CN106175608A - Intelligent stair sweeping robot and control method thereof and control system - Google Patents
Intelligent stair sweeping robot and control method thereof and control system Download PDFInfo
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- CN106175608A CN106175608A CN201610737541.1A CN201610737541A CN106175608A CN 106175608 A CN106175608 A CN 106175608A CN 201610737541 A CN201610737541 A CN 201610737541A CN 106175608 A CN106175608 A CN 106175608A
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- lifting
- cascaded surface
- platform
- lifting assembly
- wheel
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
-
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of intelligent stair sweeping robot and control method thereof and control system, including: travel mechanism, elevating mechanism, hoistable platform, cleaning agency；Hoistable platform can move up and down along elevating mechanism；Cleaning agency is arranged on hoistable platform；The bottom of elevating mechanism is provided with travel mechanism.The present invention can move flexibly with any direction, including along stairway width direction and front and back defence line, and corner stair can be applicable to, and achieve the function of stair climbing in a reliable fashion, including climbing and climbing both directions downwards, pass through range sensor, it is possible to perception environment, to adjust height and the distance of movement of advancing of stair climbing, it is possible to be suitable for the stair that sizes is different.
Description
Technical field
The present invention relates to intelligent robot, in particular it relates to intelligent stair sweeping robot and control method thereof and control
System.
Background technology
The traditional approach of stair cleaning works for manually to sweep, but, manually sweep and also exist that workload is big, travel fatigue is dirty
The problems such as dye, personnel control, therefore, it is necessary to a kind of intelligent robot of design is to replace manual type to clean.
Through retrieval, find Application No. 201610206204.X, the patent documentation of Publication No. CN105835973A, open
A kind of self adaptation stair corridor sweeping robot and stairs climbing method thereof, it includes clamp mechanism, lamination fold mechanism, clear
Reason mechanism, telescoping mechanism, transverse moving mechanism, control and dynamical system, described clamp mechanism and cleaning mechanism are installed in institute
Stating the lateral surface of lamination fold mechanism, described telescoping mechanism is arranged on the two ends of described lamination fold mechanism, described control and dynamic
Force system is arranged on the inside of described lamination fold mechanism.Clean though this patent documentation can realize stair to a certain extent,
But there is structure complexity, move the weak points such as dumb.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of intelligent stair sweeping robot and control thereof
Method and control system.
A kind of intelligent stair sweeping robot provided according to the present invention, including: travel mechanism, elevating mechanism, lifting are put down
Platform, cleaning agency；
Hoistable platform can move up and down along elevating mechanism；
Cleaning agency is arranged on hoistable platform；
The bottom of elevating mechanism is provided with travel mechanism.
Preferably, described hoistable platform includes: platform main support 17, platform auxiliary stand 18, leg mounting bracket 19；
Platform main support 17 is fastenedly connected platform auxiliary stand 18, and is positioned at the top of platform auxiliary stand 18；
The front end edge horizontal direction of platform main support 17 extends leg mounting bracket 19；
The front end of leg mounting bracket 19 downwardly extends out vertical supports 20；
It is arranged on bottom the universal wheel 16 bottom vertical supports 20 and is arranged on the universal wheel bottom platform auxiliary stand 18
Flush bottom 16；
The both sides of platform auxiliary stand 18 are respectively mounted cleaning agency；
The bottom of cleaning agency flushes in bottom universal wheel 16 or slightly above bottom universal wheel 16.
Preferably, described hoistable platform connects two elevating mechanisms, and the two elevating mechanism is designated as anterior lifting respectively
Assembly, rear portion lifting assembly；
Anterior lifting assembly is between leg mounting bracket 19 and rear benefit lifting assembly；
Described elevating mechanism, fixes angle bar 6, tooth bar 7, gear 8, lifting platform guide groove including lifting motor 5, lifting motor
12, lifting platform guide wheel 13, lifting support 21；
Lifting support 21 is positioned at below platform main support 17；
It is provided with on lifting support 21 and extends through the lifting platform guide groove 12 of platform main support 17, tooth bar along the vertical direction
7；
The both sides of lifting support 21 are separately installed with travel mechanism；
Lifting motor 5 is fixed angle bar 6 by lifting motor and is arranged on platform main support 17, and the output of lifting motor 5
Axle connects gear 8；
Gear 8 engages with tooth bar 7；
The wheel shaft of lifting platform guide wheel 13 is arranged on platform main support 17, and the wheel face of lifting platform guide wheel 13 and platform
The groove face of lifting guide groove 12 rolls and coordinates.
