WO2017198213A1 - Robot combiné et procédé de commande de combinaison - Google Patents

Robot combiné et procédé de commande de combinaison Download PDF

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Publication number
WO2017198213A1
WO2017198213A1 PCT/CN2017/085046 CN2017085046W WO2017198213A1 WO 2017198213 A1 WO2017198213 A1 WO 2017198213A1 CN 2017085046 W CN2017085046 W CN 2017085046W WO 2017198213 A1 WO2017198213 A1 WO 2017198213A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
combined
self
control center
mobile robot
Prior art date
Application number
PCT/CN2017/085046
Other languages
English (en)
Chinese (zh)
Inventor
孟繁明
Original Assignee
科沃斯机器人股份有限公司
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 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Publication of WO2017198213A1 publication Critical patent/WO2017198213A1/fr

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Classifications

    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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

Definitions

  • the invention relates to a combined robot and a combined control method thereof, and belongs to the technical field of manufacturing smart home appliances.
  • the existing sweeping robot usually has a rag on the back side of the bottom of the body, which is convenient for the robot to wipe the floor when cleaning the floor.
  • a multi-functional robot has been developed.
  • a patent of CN201248671Y discloses a multifunctional robot having various functions such as monitoring, air purification, cleaning, and the like.
  • the multi-function robot is equipped with a mopping rag assembly, the robot will not be able to walk because of the large friction coefficient between the rag assembly and the ground.
  • the technical problem to be solved by the present invention is to provide a combined robot and a combined control method thereof according to the deficiencies of the prior art, and control the working of the combined robot through the control center according to the combined state of the functional module and the rag assembly, thereby ensuring the working of the combined robot. Going smoothly.
  • the invention provides a combination robot, comprising a self-moving robot and a function module, wherein the function module is detachably combined to a self-mobile robot by a connecting member, wherein the self-mobile robot is provided with a control center, and the bottom of the self-moving robot can be
  • the detached installation rag assembly controls the combined robot operation according to the combined state of the functional module and the rag assembly.
  • the self-mobile robot is combined with the function module and the rag assembly, and the control center determines that the combination robot is in an abnormal working state; the self-mobile robot is combined with one of the function module or the rag assembly, and the control center determines The combined robot is in normal working condition.
  • the functional module includes a first functional module and/or a second functional module, the first functional module having a weight and/or a height greater than the second functional module; the self-mobile robot and the first functional module and the rag The components are combined at the same time, and the control center determines that the combined robot is in an abnormal working state; the self-mobile robot is combined with one of the first functional module or the rag assembly, and the control center determines that the combined robot is in a normal working state.
  • the self-mobile robot is provided with a plurality of first electrical contacts, the functional module being connected to the control center via a first electrical contact, the control center being according to the first electrical contact
  • the transmitted signal identifies the functional module and controls its operation.
  • the self-mobile robot is further provided with an alarm module, and the control center determines that the combined robot is In the abnormal working state, the control center controls the alarm module to alarm.
  • the combination robot In order to detect the combined state of the rag assembly, the combination robot is provided with a sensor assembly connected to the control center, detecting whether the rag assembly is mounted on the bottom of the self-moving robot and transmitting a detection signal to the control center.
  • the sensor component is a micro switch, a Hall element or an optocoupler element.
  • the combination robot is provided with a second electronic contact connected to the control center, and the rag assembly is provided with a corresponding sensing end, and the second electronic contact detects whether the rag assembly is installed at the bottom of the self-moving robot and transmits the detection. Signal to the control center.
  • the combination robot is provided with a scanning end connected to the control center, and the rag assembly is provided with a corresponding two-dimensional code, and the scanning end detects whether the rag assembly is installed at the bottom of the self-moving robot and sends a detection signal to the Said control center.
  • the invention also provides a combined control method for a combined robot, the combined robot comprising a self-moving robot and a functional module, the functional module being detachably combined to the self-mobile robot by a connector, wherein the self-mobile robot is provided with control Center, the bottom of the mobile robot is detachably mounted to the rag assembly, and the control center identification function module and the rag assembly are combined to the self-mobile robot to control the combined robot to stop running or/and alarm.
  • the present invention also provides a combined control method for a combined robot including a self-moving robot and a function module, the functional module being detachably combined to the self-mobile robot by a connector, wherein the self-mobile robot is provided a control center, the bottom of the mobile robot is detachably mounted with a rag assembly, the functional module includes a first functional module and/or a second functional module, the first functional module having a weight and/or a height greater than the second function The module, the control center identifies that the first functional module and the rag assembly are combined to the self-mobile robot, and the combined robot is controlled to stop running or/and alarm.
