and the outer frame are always engaged when the mobile device is working.
  • the base and the outer frame are also fastened when the outer frame of the mobile device does not touch the frame. If moving to the frame and corner of the glass, the base is separated from the outer frame, the base is rotated to a new position, and the re-fastening of the base and the outer frame is detected, and then the base is moved in a new direction with the outer frame.
  • FIG. 5 is a partial schematic structural view of a second embodiment of the self-moving device of the present invention.
  • the rotation engagement structure provided on the self-moving device is different from that of the first embodiment.
  • the first embodiment uses a mechanical structure, and in the present embodiment, a motor-controlled structure is employed.
  • the base 200 is provided with a motor 800.
  • the motor 800 is coupled to a cam 600 and drives the rotation thereof.
  • the rim of the cam 600 abuts on the top of the fixing pin 300.
  • the fixing pin 300 is sleeved with a spring 400, and the fixing pin is provided with a blocking portion 340, and the spring 400 is positioned between the outer frame 100 and the blocking portion 340.
  • the motor-controlled snap mechanism of the present embodiment relies on the cam 600 and the spring 400 to realize the insertion and lifting of the fixing pin 300 on the base 200 in the pin slot 110 of the outer frame 100, facilitating the relative orientation of the base 200 and the outer frame 100. Rotate and fix to ensure that the robot's walking direction is perpendicular to the corresponding side of the rag bracket.
  • the fixing pin 300 is fixed on the base body 200 through the fixing base 350.
  • the spring 400 is mounted between the fixing pin 300 and the base body 200.
  • the cam 600 is mounted above the fixing pin 300, and the cam 600 is controlled by the motor 800.
  • a pin slot 110 is provided at the corresponding position on the 100. As shown in FIG.
  • the cam 600 when the self-moving device is in the normal running state, the cam 600 is rotated downward to press the fixing pin 300 into the pin groove 110, and the outer frame 100 is caught to prevent it from shaking.
  • the moving device advances to the corner of the window, the side of the outer frame 100 cannot be rotated against the window frame.
  • the cam 600 is lifted, and the fixing pin 300 is lifted from the pin groove 110 by the restoring force of the spring 400.
  • the base body 200 of the mobile device rotates relative to the outer frame 100 under the driving force of the driving wheels. When the base 200 is rotated to the set position, the driving wheel no longer applies a rotating force, and the cam 600 is further rotated downward to press the fixing pin 300 into the corresponding pin groove 110 of the outer frame 100 to catch the outer frame 100.
  • FIG. 6 is a partial structural diagram of a third embodiment of the self-moving device of the present invention.
  • the rotation engagement structure provided on the self-moving device is different from that of the first embodiment and the second embodiment.
  • the first embodiment and the second embodiment respectively adopt a mechanical and motor control type structure, and in this embodiment, an electromagnet controlled structure is adopted.
  • an electromagnet 900 is disposed on the base 200
  • the fixing pin 300 is disposed on the electromagnet 900 to achieve relative rotation between the base 200 and the outer frame 100, and relies on an electromagnet.
  • the fixing pin 300 on the electromagnet is inserted and lifted in the pin groove 110 of the outer frame 100 to facilitate relative rotation and fixation between the base body 200 and the outer frame 100.
  • the electromagnet 900 has a fixing pin 300 therein, and the extension and retraction of the fixing pin 300 are controlled by the circuit.
  • the electromagnet 900 is mounted on the base body 200, and the pin frame 110 is opened at the corresponding position on the outer frame 100. As shown in FIG. 6, when the robot is in the normal running state, the electromagnet 900 works to extend the fixing pin 300 into the pin slot 110, jamming the outer frame 100 and preventing it from shaking, while ensuring the side of the outer frame 100. It is perpendicular to the direction in which the robot moves.
  • the electromagnet 900 receives the signal again, lifting the fixing pin 300 from the pin slot 110.
  • the base body 200 of the robot rotates relative to the outer frame 100 under the driving force of the driving wheel.
  • the driving wheel no longer applies the rotating force, and the electromagnet 900 receives the signal to fix the pin.
  • the extension of the 300 is pushed into the corresponding pin slot 110 of the outer frame 100 to catch the outer frame 100, so that the walking direction of the robot is perpendicular to the side corresponding to the rag bracket.
