WO2020108550A1

WO2020108550A1 - Robot, and traveling control method for same

Info

Publication number: WO2020108550A1
Application number: PCT/CN2019/121456
Authority: WO
Inventors: 孔钊; 冯宇
Original assignee: 天佑电器（苏州）有限公司
Priority date: 2018-11-29
Filing date: 2019-11-28
Publication date: 2020-06-04
Also published as: CN109388143B; CN109388143A

Abstract

A robot and a traveling control method for the same. The robot comprises a main body movable in forward and backward directions, a controller, and an obstacle detection device at least partially accommodated within the main body. The obstacle detection device comprises: a sensing element (40) disposed within the main body and connected to the controller, and sending, when activated, an obstacle signal to the controller; and a rotating member (30) rotatably assembled on the main body about a pivoting shaft (Z), and comprising an obstacle contact portion (33) and a trigger portion (32), at least a portion of the obstacle contact portion (33) being higher than an upper surface of the main body, wherein when the obstacle contact portion (33) collides with an obstacle, the rotating member (30) rotates about the pivoting shaft (Z) from an initial position to an activated position in a first clockwise direction, and the trigger portion (32) approaches the sensing element (40) so as to activate the sensing element. Thus, the invention enables detection of an obstacle above the sensing element and prevents the same from being stuck below the obstacle.

Description

Robot and its walking control method

Technical field

The invention belongs to the technical field of intelligent equipment, and relates to a robot and a walking control method thereof.

Background technique

With the advancement of technology, robots are more and more widely used in industry and life, such as cleaning robots such as intelligent sweepers, intelligent vacuum cleaners, and intelligent purifiers, or garden robots such as intelligent lawn mowers, intelligent watering machines, or intelligent accompany Service robots such as computers, intelligent companion readers, and intelligent service machines, which integrate self-charging, walking, and operating technologies, are currently the most challenging hot research topics in the field of robots.

Existing robots usually have an obstacle detection device on their front side, so as to avoid obstacles during walking, or adjust the walking direction in time after collision with obstacles; however, the obstacle detection device cannot detect the robot The obstacle above will cause the robot to often get stuck under the obstacle during walking.

Taking the cleaning robot as an example, the obstacle detection device usually includes a sensor that cooperates with the bumper. When the cleaning robot walks, when the bumper encounters an obstacle in front, the bumper will move backward and trigger the sensor To identify obstacles ahead. However, when there is a gap equal to or slightly higher than the cleaning robot under the furniture such as beds, sofas, tables, chairs, etc., the bumper cannot be hit and the cleaning robot will not detect these obstacles, and once the cleaning robot moves They will be stuck after they reach the bottom of the furniture, so that the cleaning robot cannot continue to move to other positions for cleaning operations.

Summary of the invention

The object of the present invention is to provide a robot and its walking control method, so as to at least solve the problem that the robot cannot detect the obstacle above.

In order to achieve one of the above objects of the invention, an embodiment of the present invention provides a robot including a main body capable of walking back and forth, a controller, and an obstacle detection device at least partially housed in the main body.

A sensing element, which is arranged in the main body and connected to the controller, and when the sensing element is activated, the sensing element sends an obstacle signal to the controller;

A rotating member, which is assembled on the main body so as to rotate around a pivot axis, the rotating member includes an obstacle contact portion and a trigger portion, and the obstacle contact portion is at least partially higher than the upper surface of the main body;

Wherein, when the obstacle contact portion collides with an obstacle, the rotating member rotates about the pivot axis in the first clockwise direction from the initial position to the excited position, and the trigger portion approaches the sensing element to cause The sensing element is activated.

As a further improvement of an embodiment of the present invention, the rotating member further includes a limiting portion, the limiting portion resists the main body to prevent the rotating member from the initial position around the pivot axis along the second The direction of the hour hand rotates, wherein the direction of the second hour hand and the direction of the first hour hand are opposite to each other.

As a further improvement of an embodiment of the present invention, the obstacle contact portion includes a top end that is higher than the upper surface of the main body, a first guide surface extending forward and downward from the top end, and a rearward and downward extension extending from the top end A second guide surface, when any one of the first guide surface and the second guide surface collides with an obstacle, the rotating member can move around the pivot axis in the first hour direction The initial position rotates toward the excitation position.

As a further improvement of an embodiment of the present invention, the second guide surface is provided as an arc surface, and its arc center is located in front of the pivot axis.