  • the present invention provides a combined robot and a combined control method thereof.
  • the combined robot is controlled by the control center according to the combined state of the functional module and the rag assembly, thereby ensuring smooth operation of the combined robot.
  • FIG. 2 is a schematic structural view of a self-mobile robot according to the present invention.
  • Figure 3 is a bottom plan view of the combination robot of the present invention.
  • FIG. 1 is an exploded perspective view of a combination robot of the present invention.
  • the present invention provides a combination robot including a self-mobile robot 100 and a function module 200 that is detachably coupled to the self-mobile robot 100 through a connector 300.
  • a control center (not shown) is provided in the mobile robot 100 for controlling the walking and cleaning functions of the mobile robot 100.
  • the mobile robot 100 can work independently.
  • the self-mobile robot is already very mature in the technical field. Techniques, such as sweeping robots, are not repeated here.
  • the function module 200 can be any existing functional modules, for example, one of a security module, a humidification module, and a purification module, or a combination thereof.
  • the security module includes, for example, a camera and a communication module, and the camera is connected to the remote terminal through a communication module (such as a WLAN wireless access point, a router, etc.), so that the user of the remote terminal can monitor the surrounding environment of the combined robot by watching the screen.
  • the humidifying module can atomize the water and eject it, thereby humidifying the surrounding environment.
  • the purification module includes, for example, a negative ion generating module, a photocatalyst catalytic module or/and a dust filtering device, thereby efficiently killing bacteria, removing odor and adsorbing free particulate matter in the air to purify the air.
  • the above functional modules are also well-known technologies in the art, and are not described herein again.
  • the connector 300 is used to connect the mobile robot 100 and the function module 200.
  • a plurality of bosses may be disposed on the connecting member 300, and corresponding grooves are respectively disposed from the upper surface of the mobile robot 100 and the lower surface of the functional module 200, so that the plurality of bosses on the connecting member 300 can be embedded in the corresponding grooves.
  • the function module 200 is thus combined in the upper part of the mobile robot 100.
  • a plurality of first electrical contacts 101 are provided on the mobile robot, and the electrical energy from the mobile robot 100 is supplied to the functional module 200 through the first electrical contacts 101.
  • the functional module is connected to the control center via the first electronic contact 101 by means of the functional module of the connector 300, the control center identifying the functional module and controlling its operation based on signals transmitted by the first electronic contact 101.
  • FIG. 2 is a schematic structural view of a self-mobile robot according to the present invention.
  • the rag assembly 110 is detachably mounted from the bottom of the mobile robot 100, and the rag assembly 110 can be combined at the bottom of the self-mobile robot 100 by snapping. As the number or weight of functional modules increases, the weight of the combined robot increases.
  • the control center can control the combined robot operation according to the combined state of the function module and the rag assembly.
  • the sensor assembly 111 connected to the control center can be disposed on the self-mobile robot 100, and the sensor assembly 111 detects whether the rag assembly 110 is It is installed at the bottom of the mobile robot 100 and sends a detection signal to the control center.
  • the control center determines that the combined robot is in a normal working state, and the combined robot performs a normal working task; when the functional module 200 and the rag assembly 110 are simultaneously combined to When moving the robot 100, the control center determines that the combined robot is in an abnormal working state.
  • the control center controls the combined robot to stop running or/and alarm.
  • alarming There may be various ways of alarming, for example, an alarm module may be provided in the self-mobile robot, the alarm module includes a lighting unit or/and a sounding unit, and the control center controls the alarm module of the combined robot in an abnormal working state to give an alarm sound. Or the indicator light flashes, etc.
  • the user can assemble the combined robot according to actual needs, such as removing the function module or the rag assembly.
  • the function module 200 includes a first function module and/or a second function module, wherein the first function module has a weight and/or a height greater than the second function module, and the first function module is, for example, a module such as a humidification module and a purification module.
  • the second functional module is, for example, a security module.
  • the height of the first functional module is not less than twice the height of the self-moving robot, or the weight of the first functional module is not less than 1/2 of the weight of the self-moving robot.
  • the combined robot stops operating and/or when the combined functional module and the rag assembly are simultaneously combined. Alarm; if both are the second function module, the combination robot still works normally when the combination robot simultaneously combines the function module and the rag assembly.
  • the control center identifies the category of the functional module and controls its operation based on the signal transmitted by the first electronic contact 101. Specifically, after the function module is combined with the combination robot, the signal transmitted through the first electronic contact 101 includes the class code of the function module. For example, the code of the humidification module is 01, the code of the purification module is 02, and the code of the security module.