Preferably, described anterior lifting assembly, rear portion lifting assembly are separate, it is possible to be respectively relative to described lifting and put down
Platform moves along the vertical direction；
The center of gravity of described intelligent stair sweeping robot described anterior between lifting assembly, rear portion lifting assembly, and
Near described anterior lifting assembly.
Preferably, described travel mechanism, including: wheel 1, steering wheel 3, driving motor 4, steering wheel fixed mount 2, driving motor are solid
Determine angle bar 14；
Steering wheel 3 connects elevating mechanism by steering wheel fixed mount 2；
The steering wheel steering wheel 15 of steering wheel 3, driving motor are fixed angle bar 14, are driven motor 4, wheel 1 to be sequentially connected with.
Preferably, described cleaning agency, including: dust absorption fan 9, jamb duster motor 10, jamb duster 11；
Hoistable platform, dust absorption fan 9, jamb duster motor 10, jamb duster 11 are sequentially connected with；
Described hoistable platform and/or elevating mechanism connect range sensor.
The control method of a kind of above-mentioned intelligent stair sweeping robot according to present invention offer, including:
Clean step: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Direction moves to clean；And/or
Cat ladder step: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
Preferably, described cat ladder step includes:
Initialization step: under the driving of lifting motor 5, makes hoistable platform decline along lifting platform guide groove 12, until flat
Platform main support 17 contacts lifting support 21；Under the driving of travel mechanism, front proper the treating of hoistable platform is made to climb cascaded surface；Its
In, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；By upper the one of current cascaded surface
Individual cascaded surface is designated as cascaded surface to be climbed；
Step praised by platform: under lifting motor 5 common of anterior lifting assembly, rear portion lifting assembly drives, make liter
Fall platform rises along lifting platform guide groove 12, until universal wheel 16 bottom that vertical supports 20 is installed is higher than cascaded surface to be climbed；
First advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot to cascaded surface to be climbed
Draw close, until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；In front portion, liter is come down to a lower group
Under part, lifting motor 5 common of rear portion lifting assembly drive, hoistable platform is made to decline along lifting platform guide groove 12, until perpendicular
It is against on cascaded surface to be climbed to the universal wheel 16 bottom contact that support 20 is installed；
Front-wheel praises step: under the driving of the lifting motor 5 of anterior lifting assembly, makes the tooth bar in anterior lifting assembly
7 rise, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support 21 band, until the wheel of this travel mechanism
1 bottom is concordant or cascaded surface to be climbed；
Second advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot to cascaded surface to be climbed
Draw close, until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value so that described intelligence
The center of gravity of stair cleaning machine device people is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises step: under the driving of the lifting motor 5 of rear portion lifting assembly, make the tooth bar in the lifting assembly of rear portion
7 rise, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support 21 band, until the wheel of this travel mechanism
1 bottom is concordant or cascaded surface to be climbed.
3rd advance step: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, makes described intelligent stair clean
Robot advances, until the wheel 1 connecting the travel mechanism of rear portion lifting assembly is positioned at directly over cascaded surface to be climbed.