  • the walking control method is basically, when the detecting mechanism detects that the base body and the outer frame are in the engaged state, controls the walking from the mobile device, and controls the walking unit to perform the corresponding Action instructions.
  • the corresponding action instruction means that the movement mode of the body is not unique.
  • the body can adopt various movement modes of continuing to rotate or start walking or walking in a new direction.
  • control method includes the following steps:
  • Step 100 Booting from the mobile device
  • Step 200 walking from the mobile device
  • Step 300 After the obstacle is detected by the mobile device during the walking process, the control unit controls the rotation of the base body, and the detecting mechanism detects the position state of the base body and the outer frame. If it is detected that the two are in the engaged state, the process proceeds to step 400; otherwise, Adjust the pose and repeat the test until the two are in the engaged state;
  • Step 400 Continue walking in the new direction from the mobile device.
  • the step 100 and the step 200 further include a step 110: the detecting mechanism detects the position state of the base body and the outer frame, and if it is detected that the two are in the engaged state, the process proceeds to step 200; otherwise, the posture is adjusted and the detection is repeated. Until the two are in a stuck state.
  • the step 300 specifically includes the steps of:
  • Step 310 The base body is rotated by a first preset angle with respect to the outer frame
  • Step 320 If it is detected that the two are in the engaged state, proceed to step 400; otherwise, the base performs a rotation adjustment of the second predetermined angle until it is determined that the engagement is in place.
  • the mobile device can preset different motion trajectories, such as: "Z" shape or “bow” shape, and walk along the slanting path, walking along different motion trajectories, the base body is opposite to the outer frame after the mobile device encounters the frame
  • the angle of rotation will vary.
  • the first preset angle in the step 310 is 90°, or 180° continuously; the second preset angle in the step 320 is ⁇ 15°.
  • the base only needs to rotate 90° relative to the outer frame to complete the steering.
  • the movement of the walking unit needs to be controlled so that the base rotates relative to the outer frame. 180°, that is, the detecting mechanism can detect a single engagement (direct rotation of 180°) or secondary engagement (coupling once at 90 degrees, continuing to rotate to 180° for a second engagement).
  • the detecting mechanism may further include a travel switch or a Hall switch, as needed, for example, correspondingly setting a linkage on the outer frame and the fixed pin may constitute a travel switch.
  • the Hall element and the inductor are arranged correspondingly on the outer frame and the fixed pin to form a Hall switch.
  • FIG. 7 is a schematic structural diagram of Embodiment 2 of the detecting mechanism of the present invention.
  • the detecting mechanism is a stroke switch 2000 provided at the top of the fixing pin 300. Specifically, when the fixing pin 300 moves up and down, the top end thereof touches the stroke switch 2000, and after the stroke switch 2000 is touched or released, a corresponding switch signal is sent to the control unit, and then the control unit The control walking unit executes the corresponding action instruction.
  • the stroke switch 2000 is disposed on the base body 200.
  • the specific installation position can be appropriately adjusted according to actual structural requirements.
  • FIG. 8 is a schematic structural view of a third embodiment of the detecting mechanism of the present invention.
  • the detecting mechanism is a Hall element 3000 correspondingly disposed on the fixing pin 300 and the base 200.
  • the fixing pin 300 moves up and down, the relative positions of the Hall elements 3000 respectively disposed on the fixing pin 300 and the base body 200 are aligned or staggered with each other, and a corresponding sensing signal is sent to the control.
  • control unit followed by control unit control
  • the walking unit executes the corresponding action instruction.
  • the present embodiment is only schematically illustrated, and the specific setting position of the Hall element 3000 can also be appropriately adjusted according to actual structural requirements.
  • the present invention provides a self-moving device and a walking control method thereof, which can accurately and effectively detect the connection state between the base body and the outer frame, and ensure that the base body and the outer frame are in a manner of detecting and adjusting the posture. Walking in the stuck state, the structure is simple and the sensitivity is high.