As a further improvement of an embodiment of the present invention, the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the rear end of the second guide surface;

The main body has an opening, and part of the obstacle contact portion protrudes from the upper surface of the main body through the opening from below to upward;

Wherein, the third guide surface and the first guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the third The guide surface always fits the rear edge of the opening, and the first guide surface always fits the front edge of the opening.

As a further improvement of an embodiment of the present invention, the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the front end of the first guide surface;

Wherein, the third guide surface and the second guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the second The guide surface always fits the rear edge of the opening, and the third guide surface always fits the front edge of the opening.

As a further improvement of an embodiment of the present invention, the pivot axis extends horizontally perpendicular to the front-rear direction, and when the pivot member rotates in the first clockwise direction from the initial position, the pivot member located above the pivot shaft The part has a component of motion from back to front, and the part of the rotating member located below the pivot axis has a component of motion from front to back.

As a further improvement of an embodiment of the present invention, the main body includes a body and a casing movably covering the body, the sensing element is disposed on the body, and the rotating member is assembled on the body On the case; when the case moves backward relative to the fuselage, the rotating member moves backward synchronously with the case, and the trigger part approaches the sensing element to cause the sensing The element is activated.

To achieve one of the above objects of the invention, an embodiment of the present invention provides a walking control method for a robot. The walking control method includes the following steps:

S1, follow the planned path;

S2, receiving the first obstacle signal;

S3, back to the preset distance;

S31, judging whether the first obstacle signal is received again during the retreating process of step S3; if yes, reset the counted back distance and return to step S3; if not, proceed to step S4;

S4, rotate the preset angle;

S5, move forward.

As a further improvement of an embodiment of the present invention, the robot includes a main body, a sensing element, a controller connected to the sensing element, and a rotating member that is pivotally assembled on the main body The piece includes an obstacle contact portion and a trigger portion, the obstacle contact portion is at least partially higher than the upper surface of the main body;

The step S2 is specifically: when the obstacle contact part collides with an obstacle, the rotating member rotates from the initial position to the excitation position in the first clockwise direction around the pivot axis, and the trigger part approaches the The sensing element is activated so that the sensing element is activated, and the controller receives the first obstacle signal from the sensing unit.

As a further improvement of an embodiment of the present invention, the step S4 further includes:

S41. Determine whether the second obstacle signal is received during the rotation in step S4; if it is, turn back and return to step S3; if not, proceed to step S5.

As a further improvement of an embodiment of the present invention, after step S2, the method further includes:

S21: Mark obstacle points on the map, update the map and store the updated map.

Compared with the prior art, the beneficial effects of the present invention are: on the one hand, obstacles above the robot can be detected; at the same time, the robot can be prevented from getting stuck under the obstacle, for example, when in bed , Furniture such as sofas, tables, chairs, etc. have a gap equal to or slightly higher than that of the robot, once the rotating member collides with these furniture, the sensing element can send an obstacle signal to the controller, thereby The controller is controlled to control the movement of the robot, and the rotation of the rotating member causes the robot to withdraw from under the furniture.

BRIEF DESCRIPTION

FIG. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the invention;

2 is a three-dimensional structural diagram of a rotating member according to an embodiment of the invention;

FIG. 3 is a side view of a partial cross-sectional structure of a cleaning robot according to an embodiment of the present invention, which shows the state when the rotating member is not collided;

4 is a partial enlarged view of area A in FIG. 3;

5 is an enlarged view of the rotating member in FIG. 4;

6 is a side view of a partial cross-sectional structure of a cleaning robot according to an embodiment of the present invention, which shows the state when the rotating member is collided;

7 is a partial enlarged view of area A in FIG. 6;

8 is a flowchart of a walking control method of a cleaning robot according to an embodiment of the present invention;

9 is a schematic perspective structural view of a rotating member according to another embodiment of the invention;

10 is a side view of a partial cross-sectional structure of a cleaning robot according to another embodiment of the present invention, which shows the state when the rotating member is not collided;

Fig. 11 is a partially enlarged view of area A'in Fig. 10;

Fig. 12 is an enlarged view of the rotating member in Fig. 11.

detailed description

The present invention will be described in detail below with reference to specific embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural, method, or functional changes made by those of ordinary skill in the art according to these embodiments are included in the protection scope of the present invention.