The control system of a kind of above-mentioned intelligent stair sweeping robot according to present invention offer, including:
Clean module: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Direction moves to clean；And/or
Cat ladder module: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
Preferably, described cat ladder module includes:
Initialization module: pass through control realization: under the driving of lifting motor 5, makes hoistable platform along lifting platform guide groove
12 decline, until platform main support 17 contacts lifting support 21；Under the driving of travel mechanism, make the front proper right of hoistable platform
Cascaded surface to be climbed；Wherein, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；Will be current
A upper cascaded surface of cascaded surface is designated as cascaded surface to be climbed；
Module praised by platform: pass through control realization: anterior lifting assembly, being total to of lifting motor 5 of rear portion lifting assembly
Under driving, hoistable platform is made to increase along lifting platform guide groove 12, until universal wheel 16 bottom that vertical supports 20 is installed is high
In cascaded surface to be climbed；
First advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot
Draw close to cascaded surface to be climbed, until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；
Under lifting motor 5 common of anterior lifting assembly, rear portion lifting assembly drives, make hoistable platform along lifting platform guide groove 12
Decline, until the universal wheel 16 bottom contact that vertical supports 20 is installed is against on cascaded surface to be climbed；
Front-wheel praises module: passes through control realization: under the driving of the lifting motor 5 of anterior lifting assembly, makes anterior liter
The tooth bar 7 come down to a lower group in part rises, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support 21 band, until should
Wheel 1 bottom of travel mechanism is concordant or cascaded surface to be climbed；
Second advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot
Draw close to cascaded surface to be climbed, until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value,
The center of gravity making described intelligent stair sweeping robot is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises module: pass through control realization: under the driving of the lifting motor 5 of rear portion lifting assembly, make rear portion liter
The tooth bar 7 come down to a lower group in part rises, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support 21 band, until should
Wheel 1 bottom of travel mechanism is concordant or cascaded surface to be climbed.
3rd advance module: pass through control realization: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, makes described
Intelligent stair sweeping robot advances, until the wheel 1 connecting the travel mechanism of rear portion lifting assembly is just being positioned at cascaded surface to be climbed
Top.
Compared with prior art, present configuration is reasonable, easy to use, has more following useful effect in preference
Really:
1, the present invention can move flexibly with any direction, including along stairway width direction and front and back defence line, and can fit
For corner stair.
2, the present invention achieves the function of stair climbing in a reliable fashion, including climbing and climbing downwards both directions.
3, the present invention passes through range sensor, it is possible to perception environment, with adjust stair climbing height and advance movement away from
From, it is possible to it is suitable for the stair that sizes is different.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
The overall perspective view of the intelligent stair sweeping robot that Fig. 1 provides for the present invention.
The overall forward sight structural representation of the intelligent stair sweeping robot that Fig. 2 provides for the present invention.
The integral bottom TV structure schematic diagram of the intelligent stair sweeping robot that Fig. 3 provides for the present invention.
The fit structure signal of hoistable platform and elevating mechanism in the intelligent stair sweeping robot that Fig. 4 provides for the present invention
Figure.
The isometry structural representation of cleaning agency in the intelligent stair sweeping robot that Fig. 5 provides for the present invention.
The end TV structure schematic diagram of cleaning agency in the intelligent stair sweeping robot that Fig. 6 provides for the present invention.
Hoistable platform, elevating mechanism, the cooperation of travel mechanism in the intelligent stair sweeping robot that Fig. 7 provides for the present invention
Structural representation.
The structural representation of travel mechanism in the intelligent stair sweeping robot that Fig. 8 provides for the present invention.
In figure:
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and improvements.These broadly fall into the present invention
Protection domain.
A kind of intelligent stair sweeping robot provided according to the present invention, including: travel mechanism, elevating mechanism, lifting are put down
Platform, cleaning agency；Hoistable platform can move up and down along elevating mechanism；Cleaning agency is arranged on hoistable platform；Elevating mechanism
Bottom travel mechanism is installed.
In preference, intelligent stair sweeping robot can use battery as power supply, it is also possible to passes through wired mode
Power supply.In addition to cleaning agency, travel mechanism, remaining device such as elevating mechanism, hoistable platform may be mounted in housing.
Further, described hoistable platform includes: platform main support 17, platform auxiliary stand 18, leg mounting bracket 19；
Platform main support 17 is fastenedly connected platform auxiliary stand 18, and is positioned at the top of platform auxiliary stand 18；Platform main support 17
Front end edge horizontal direction extends leg mounting bracket 19；The front end of leg mounting bracket 19 downwardly extends out vertical supports 20；
Be arranged on bottom the universal wheel 16 bottom vertical supports 20 with the universal wheel 16 being arranged on bottom platform auxiliary stand 18 bottom phase
Concordant；The both sides of platform auxiliary stand 18 are respectively mounted cleaning agency；The bottom of cleaning agency flush in bottom universal wheel 16 or
Person is slightly above bottom universal wheel 16.