  • the control center can recognize the category of the function module, thereby determining whether the combined function module belongs to the first function module or the second function module, and when the first function module or the rag component
  • the control center determines that the combination robot is in a normal working state, and the combination robot performs a normal work task; when the first function module and the rag assembly 110 are simultaneously combined to the self-mobile robot 100, The control center determines that the combined robot is Abnormal working status.
  • the above identification of the function module by transmitting the code information containing the function module is only a specific implementation manner, and is not limited to the use of the method.
  • the label may be affixed on the function module, and the mobile robot recognizes different types of function modules through the label; or, the mobile robot is provided with a weight sensor to identify different types of function modules by recognizing different weights of the function modules.
  • Figure 3 is a bottom plan view of the combination robot of the present invention.
  • the sensor component 111 can be a micro switch or a Hall element or an optocoupler element or the like.
  • the sensor component 111 is taken as a micro switch as an example for detailed description.
  • a micro switch is arranged at the bottom of the mobile robot 100. When the mobile robot 100 combines the rag assembly 110, the micro switch is triggered, the control center receives the signal, and the identification rag assembly is installed, corresponding to the control combination robot working, in other words, the control The center controls the combined robot work according to the combined state of the combined robot.
  • the present invention does not limit the installation position and type of the sensor assembly 111.
  • the sensor assembly 111 can also be mounted on the rag assembly, and the optocoupler element can also be selected as the sensor assembly, as long as the sensor assembly can detect whether the self-mobile robot 100 is combined.
  • the rag assembly 110 can be used.
  • the combined state of the rag assembly 110 can also be detected by the second electrical contact.
  • the second electronic contact connected to the control center is disposed on the mobile robot, and the rag assembly 110 is provided with a corresponding sensing end. The two electronic contacts detect whether the wiper assembly 110 is mounted on the bottom of the self-moving robot and sends a detection signal to the control center.
  • a scanning end connected to the control center is disposed on the mobile robot, and the rag assembly 110 is provided with a corresponding two-dimensional code, and the scanning end detects whether the rag assembly is installed at the bottom of the self-moving robot and sends a detection signal to the mobile station. Said control center.
  • the self-mobile robot can also identify whether the function module is installed by the above various methods.
  • the information transfer between the function module 200 and the self-mobile robot 100 can transmit a signal through the first electronic contact 101, that is, the first electronic contact 101 connected to the control center is used to detect whether the function module 200 is combined in the self-mobile robot 100.
  • the sensor component can also be selected to detect whether the functional module 200 is combined on the self-mobile robot 100.
  • the above embodiment is only used to describe how the self-moving robot recognizes whether the functional module or the rag component is installed/combined on the robot, but is limited to the above manner, and the user can perform various connection manners according to actual conditions.
  • the combination and recognition function modules for example, the function modules and the self-mobile robots can transmit information via wireless signals, such as wifi or Bluetooth, and the self-mobile robot recognition function modules have been combined.
  • the invention also provides a combined control method for a combined robot, wherein the combined robot is the above combined robot, wherein when the control center identification function module and the rag assembly are combined to the self-mobile robot, the control center controls the combined robot to stop running and/or Call the police.
  • control center recognizes that the function module and the rag assembly are simultaneously combined to the self-mobile robot, for example, because the weight of the combined robot increases, the friction coefficient of the rag assembly 110 and the ground is large, and the combined machine People will not be able to walk or walk inconveniently (not suitable for walking surfaces such as slopes).
  • the control center judges that the combined robot is in an abnormal working state, and the combined robot stops running or/and alarms. After receiving the abnormal information, the user can perform the combined robot according to actual needs. Assemble, such as removing function modules or rag components.
  • control center determines that one of the function module or the rag component is combined with the self-mobile robot, the control center determines that the combined robot is in a normal working state, and the combined robot performs a normal work task.
  • the control center determines that the combined robot is in a normal working state, and the combined robot performs a normal work task; if the control center recognizes that the first functional module and the rag assembly are simultaneously combined to the self-mobile robot, the control center determines the combination.
  • the robot is in an abnormal working state, and the control center controls the combined robot to stop running and/or alarm.
  • the invention provides a combined robot and a combined control method thereof, and controls the working of the combined robot through the control center according to the combined state of the functional module and the rag assembly, thereby ensuring the smooth operation of the combined robot, effectively preventing the combined robot from walking or avoiding many areas. Unable to work and so on.