Example 1

The present invention provides a robot. Refer to FIGS. 1 to 7 for a preferred embodiment. In this embodiment, the specific example of the robot is a cleaning robot 100. The robot of the present invention will be described below with the cleaning robot 100. Of course, the robot of the present invention may also be implemented in other specific forms, such as intelligent lawn mowers, intelligent watering machines and other garden robots, or intelligent accompanying machines and intelligent accompanying readers , Intelligent service machines and other service robots.

1 to 7, the cleaning robot 100 includes a main body, a controller, and an obstacle detection device.

Wherein, the main body includes a fuselage 20 and a casing 10 covering the fuselage 20.

The body 20 includes a host device for performing cleaning operations, a battery pack for providing power required for the entire cleaning robot 100, and a walking device 21 for carrying the entire body for walking. The host device includes an air flow generating unit, a dust collection unit, and a cleaning unit. The airflow generating unit is used to drive air to flow along a preset airway channel, which may be specifically set as a fan; the dust collection unit is at least used to filter and collect foreign objects entrained by the airflow entering the airway channel, which It may specifically include a dust cup, a filter, a separator, etc.; the cleaning unit may act on the surface to be cleaned in the cleaning area to complete the cleaning of the surface to be cleaned, which may specifically include any one of a roller brush, a side brush, a flat suction, etc. Suction head or brush head. The walking device 21 can drive the cleaning robot 100 to walk along the surface to be cleaned, which is specifically configured as a roller. In this embodiment, the walking of the cleaning robot 100 includes advancing in the direction v, retreating in the opposite direction of the direction v, and turning around the vertical longitudinal axis.

In order to clearly express the position and direction described in this application, the direction of the direction v is defined as "front", and the direction of the opposite direction of the direction v is defined as "rear"; the front-rear direction and the vertical direction are horizontal The direction is defined as the left-right direction. In this embodiment, the direction v is perpendicular to the rotation axis of the walking device 21.

The casing 10 includes a top cover 11 located above the fuselage 20 and a side panel 12 extending downward from the peripheral edges of the top cover 11. The side panel 12 is located around the fuselage 20 and surrounds the fuselage. The casing 10 may define at least a part of the surface appearance of the cleaning robot 100 and be used to protect the fuselage 20 from the core components/units/structures on the fuselage 20 from being damaged. In this embodiment, the cleaning robot 100 is a D-shaped robot, that is, the chassis 10 has a generally D-shaped structure when viewed from above, and the front wall of the side plate 12 located in front of the fuselage 20 is a straight plate perpendicular to the direction v The rear wall of the side panel 12 located behind the fuselage 20 is curved.

The controller is configured to control the overall operation of the cleaning robot 100, which may specifically control the airflow generating unit, the cleaning unit, the walking unit 21, and the like. For example, the controller can generate a control signal to enable the battery pack to turn on or off the power supply circuit of each electric drive component of the cleaning robot 100, thereby controlling the power on or off of the cleaning robot 100; the controller can A control signal is generated to enable the airflow generating unit, the cleaning unit, and the walking unit 21 to control the cleaning robot 100 to perform cleaning operations, and so on.

In this embodiment, the controller is provided on the main body, specifically on the body 20. Of course, in other feasible embodiments, the controller may also be set on a remote terminal device.

The implementation manner of the controller may be various types of processors including at least one chip on which an integrated circuit is formed, and the number of the processors may be set to one or more.

Referring to FIG. 3, the obstacle detection device includes a sensing element 40 and a rotating member 30.

The sensing element 40 is disposed in the main body and connected to the controller. When the sensing element 40 is activated, the sensing element 40 sends an obstacle signal to the controller, and then the controller can receive The obstacle signal controls the cleaning robot 100.

The rotating member 30 is rotatably assembled on the main body about a pivot axis Z, and has an initial position and an excitation position. The pivot axis Z extends in the left-right direction, that is, extends in the horizontal direction of the vertical direction v. When the rotating member 30 is in the initial position, the sensing element 60 is not excited; and when the rotating member 30 is in the exciting position, the rotating element 30 causes the sensing element 60 to be excited. It can be understood that, under normal circumstances, for example, when the rotating member 30 does not collide with the obstacle, the rotating member 30 is located at the initial position, and once the rotating member 30 collides with the obstacle (including the rotating member 30 and the obstacle) When the obstacle remains in contact, the rotating member 30 can be located at the excitation position.