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Abstract

一种自移动装置及其行走控制方法，该自移动装置包括外框(100)和可旋转连接在外框(100)上的基体(200)，基体(200)上设有控制单元和行走单元，基体(200)上连接一固定销(300)，固定销(300)的一端可移动固定在基体(200)上，另一端为销头(320)，外框(100)上对应开设有销槽(110)；当销头(320)卡合固定在销槽(110)内时，基体(200)与外框(100)固定连接而卡合；当销头(320)脱离销槽(110)时，基体(200)能够相对外框(100)转动；基体(200)上设有检测机构，检测机构检测到销头(320)卡合固定在销槽(110)内时，控制单元根据检测机构的检测信号控制行走单元执行相应的动作指令。该装置及其方法能够准确、有效地检测到基体(200)和外框(100)之间的连接状态，通过检测和调姿的方式，保证基体(200)与外框(100)在卡合状态下行走，结构简单且灵敏度高。

Description

自移动装置及其行走控制方法 技术领域
本发明涉及一种自移动装置及其行走控制方法，属于家用小电器制造技术领域。
背景技术
随着擦窗机器人等自移动装置的问世，擦窗这项工作变得越来越简洁。怎样更加高效的擦窗，成为了擦窗机器人的发展方向，如果擦窗机器人在窗户边角处可以直接原地转动，显然能够提高机器人的擦窗效率。因此，为了方便擦窗机器人在原地的转动，同时在转动之后擦窗机器人还能够按照设定位置定位，需要通过一种卡合机构来实现。具体的，擦窗机器人通常包括机体和外框，其中，机体为圆形，具有运动功能，外框为方形，具有擦窗功能。机体与外框之间包括两种连接状态，即：分开或扣合。分开时，机体可以相对于外框转动；扣合时，机体则相对于外框固定，两者之间不能发生转动，外框只能与机体一起转动。然而，在实际采用这种卡合机构时，转动时由于存在微小的偏差，使卡合机构无法卡合到位，影响机器人的正常工作。
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行走控制方法，能够准确、有效地检测到基体和外框之间的连接状态，通过检测和调姿的方式，保证基体与外框在卡合状态下行走，结构简单且灵敏度高。
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，包括外框和可旋转连接在所述外框上的基体，基体上设有控制单元和行走单元，所述基体上连接一固定销，所述固定销的一端可移动固定在所述基体上，另一端为销头，所述外框上对应开设有销槽；当销头卡合固定在所述销槽内时，所述基体与所述外框固定连接而卡合；当销头脱离销槽时，所述基体能够相对所述外框转动；所述基体上设有检测机构，所述检测机构检测到销头卡合固定在所述销槽内时，控制单元根据所述检测机构的检测信号控制所述行走单元执行相应的动作指令。
所述检测机构可以采用多种结构来实现，具体来说，在第一实施例中，该检测机构为设置在基体上的光耦传感器，所述销头外周凸设一挡臂，当销头脱离销槽时，所述挡臂位于光耦传感器的信号传送路径上；当销头卡合固定在所述销槽内，所述挡臂脱离光耦传感器的信号传送路径。
所述检测机构除了采用上述的光耦传感器之外，还可以采用霍尔传感器或行程开 关。
为了便于复位，所述固定销上套设有弹簧，所述弹簧在基体和销头之间定位。
为了便于定位，所述光耦传感器通过光耦固定座固定在所述基体上，所述光耦固定座两端分别对应设有信号发射器和信号接收器，所述信号发射器和信号接收器之间设有容纳所述挡臂的间隙。
除了上述结构之外，在实施例二中，所述基体上设有电机以及受其驱动的凸轮，所述凸轮对应驱动固定销移动，所述固定销上套设有弹簧，所述固定销上设有阻挡部，所述弹簧在外框和阻挡部之间定位；在实施例三中，述基体上设有电磁铁，所述固定销设置在所述电磁铁上并受其驱动。
本发明还提供一种自移动装置的行走控制方法，具体包括：
当所述检测机构检测到基体和外框处于卡合状态时，控制行走单元执行相应的动作指令。
具体来说，该控制方法包含如下步骤：
步骤100：自移动装置开机启动；
步骤200：自移动装置行走；