In preference, platform main support 17 uses installing plate, and the lower section of installing plate is fastenedly connected platform auxiliary stand 18,
The top of installing plate is fastenedly connected lifting motor 5, and installing plate is provided with through hole, in order to tooth bar 7, lifting platform guide groove 12 pass
Through hole, and the shape of through hole mates with tooth bar 7, lifting platform guide groove 12.Especially leg mounting bracket 19 and vertical supports
Removably connect between 20.
Further, described hoistable platform connects two elevating mechanisms, and the two elevating mechanism is designated as anterior liter respectively
Come down to a lower group part, rear portion lifting assembly；Anterior lifting assembly is between leg mounting bracket 19 and rear benefit lifting assembly；Described lifting
Mechanism, fixes angle bar 6, tooth bar 7, gear 8, lifting platform guide groove 12, lifting platform guide wheel including lifting motor 5, lifting motor
13, lifting support 21；Lifting support 21 is positioned at below platform main support 17；It is provided with on lifting support 21 and distinguishes along the vertical direction
Run through the lifting platform guide groove 12 of platform main support 17, tooth bar 7；The both sides of lifting support 21 are separately installed with travel mechanism；Rise
Fall motor 5 is fixed angle bar 6 by lifting motor and is arranged on platform main support 17, and the output shaft of lifting motor 5 connects gear
8；Gear 8 engages with tooth bar 7；The wheel shaft of lifting platform guide wheel 13 is arranged on platform main support 17, and lifting platform guide wheel 13
The groove face of wheel face and lifting platform guide groove 12 roll and coordinate.
In preference, in front portion between lifting assembly, rear portion lifting assembly, lifting motor 5 is the most oppositely arranged, and rises
The opposing setting of output shaft of fall motor 5.Each elevating mechanism includes two lifting platform guide grooves 12, toothed rack 7, at width
On direction, a toothed rack 7 is between two lifting platform guide grooves 12, especially between the upper end of two lifting platform guide grooves 12
Spacing more than or slightly larger than the spacing between lower end, the top of tooth bar 7 is less than the top of lifting platform guide groove 12, platform liter
Fall guide wheel 13 is higher than gear 7.
Further, described anterior lifting assembly, rear portion lifting assembly are separate, it is possible to be respectively relative to described lifting
Platform moves along the vertical direction；The center of gravity of described intelligent stair sweeping robot is positioned at described anterior lifting assembly, rear portion lifting
Between assembly, and near described anterior lifting assembly.
In preference, balancing weight can be set on hoistable platform, it is achieved the setting of position of centre of gravity.
Further, described travel mechanism, including: wheel 1, steering wheel 3, driving motor 4, steering wheel fixed mount 2, driving motor
Fixing angle bar 14；Steering wheel 3 connects elevating mechanism by steering wheel fixed mount 2；The steering wheel steering wheel 15 of steering wheel 3, driving motor fixed angles
Ferrum 14, driving motor 4, wheel 1 are sequentially connected with.
Further, described cleaning agency, including: dust absorption fan 9, jamb duster motor 10, jamb duster 11；Hoistable platform,
Dust absorption fan 9, jamb duster motor 10, jamb duster 11 are sequentially connected with；Described hoistable platform and/or elevating mechanism connect has distance to pass
Sensor.
In preference, in the direction of the width, wheel 1 is positioned at the inner side of jamb duster 11 of homonymy cleaning agency.Each clearly
Sweeping mechanism and have two jamb duster motors 10, the two jamb duster motor 10 drives two jamb dusters 11 respectively.At fore-and-aft direction
Ultimate range between upper the two jamb duster 11 is more than the ultimate range between two wheels 1 of homonymy.Especially width
The wheel 1 of upper homonymy contacts with jamb duster 11, and the bottom of wheel 1 is slightly below the bottom of homonymy wheel 1.Range sensor sets
Put on platform main support 17 and the outside of cleaning agency.