Specifically, referring to FIGS. 4 and 5, the rotating member 30 includes an obstacle contact portion 33 and a trigger portion 32. The obstacle contact portion 33 is at least partially raised above the upper surface of the main body to enable the obstacle contact portion 33 to make collision contact with the obstacle . In addition, when the obstacle contact portion 33 collides with the obstacle, under the push of the obstacle, the rotating member 30 can rotate about the pivot axis Z in the first clockwise direction from the initial position to the excitation position, so that the trigger portion 32 approaches the sensing element 40, so that the sensing element 40 is excited.

In this way, the cleaning robot 100 of this embodiment can detect obstacles above the cleaning robot 100 by arranging the obstacle detection device and the controller and optimizing the structure of the obstacle detection device, which can avoid the cleaning robot 100 moves under the obstacle and gets stuck, for example, when there is a gap equal to or slightly higher than the cleaning robot 100 under furniture such as beds, sofas, tables, chairs, etc., once the rotating member 30 collides with these furniture, the sensing element 40 can send an obstacle signal to the controller, so that the controller controls the movement of the cleaning robot 100, and the rotating member 30 rotates, which facilitates the cleaning robot 100 to exit under the furniture.

Specifically, in this embodiment, the obstacle contact portion 33 includes a top end 33e that is higher than the upper surface of the main body, a first guide surface 33c extending forward and downward from the top end 33e, and a second guide extending backward and downward from the top end 33e面33b.

When any one of the first guide surface 33c and the second guide surface 33b collides with an obstacle, the rotating member 30 can rotate about the pivot axis Z in the first clockwise direction from the initial position to the excited position, and the top end 33e reaches the main body The distance of the upper surface decreases, and the trigger 32 approaches the sensing element 40 so that the sensing element 40 is excited.

That is to say, when the cleaning robot 100 is advancing in the direction v, if the lower edge of the obstacle collides with the first guide surface 33c, under the pushing of the obstacle, the rotating member 30 can move around the pivot axis Z along the first Rotate in the direction of an hour, for example, in this embodiment, the rotating member 30 rotates from the initial position shown in FIGS. 3 and 4 to the excited position shown in FIGS. 6 and 7, and the distance between the top end 33e and the upper surface of the main body decreases. Thereby, the cleaning robot 100 is prevented from being caught by obstacles, and at the same time, the trigger part 32 approaches the sensing element 40 so that the sensing element 40 is excited, and the sensing element 40 sends an obstacle signal to the controller; and when the cleaning robot 100 is in the direction v During the backward movement in the opposite direction, if the lower edge of the obstacle collides with the second guide surface 33b, the rotating member 30 can also rotate about the pivot axis Z in the first clockwise direction under the impulse of the obstacle. In the example, the rotating member 30 is rotated from the initial position shown in FIGS. 3 and 4 to the excited position shown in FIGS. 6 and 7, and the distance from the top end 33e to the upper surface of the main body is reduced, thereby avoiding the cleaning robot 100 from being obstructed At the same time, the trigger part 32 approaches the sensing element 40 so that the sensing element 40 is excited, and the sensing element 40 sends an obstacle signal to the controller.

It should be noted that when the rotating member 30 rotates around the pivot axis Z in the first clockwise direction, the rotating member 30 rotates from the initial position shown in FIGS. 3 and 4 to the excitation position shown in FIGS. 6 and 7 In the middle, when the rotating member 30 is slightly away from the initial position, the trigger part 32 can activate the sensing element 40. That is, as long as the rotating member 30 rotates slightly, the sensing element 40 can be excited, thereby enhancing the sensitivity of the obstacle detection device. Further, as the rotation amplitude of the rotating member 30 from the initial position to the excited position increases, the trigger portion 32 may continue to keep the sensing element 40 in an excited state.

In this embodiment, the sensing element 40 is configured as a micro switch, which includes a switch body 42 and a contact piece 41 movably disposed on the switch body 42. When the rotating member 30 rotates about the pivot axis Z in the first clockwise direction At this time, the trigger part 32 approaches and contacts the contact piece 41, so that the micro switch is activated, and the switch body 42 sends an obstacle signal to the controller. Moreover, as the rotation amplitude of the rotating member 30 increases, the contact between the trigger part 32 and the contact piece 41 becomes closer, so that the micro switch remains in an excited state. Of course, the sensing element 40 can be set to any device that can be excited according to the change in the distance between the trigger 32 and the sensing element 40, for example, in other feasible embodiments, the sensing element 40 can also be set to a distance sensor.