步骤300：当自移动装置在行走过程中探测到障碍物后，控制单元控制基体旋转，检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤400；否则，调姿并重复检测，直至两者处于卡合状态；
步骤400：自移动装置沿新方向继续行走。
更具体地，所述步骤100和步骤200之间还包括步骤110：检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤200；否则，调姿并重复检测，直至两者处于卡合状态。
所述步骤300具体包含步骤：
步骤310：所述基体相对于外框旋转一第一预设角度；
步骤320：如果检测到两者处于卡合状态，则进入步骤400；否则，基体进行第二预设角度的旋转调整，直至判断卡合到位。
所述步骤310中的第一预设角度为90°，或者连续旋转180°；所述步骤320中的第二预设角度为±15°。
综上所述，本发明提供一种自移动装置及其行走控制方法，能够准确、有效地检测到基体和外框之间的连接状态，通过检测和调姿的方式，保证基体与外框在卡合状态下行走，结构简单且灵敏度高。
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为本发明自移动装置实施例一卡合状态局部结构示意图；
图2为本发明自移动装置实施例一释放状态局部结构示意图；
图3为本发明自移动装置实施例一工作原理示意图；
图4为本发明自移动装置运动方向示意图；
图5为本发明自移动装置实施例二卡合状态局部结构示意图；
图6为本发明自移动装置实施例三卡合状态局部结构示意图；
图7为本发明检测机构实施例二的结构示意图；
图8为本发明检测机构实施例三的结构示意图。
具体实施方式
自移动装置实施例一
图1为本发明自移动装置实施例一卡合状态局部结构示意图；图2为本发明自移动装置实施例一释放状态局部结构示意图。如图1并结合图2所示，本发明提供一种自移动装置，包括外框100和可旋转连接在所述外框100上的基体200，基体200上设有控制单元和行走单元，所述基体200上连接一固定销300，所述固定销300的一端可移动固定在所述基体200上，另一端为销头，所述外框上对应开设有销槽110。当销头卡合固定在所述销槽内时，所述基体与所述外框固定连接而卡合；当销头脱离销槽时，所述基体能够相对所述外框转动。所述基体上设有检测机构，所述检测机构检测到销头卡合固定在所述销槽内时，控制单元根据所述检测机构的检测信号控制所述行走单元执行相应的动作指令。如图1所示，固定销300通过螺钉310固定在基体200上。固定销300的另一端为销头320，所述外框100上对应开设有销槽110。当固定销300向下移动时，销头320卡合固定在所述销槽110内，将外框100和基体200锁定，使两者不能产生相对运动。当固定销300向上移动时，销头320则脱离销槽110，基体200则可以在外框100上自由旋转。结合图1和图2所示，为了方便固定销300的上、下移动，固定销300上套设有弹簧400，所述弹簧400在基体200和销头320之间定位。
图3为本发明自移动装置实施例一工作原理示意图。如图3所示，为了方便检测外框和基体之间的连接关系是锁定还是释放，在所述基体上设有光耦传感器，光耦传 感器通过光耦固定座120固定在所述基体200上。在图3所示的实施例中，所述光耦固定座120的形状为“[”形，其两端分别对应设有信号发射器121和信号接收器122。当然，其形状并不局限于此，本领域技术人员可以根据具体需要进行相应的结构设置。在所述销头320上凸设一挡臂330，根据信号发射器121和信号接收器122的信号传送路径所在位置的高度，对应设置挡臂330的高度，使销头320卡合固定在所述销槽110内或当销头320脱离销槽110时，所述挡臂330位于光耦传感器的信号传送路径上。
图4为本发明自移动装置运动方向示意图。结合图4所示，对本实施例中的工作过程进行详细地描述。自移动装置B在带有边框M、N的玻璃表面工作，起始位置位于X处，此时，该自移动装置B沿着边框M正常行驶，做直线运动，基体200和外框100之间通过卡合机构A相互卡合，销头320在弹簧400弹力的作用下压入销槽110内，两者一起做直线运动。图1结合图3所示，此时，挡臂330的高度低于光耦传感器的信号传送路径高度，信号发射器121和信号接收器122可以正常通讯。