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  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot combiné, comprenant un robot mobile autonome (100) et un module fonction (200). Le module fonction est combiné de manière amovible au robot mobile autonome au moyen d'une pièce de liaison (300). Un centre de commande est disposé dans le robot mobile autonome, et un composant de tissu de nettoyage (110) est monté amovible au niveau de la partie inférieure du robot mobile autonome. Le centre de commande contrôle, selon un état de combinaison du module fonction et du composant de tissu de nettoyage, le fonctionnement du robot combiné. Grâce à la présente invention, le robot combiné est contrôlé, selon l'état de combinaison du module fonction et du composant de tissu de nettoyage et au moyen du centre de commande, pour son fonctionnement, permettant d'assurer une mise en oeuvre réussie du fonctionnement du robot combiné.
PCT/CN2017/085046 2016-05-19 2017-05-19 Robot combiné et procédé de commande de combinaison WO2017198213A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610333119.X 2016-05-19
CN201610333119.XA CN107397512B (zh) 2016-05-19 2016-05-19 组合机器人及其组合控制方法

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WO2017198213A1 true WO2017198213A1 (fr) 2017-11-23

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PCT/CN2017/085046 WO2017198213A1 (fr) 2016-05-19 2017-05-19 Robot combiné et procédé de commande de combinaison

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CN (1) CN107397512B (fr)
WO (1) WO2017198213A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN108716204A (zh) * 2018-05-25 2018-10-30 安徽风向标清洁设备有限公司 用于扫地机的清扫盘机构
CN110448223A (zh) * 2018-05-08 2019-11-15 博西华电器（江苏）有限公司 清洁设备的控制方法、控制装置、清洁设备及控制其的系统
CN110464258A (zh) * 2019-09-17 2019-11-19 禧涤智能(北京)科技有限公司 智能清洁机器人

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CN108272396B (zh) * 2017-12-28 2020-07-28 宁波洒哇地咔电器有限公司 智能擦地机工作状态识别控制机构及识别检测方法
CN108451433B (zh) * 2018-03-28 2024-06-11 山西嘉世达机器人技术有限公司 擦洗机器人
CN108814431B (zh) * 2018-05-31 2019-12-31 深圳市无限动力发展有限公司 扫地机器人系统及检测水箱、垃圾箱接入的方法

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EP1969438A1 (fr) * 2005-12-02 2008-09-17 iRobot Corporation Robot modulaire
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CN102727144A (zh) * 2011-03-31 2012-10-17 泰怡凯电器(苏州)有限公司 多功能机器人及其自动分离功能模块的控制装置和方法
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CN110448223A (zh) * 2018-05-08 2019-11-15 博西华电器（江苏）有限公司 清洁设备的控制方法、控制装置、清洁设备及控制其的系统
CN108716204A (zh) * 2018-05-25 2018-10-30 安徽风向标清洁设备有限公司 用于扫地机的清扫盘机构
CN110464258A (zh) * 2019-09-17 2019-11-19 禧涤智能(北京)科技有限公司 智能清洁机器人

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