Further, referring to FIGS. 2 and 4, the rotating member 30 includes a limiting portion 35 that can resist the main body to prevent the rotating member 30 from rotating in the second clockwise direction at the initial position, wherein, the The second hour hand direction is opposite to the first hour hand direction. In this way, when the first guide surface 33c or the second guide surface 33b collides with an obstacle and causes the rotating member 30 to rotate about the pivot axis Z in the second clockwise direction, the stopper 35 abuts the main body To prevent the rotating member 30 from rotating in the second clockwise direction.

Further, referring to FIGS. 1 and 4, the rotating member 30 is pivotally assembled on the casing 10. Specifically, the cabinet 10 further includes a mounting seat 14, a mounting channel, and a gland 13.

Wherein, the mounting seat 14 is located at a position below the front portion of the top cover 11, and it can be integrally formed with the top cover 11 or assembled separately after assembly.

The mounting channel is formed above the mounting base 14 and communicates with the upper external space of the cleaning robot 100 so that, during assembly, the rotating member 30 can be assembled on the mounting base 14 from the top to the bottom through the mounting channel. In this embodiment, the rotating member 30 includes a pivot portion 31 that defines a pivot axis Z. The pivot portion 31 can fit within the accommodating cavity 140 of the mounting seat 14, and the left and right ends of the pivot portion 31 are assembled with the mounting seat 14 connection.

The gland 13 has an opening adapted to the obstacle contact portion 33. After the rotating member 30 is assembled on the casing 10, the gland 13 is snapped on the installation channel from top to bottom, and it can be connected with the top cover 11 and The mounting seat 14 is mated and fixed, and part of the obstacle contact portion 33 (in this embodiment, the top end 33e, the second guide surface 33b, and part of the first guide surface 33c) protrudes upward through the opening. Preferably, the upper surface of the pressure cover 13 and the upper surface of the top cover 11 are disposed substantially coplanar.

Further, the rotating member 30 is configured as an integrally formed rod-shaped structure extending longitudinally along the pivot axis Z, the pivot portion 31 is configured as a cylindrical long straight rod, the axis of which defines the pivot axis Z; the obstacle contact portion 33 is pivoted The rotating portion 31 extends outward perpendicular to the pivot axis Z; the limit portion 35 is formed at the edge of the obstacle contact portion 33 and extends in a hook-shaped structure away from the pivot axis Z, which can resist the lower surface of the gland 13 In order to prevent the rotating member 30 from rotating at the initial position in the second clockwise direction, in this embodiment of the city, the limiting portions 35 are arranged as three spaced apart along the pivot axis Z; the trigger portion 32 is away from the pivot portion 31 The direction of the pivot axis Z extends in a plate structure. In the assembled state, the tip of the trigger portion 32 extends beyond the mounting base 14 to the sensing element 40.

Further, in this embodiment, the first clockwise direction is counterclockwise from the perspective of the views in FIGS. 3-7. When the rotating member 30 rotates from the initial position around the pivot axis Z to the excitation position, it is located at the pivot axis Z The upper part of the rotating member 30 (including the obstacle contact portion 33) has a component of motion from rear to front, and the part of the rotating member 30 below the pivot axis Z (including the extended end of the trigger portion 32) has a component of motion from front to rear. Of course, in other feasible embodiments, the direction of the first hour hand may also be opposite to this embodiment.

Further, the top end 33e is located above or behind the pivot axis Z. In other words, the top end 33e and the pivot axis Z are not located on the same longitudinal section perpendicular to the front-rear direction. In this embodiment, the top end 33e is located The upper front of the pivot axis Z.

In a section perpendicular to the pivot axis Z, the first guide surface 33c may be set as an inclined plane or arc surface extending forward and downward from the top end 33e; the second guide surface 33b may be set as an inclined plane extending rearward and downward from the top end 33e Or curved surface. In this embodiment, both the first guide surface 33c and the second guide surface 33b are provided as arc surfaces.

The obstacle contact portion 33 also has a third guide surface 33a provided as an arc surface.

In this embodiment, the third guide surface 33a is transitionally connected to the rear end of the second guide surface 33b through the arc surface 33d, that is, the first guide surface 33c, the second guide surface 33b, and the third guide surface 33a are oriented forward Arranged in turn. The arc centers of the first guide surface 33c and the third guide surface 33a are located on the pivot axis Z. The first guide surface 33c is in contact with the opening front edge 131 of the gland 13, and the third guide surface 33a and the gland 13 The rear edge 132 of the opening fits. In this way, when the rotating member 30 rotates around the pivot axis Z, external dust can be prevented from entering the cleaning robot 100 from the opening with the rotation of the rotating member 30.