当该自移动装置B运动到由边框M和N形成的窗户边角Y时，基体200在设置在基体100底部的驱动轮1000的驱动力下需要转向，当转动的力大于弹簧400的弹力时，销头320从销槽110中抬起释放出来，此时卡合机构A打开，随着固定销300向上运动，挡臂330的高度也增高，图2结合图3所示，此时，挡臂330的高度刚好位于光耦传感器的信号传送路径上，信号发射器121和信号接收器122无法正常通讯，且基体200与外框100之间发生相对转动。当转动到设定位置时，卡合机构A重新将基体200和外框100卡合锁定，两者继续一起沿边框N做直线运动，即图示中的Z位置处。
换句话说，当基体和外框处于未卡合状态时，挡臂阻挡了信号的发送和接收，当基体和外框处于卡合状态时，挡臂未遮挡信号的发送和接收，机器人接收到信号，判断机器完成旋转卡合进入下一步动作。自移动装置正常行走，收到转向信号后，卡合机构相互脱离，基体相对于边框旋转一个第一预设角度，该角度可以为90°。此时判断是否接收到光耦传感器的信号，若收到，判断卡合到位，基体连同外框朝向新的方向行走；若未收到，基体进行第二预设角度的旋转调整，直至判断卡合到位，该第二预设角度为±15°。需要指出的是，本实施例中旋转预设角度进行调整，并非一定要旋转到特定角度，其可以在旋转过程中卡合。如在旋转90°的过程中，在85°已到卡合位置，则在弹簧弹力作用下，基体与外框卡合。
当自移动装置在玻璃上启动后，若信号接收器122接收到信号发射器121的发射 信号，则基体与外框扣合。若信号接收器122接收不到信号发射器121的发射信号，则基体与外框分开，基体开始左转或右转或交替左右转动，直到检测到信号发射器121的发信号，基体与外框扣合。
在完全无框的玻璃上工作时，自移动装置工作时始终保持基体与外框扣合。
在有边框的玻璃上工作时，自移动装置外框未触及边框时，也保持基体与外框的扣合。若运动到玻璃的边框和角落时，基体与外框分开，基体转动到在一个新的位置，检测到基体与外框的重新扣合，然后基体带着外框朝新的方向运动。
自移动装置实施例二
图5为本发明自移动装置实施例二卡合状态局部结构示意图。如图5所示，本实施例中，设置在自移动装置上的旋转卡合结构与实施例一有所不同。实施例一采用的是机械式结构，而本实施例中则采用的是电机控制式结构。具体来说，在本实施例中，所述基体200上设有电机800，电机800与一凸轮600相连并驱动其旋转，所述凸轮600的轮缘抵顶在所述固定销300的顶部，所述固定销300上套设有弹簧400，所述固定销上设有阻挡部340，所述弹簧400在外框100和阻挡部340之间定位。
本实施例中的电机控制式卡合机构依靠凸轮600，及弹簧400实现基体200上的固定销300在外框100的销槽110内的插下与抬起，方便基体200与外框100的相对转动与固定，从而保证机器人行走方向与抹布支架对应边相互垂直。具体来说，为了方便固定，固定销300通过固定座350固定在基体200上，固定销300与基体200间安装有弹簧400，固定销300上方安装凸轮600，凸轮600由电机800控制，外框100上在对应的位置设有销槽110。结合图4所示，当自移动装置在正常行驶状态时，凸轮600转动到下方将固定销300压入销槽110内，卡住外框100防止其晃动。当自移动装置前进到窗户边角时，外框100的侧边则抵在窗户边框上不能转动，这时凸轮600抬起，固定销300在弹簧400回复力的作用下从销槽110中抬起，自移动装置的基体200在驱动轮的驱动力作用下与外框100发生相对转动。当基体200转动到设定位置时，驱动轮不再施加旋转的力，凸轮600再向下旋转将固定销300压入到外框100上对应的销槽110内，卡住外框100。
本实施例中的其它技术特征，尤其是通过光耦传感器与在销头320上凸设的挡臂330相配合，实现对外框和基体之间的连接关系是锁定还是释放状态的检测，与实施例一相同，参见前述对实施例一的描述，在此不再赘述。
自移动装置实施例三