The arc center Z1 of the second guide surface 33b is not located on the pivot axis Z, and the arc center Z1 of the second guide surface 33b is located in front of the pivot axis Z, so that when the second guide surface 33b collides with an obstacle, the rotating member 30 There is no tendency to rotate about the pivot axis Z in the second clockwise direction, and when the external force of the collision is the same, the torque of the force on the second guide surface 33b is greater, thereby making the cleaning robot 100 easier The ground exits from under the obstacle and avoids being stuck.

Of course, in other feasible embodiments, regarding the positional relationship and arc center position of the first guide surface, the second guide surface, and the third guide surface, the third guide surface may be connected to the first The front end of the guide surface, that is, the third guide surface, the first guide surface, and the second guide surface are sequentially arranged from front to back; the third guide surface, the second guide surface The arc centers are all located on the pivot axis Z, the third guide surface is attached to the front edge of the opening of the gland, and the second guide surface is attached to the rear edge of the opening of the gland, so that the same It is possible to avoid ash ingress; and, the arc center of the first guide surface is not on or on the pivot axis Z. That is to say, among the three guide surfaces of the obstacle contact portion, the arc centers of the two guide surfaces at the two ends are located on the pivot axis Z and are in close contact with the gland to avoid ash leakage, while the guide surface in the middle The center of the arc may or may not be on the pivot axis Z.

It can be understood that the first guide surface 33c, the second guide surface 33b, and the third guide surface 33a are all outer surfaces of the collision contact portion 33 away from the pivot axis Z; in this embodiment, the front end 331 and the rear of the collision contact portion 33 The end 332 is always located below the gland 13. In addition, a rib 34 is provided on the inner surface of the collision contact portion 33 to ensure the strength of the collision prevention portion 33 against collision.

Further, in this embodiment, the micro switch is specifically provided on the body 20.

The chassis 10 is movably covered on the fuselage 20 by a flexible structure such as a spring. When the cleaning robot 100 advances in the direction v and the front wall of the side panel 12 collides with an obstacle, the chassis 10 can move backward relative to the fuselage 20 as a whole Correspondingly, the rotating member 30 moves backward synchronously with it, the trigger 32 approaches and contacts the contact piece 41 so that the micro switch is activated, and the switch body 42 sends an obstacle signal to the controller. In this way, the cleaning robot 100 can realize the sensing of the upper obstacle and the front obstacle at the same time through the cooperation of the same rotating member 30 and the sensing element 40 without increasing the cost of the device, and can also avoid when the upper obstacle is encountered Stuck situation occurs.

Further, in this embodiment, the micro switch is assembled on the fuselage 20 in an oblique shape, and the contact piece 41 extends obliquely rearward and upward from its connecting end to its free end.

Further, the cleaning robot 100 also has a memory configured to store data and programs for the operation of the cleaning robot 100 temporarily or non-temporarily. In this embodiment, the memory is at least configured to store a preset map about the cleaning area. The preset map can be generated by drawing, scanning, downloading, etc.

The implementation of the memory can be flash memory type, hard disk type, random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), At least one or more of storage media such as read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. are programmed. However, the type of the storage is not limited to this, it may also be a web storage that performs a storage function on the Internet.

The controller is connected to the memory, and is used to access and control the memory, for example: read the map stored in the memory, control the memory to update the map, and so on.

Further, the present invention also provides a robot walking control method. Referring to a preferred embodiment of FIG. 8, the walking control method of the present invention specifically includes steps:

S1, follow the planned path;

S2, receiving the first obstacle signal;

S3, back to the preset distance;

S4, rotate the preset angle;

S5, move forward.