图6为本发明自移动装置实施例三卡合状态局部结构示意图。如图6所示，在本实施例中，设置在自移动装置上的旋转卡合结构与实施例一和实施例二均有所不同。实施例一和实施例二分别采用的是机械式和电机控制式结构，而本实施例中则采用的是电磁铁控制式结构。具体来说，本实施例在所述基体200上设有电磁铁900，所述固定销300设置在所述电磁铁900上，实现基体200与外框100之间的相对转动，依靠电磁铁的特性，实现电磁铁上的固定销300在外框100的销槽110内的插下与抬起，方便基体200与外框100之间的相对转动与固定。具体来说，电磁铁900内部有一固定销300，通过电路来控制固定销300的伸出与收回，电磁铁900安装在基体200上，外框100上在对应的位置开设有销槽110。如图6所示，当机器人在正常行驶状态时，电磁铁900工作将固定销300伸出压入销槽110内，卡住外框100并防止其发生晃动，同时保证外框100的侧边与机器人前进方向垂直。结合图4所示，当机器人前进到窗户边角时，外框100的侧边则抵在窗户边框上不能转动，这时电磁铁900再次接收到信号，将固定销300从销槽110中抬起，机器人的基体200在驱动轮的驱动力作用下与外框100发生相对转动，当基体200转动到设定位置时，驱动轮不再施加旋转的力，电磁铁900再接收信号将固定销300伸出压入到外框100上对应的销槽110内，卡住外框100，保证机器人的行走方向与抹布支架对应的边垂直。
本实施例中的其它技术特征，尤其是通过光耦传感器与在销头320上凸设的挡臂330相配合，实现对外框和基体之间的连接关系是锁定还是释放状态的检测，与实施例一相同，参见前述对实施例一的描述，在此不再赘述。
对于上述三个实施例中的自移动装置，其行走控制方法从根本上来说，就是当所述检测机构检测到基体和外框处于卡合状态时，控制自移动装置行走，控制行走单元执行相应的动作指令。所述相应的动作指令，是指机体的运动方式不唯一，例如，根据实际作业情况，机体可以采用继续旋转或启动行走或沿新方向行走的多种运动方式。
该控制方法具体来说，包含如下步骤：
步骤100：自移动装置开机启动；
步骤200：自移动装置行走；
步骤300：当自移动装置在行走过程中探测到障碍物后，控制单元控制基体旋转，检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤400；否则，调姿并重复检测，直至两者处于卡合状态；
步骤400：自移动装置沿新方向继续行走。
更具体地，所述步骤100和步骤200之间还包括步骤110：检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤200；否则，调姿并重复检测，直至两者处于卡合状态。
所述步骤300具体包含步骤：
步骤310：所述基体相对于外框旋转一第一预设角度；
步骤320：如果检测到两者处于卡合状态，则进入步骤400；否则，基体进行第二预设角度的旋转调整，直至判断卡合到位。
由于自移动装置可以预设不同的运动轨迹，比如：“Z”字形或者“弓”字形，又如贴边行走，沿着不同的运动轨迹行走，自移动装置遇到边框后基体相对于外框的旋转角度会有所不同。所述步骤310中的第一预设角度为90°，或者连续旋转180°；所述步骤320中的第二预设角度为±15°。如贴边行走时，需控制行走单元动作，基体仅需相对外框旋转90°即可完成转向；在“Z”或“弓”字形行走时，需控制行走单元动作，使得基体相对外框旋转180°，即检测机构可以检测到一次卡合(直接旋转180°)或二次卡合(90度时卡合了一次，继续旋转到180°进行第二次卡合)。
除了上述三个实施例中所提到的光耦传感器，根据需要，所述检测机构还可以包括行程开关或霍尔开关，比如：在外框和固定销上对应设置连动件可以构成行程开关为，或者在外框和固定销上对应设置霍尔元件和感应器构成霍尔开关。
检测机构实施例二
图7为本发明检测机构实施例二的结构示意图。如图7所示，在本实施例中，检测机构为设置在固定销300顶部的行程开关2000。具体来说，当固定销300上、下运动时，其顶端会触动行程开关2000，该行程开关2000被触动或释放后，就会发送相应的开关信号给所述控制单元，随后所述控制单元控制行走单元执行相应的动作指令。如图7所示，其中的行程开关2000设置在基体200上，当然，根据实际结构需要，其具体设置位置也可以进行适当的调整。
检测机构实施例三