The walking control method will be described in conjunction with the cleaning robot 100 shown in FIGS. 1 to 7:

Step S1, the controller controls the cleaning robot 100 to follow the planned path;

In step S2, the first guide surface 33c or the front wall of the side plate 12 collides with an obstacle, and the rotating member 30 rotates about the pivot axis Z in the first clockwise direction from the initial position to the excited position. The trigger part 32 approaches and contacts the contact piece 41, so that the micro switch is activated, the switch body 42 sends a first obstacle signal to the controller, and the controller receives the first from the switch body 42 Obstacle signal

Step S3, the controller controls the cleaning robot 100 to move backward by a preset distance S;

Step S31, in the process that the controller controls the cleaning robot 100 to retreat by a preset distance S, it is determined whether the first obstacle signal is received; if the distance S1 has been retreated (S1<S), the controller again switches from the switch The first obstacle signal is received at the body 42. In this case, it may be that the cleaning robot 100 passes the obstacle point due to inertia when it encounters an obstacle for the first time, for example, it penetrates under the obstacle The robot controls the cleaning robot 100 to continue to retreat the preset distance S, that is, reset the counted retreat distance S1, and return to step S3; otherwise, directly enter step S5;

Step S4, the controller controls the cleaning robot 100 to rotate by a preset angle β around the vertical longitudinal axis;

In step S5, after the action of rotating the preset angle β is completed, the controller controls the cleaning robot 100 to continue to advance.

Further, the step S4 further includes:

Taking the cleaning robot 100 as an example, during the rotation of the cleaning robot 100 by the preset angle β, it is determined whether the second obstacle signal is received; if the angle γ has been rotated (γ<β), and the controller starts from the switch body 42 The second obstacle signal is received. In this case, there may be an obstacle on the side of the cleaning robot 100, the controller controls the cleaning robot 100 to rotate and reset, that is, the rotation angle γ, and then returns to step S3 (that is, controls cleaning The robot 100 moves backward by a preset distance S); otherwise, it proceeds to step S5.

Further, after the step S2, the method further includes: S21: mark obstacle points on the map, update the map and store the updated map.

Taking the cleaning robot 100 as an example, after the cleaning robot 100 encounters an obstacle, the controller may mark the obstacle point A on the map of the cleaning robot 100 according to the coordinates, thereby updating the map of the cleaning robot 100, and may also control the memory Store the updated map.

Compared with the prior art, the cleaning robot 100 and its walking control method of this embodiment have the following beneficial effects:

(1) It can detect obstacles above the cleaning robot 100, and can also prevent the cleaning robot 100 from moving below the obstacle and getting stuck, for example, when the furniture such as beds, sofas, tables, chairs, etc. has the same height as the cleaning robot 100 Or a slightly higher gap, once the rotating member 30 collides with these furniture, the sensing element 40 can send an obstacle signal to the controller, so that the controller controls the movement of the cleaning robot 100, and the rotation of the rotating member 30 also The cleaning robot 100 can be easily withdrawn from under these furniture;

(2) When the rotating member 30 rotates around the pivot axis Z, external dust can be prevented from entering the cleaning robot 100 from the opening with the rotation of the rotating member 30.

(3) Without increasing the cost of the device, the cleaning robot 100 can realize the sensing of the upper obstacle and the front obstacle at the same time through the cooperation of the same rotating member 30 and the sensing element 40, and can also avoid the upper obstacle Occurrence of stuck situation;

(4) After the cleaning robot 100 encounters an obstacle, check whether the obstacle is encountered during the control of the backward movement of the cleaning robot 100, so as to ensure that the cleaning robot 100 can smoothly escape from below the obstacle, and avoid the cleaning robot 100 from wandering under the obstacle dead.

Example 2

9 to FIG. 12 shows another preferred embodiment of the present invention, which provides a robot and its walking control method, the difference between this embodiment and embodiment 1 is: the position and shape of the trigger, the sense Arrangement angle of measuring element. The difference will be described in detail below, and other parts/structures and beneficial effects that are the same as those in Embodiment 1 will not be described in detail.

It should be noted that, in this embodiment, the same components/structures as in Embodiment 1 are labeled with the same numbers as in Embodiment 1 in combination with superscripts. For example, the reference number "100'" in this embodiment and the reference number "100" in Embodiment 1 both indicate the component "cleaning robot".

In this embodiment, the trigger portion 32' of the rotating member 30' is connected to the obstacle detection portion 33', and extends from the front end 331' of the obstacle detection portion 33' in an arc shape to the front of the sensing element 40'.

Moreover, in this embodiment, the sensing element 40' is provided as a micro switch, the micro switch includes a switch body 42' and a contact piece 41' movably connected to the switch body 42', wherein the switch body 42' Arranged vertically in the front of the fuselage 20', the contact piece 41' extends obliquely upward and forward from its connecting end to its free end.