图8为本发明检测机构实施例三的结构示意图。如图8所示，在本实施例中，检测机构为对应设置在固定销300和基体200上的霍尔元件3000。具体来说，当固定销300上、下运动时，分别设置在固定销300和基体200上的霍尔元件3000的相对位置会彼此对正或错开，就会发送相应的感应信号给所述控制单元，随后所述控制单元控 制行走单元执行相应的动作指令。同样地，本实施例仅仅做示意性说明，根据实际结构需要，霍尔元件3000的具体设置位置也可以进行适当的调整。
综上所述，本发明提供一种自移动装置及其行走控制方法，能够准确、有效地检测到基体和外框之间的连接状态，通过检测和调姿的方式，保证基体与外框在卡合状态下行走，结构简单且灵敏度高。

Claims (11)

  1. 一种自移动装置，包括外框(200)和可旋转连接在所述外框上的基体(100)，基体上设有控制单元和行走单元，其特征在于，所述基体上连接一固定销(300)，所述固定销的一端可移动固定在所述基体上，另一端为销头，所述外框上对应开设有销槽(110)；
    当销头卡合固定在所述销槽内时，所述基体与所述外框固定连接而卡合；当销头脱离销槽时，所述基体能够相对所述外框转动；
    所述基体上设有检测机构，所述检测机构检测到销头卡合固定在所述销槽内时，控制单元根据所述检测机构的检测信号控制所述行走单元执行相应的动作指令。
  2. 如权利要求1所述的自移动装置，其特征在于，所述检测机构为设置在基体上的光耦传感器，所述销头外周凸设一挡臂(330)，当销头脱离销槽时，所述挡臂位于光耦传感器的信号传送路径上；当销头卡合固定在所述销槽内，所述挡臂脱离光耦传感器的信号传送路径。
  3. 如权利要求2所述的自移动装置，其特征在于，所述固定销上套设有弹簧(400)，所述弹簧在基体和销头之间定位。
  4. 如权利要求2所述的自移动装置，其特征在于，所述光耦传感器通过光耦固定座(120)固定在所述基体(100)上，所述光耦固定座两端分别对应设有信号发射器(121)和信号接收器(122)，所述信号发射器和信号接收器之间设有容纳所述挡臂(330)的间隙。
  5. 如权利要求1所述的自移动装置，其特征在于，所述基体(100)上设有电机(800)以及受其驱动的凸轮(600)，所述凸轮对应驱动固定销(300)移动，所述固定销上套设有弹簧(400)，所述固定销上设有阻挡部(340)，所述弹簧在外框(200)和阻挡部(340)之间定位；
    或者所述基体上设有电磁铁(900)，所述固定销(300)设置在所述电磁铁上并受其驱动。
  6. 如权利要求1所述的自移动装置，其特征在于，所述检测机构采用霍尔传感器 或行程开关。
  7. 一种如权利要求1至6任一项所述的自移动装置的行走控制方法，其特征在于，所述方法具体包括：
    当所述检测机构检测到基体和外框处于卡合状态时，控制行走单元执行相应的动作指令。
  8. 如权利要求7所述的控制方法，其特征在于，包含如下步骤：
    步骤100：自移动装置开机启动；
    步骤200：自移动装置行走；
    步骤300：当自移动装置在行走过程中探测到障碍物后，控制单元控制基体旋转，检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤400；否则，调姿并重复检测，直至两者处于卡合状态；
    步骤400：自移动装置沿新方向继续行走。
  9. 如权利要求8所述的控制方法，其特征在于，所述步骤100和步骤200之间还包括步骤110：检测机构检测基体和外框的位置状态，如果检测到两者处于卡合状态，进入步骤200；否则，调姿并重复检测，直至两者处于卡合状态。
  10. 如权利要求8所述的控制方法，其特征在于，所述步骤300具体包含步骤：
    步骤310：所述基体相对于外框旋转一第一预设角度；
    步骤320：如果检测到两者处于卡合状态，则进入步骤400；否则，基体进行第二预设角度的旋转调整，直至判断卡合到位。
  11. 如权利要求10所述的控制方法，其特征在于：所述步骤310中的第一预设角度为90°，或者连续旋转180°；
    所述步骤320中的第二预设角度为±15°。
PCT/CN2015/074394 2014-03-17 2015-03-17 自移动装置及其行走控制方法 WO2015139617A1 (zh)

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