It should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This description of the specification is for clarity only, and those skilled in the art should treat the specification as a whole, each The technical solutions in the embodiments may also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention, they are not intended to limit the scope of protection of the present invention, and equivalent embodiments or technical equivalents made without departing from the technical spirit of the present invention Changes should be included in the protection scope of the present invention.

Claims

A robot includes a main body capable of walking back and forth, a controller, and an obstacle detection device at least partially housed in the main body, characterized in that the obstacle detection device includes:

A sensing element, which is arranged in the main body and connected to the controller, and when the sensing element is activated, the sensing element sends an obstacle signal to the controller;

A rotating member, which is assembled on the main body so as to rotate around a pivot axis, the rotating member includes an obstacle contact portion and a trigger portion, and the obstacle contact portion is at least partially higher than the upper surface of the main body;

Wherein, when the obstacle contact portion collides with an obstacle, the rotating member rotates about the pivot axis in the first clockwise direction from the initial position to the excited position, and the trigger portion approaches the sensing element to cause The sensing element is activated.
The robot according to claim 1, wherein the rotating member further includes a limiter portion, the limiter portion resists the main body to prevent the rotating member from the initial position around the pivot axis Rotating in the second hour hand direction, wherein the second hour hand direction and the first hour hand direction are opposite directions to each other.
The robot according to claim 1, wherein the obstacle contact portion includes a tip higher than the upper surface of the main body, a first guide surface extending forward and downward from the tip, and backward from the tip A second guide surface extending downwards, when any one of the first guide surface and the second guide surface collides with an obstacle, the rotating member can move around the pivot axis along the first hour hand The direction rotates from the initial position to the excited position.
The robot according to claim 3, wherein the second guide surface is provided as an arc surface, and its arc center is located in front of the pivot axis.
The robot according to claim 3, wherein the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the rear end of the second guide surface;

The main body has an opening, and part of the obstacle contact portion protrudes from the upper surface of the main body through the opening from below to upward;

Wherein, the third guide surface and the first guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the third The guide surface always fits the rear edge of the opening, and the first guide surface always fits the front edge of the opening.
The robot according to claim 3, wherein the obstacle contact portion further includes a third guide surface, the third guide surface is connected to the front end of the first guide surface;

The main body has an opening, and part of the obstacle contact portion protrudes from the upper surface of the main body through the opening from below to upward;

Wherein, the third guide surface and the second guide surface are both set as arc surfaces whose arc centers are on the pivot axis, and when the rotating member rotates in the first clockwise direction, the second The guide surface always fits the rear edge of the opening, and the third guide surface always fits the front edge of the opening.
The robot according to claim 1, wherein the pivot axis extends horizontally perpendicular to the front-rear direction, and when the rotating member rotates in the first clockwise direction from the initial position, the position above the pivot axis The rotating part has a moving component from back to front, and the rotating part under the pivot shaft has a moving component from front to back.
The robot according to claim 1, wherein the main body includes a body and a casing movably covering the body, the sensing element is disposed on the body, and the rotating member Assembled on the casing; when the casing moves backward relative to the fuselage, the rotating member moves synchronously backward with the casing, and the trigger part approaches the sensing element to make The sensing element is activated.
A walking control method for a robot, characterized in that the walking control method includes the steps of:

S1, follow the planned path;

S2, receiving the first obstacle signal;

S3, back to the preset distance;

S31, judging whether the first obstacle signal is received again during the retreating process of step S3; if yes, reset the counted back distance and return to step S3; if not, proceed to step S4;

S4, rotate the preset angle;

S5, move forward.
The walking control method of a robot according to claim 9, wherein the robot includes a main body, a sensing element, a controller connected to the sensing element, and is assembled on the main body so as to rotate about a pivot axis The rotating member includes an obstacle contact portion and a trigger portion, the obstacle contact portion is at least partially higher than the upper surface of the main body;

The step S2 is specifically: when the obstacle contact part collides with an obstacle, the rotating member rotates from the initial position to the excitation position in the first clockwise direction around the pivot axis, and the trigger part approaches the The sensing element is activated so that the sensing element is activated, and the controller receives the first obstacle signal from the sensing unit.
The walking control method of a robot according to claim 9, wherein the step S4 further comprises:

S41. Determine whether the second obstacle signal is received during the rotation in step S4; if it is, turn back and return to step S3; if not, proceed to step S5.
The walking control method of a robot according to claim 9, wherein after the step S2, the method further includes:

S21: Mark obstacle points on the map, update the map and store the updated map.