The control method of a kind of above-mentioned intelligent stair sweeping robot according to present invention offer, including:
Clean step: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Direction moves to clean；And/or
Cat ladder step: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
Further, described cat ladder step includes:
Initialization step: under the driving of lifting motor 5, makes hoistable platform decline along lifting platform guide groove 12, until flat
Platform main support 17 contacts lifting support 21；Under the driving of travel mechanism, front proper the treating of hoistable platform is made to climb cascaded surface；Its
In, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；By upper the one of current cascaded surface
Individual cascaded surface is designated as cascaded surface to be climbed；
Step praised by platform: under lifting motor 5 common of anterior lifting assembly, rear portion lifting assembly drives, make liter
Fall platform rises along lifting platform guide groove 12, until universal wheel 16 bottom that vertical supports 20 is installed is higher than cascaded surface to be climbed；
First advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot to cascaded surface to be climbed
Draw close, until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；In front portion, liter is come down to a lower group
Under part, lifting motor 5 common of rear portion lifting assembly drive, hoistable platform is made to decline along lifting platform guide groove 12, until perpendicular
It is against on cascaded surface to be climbed to the universal wheel 16 bottom contact that support 20 is installed；
Front-wheel praises step: under the driving of the lifting motor 5 of anterior lifting assembly, makes the tooth bar in anterior lifting assembly
7 rise, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support 21 band, until the wheel of this travel mechanism
1 bottom is concordant or cascaded surface to be climbed；
Second advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot to cascaded surface to be climbed
Draw close, until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value so that described intelligence
The center of gravity of stair cleaning machine device people is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises step: under the driving of the lifting motor 5 of rear portion lifting assembly, make the tooth bar in the lifting assembly of rear portion
7 rise, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support 21 band, until the wheel of this travel mechanism
1 bottom is concordant or cascaded surface to be climbed.
3rd advance step: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, makes described intelligent stair clean
Robot advances, until the wheel 1 connecting the travel mechanism of rear portion lifting assembly is positioned at directly over cascaded surface to be climbed.
Above step opposite sequence and direction reverse execution then can correspondingly realize downward stair climbing.
The control system of a kind of above-mentioned intelligent stair sweeping robot according to present invention offer, including:
Clean module: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Direction moves to clean；And/or
Cat ladder module: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
Further, described cat ladder module includes:
Initialization module: pass through control realization: under the driving of lifting motor 5, makes hoistable platform along lifting platform guide groove
12 decline, until platform main support 17 contacts lifting support 21；Under the driving of travel mechanism, make the front proper right of hoistable platform
Cascaded surface to be climbed；Wherein, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；Will be current
A upper cascaded surface of cascaded surface is designated as cascaded surface to be climbed；
Module praised by platform: pass through control realization: anterior lifting assembly, being total to of lifting motor 5 of rear portion lifting assembly
Under driving, hoistable platform is made to increase along lifting platform guide groove 12, until universal wheel 16 bottom that vertical supports 20 is installed is high
In cascaded surface to be climbed；
First advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot
Draw close to cascaded surface to be climbed, until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；
Under lifting motor 5 common of anterior lifting assembly, rear portion lifting assembly drives, make hoistable platform along lifting platform guide groove 12
Decline, until the universal wheel 16 bottom contact that vertical supports 20 is installed is against on cascaded surface to be climbed；
Front-wheel praises module: passes through control realization: under the driving of the lifting motor 5 of anterior lifting assembly, makes anterior liter
The tooth bar 7 come down to a lower group in part rises, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support 21 band, until should
Wheel 1 bottom of travel mechanism is concordant or cascaded surface to be climbed；
Second advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot
Draw close to cascaded surface to be climbed, until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value,
The center of gravity making described intelligent stair sweeping robot is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises module: pass through control realization: under the driving of the lifting motor 5 of rear portion lifting assembly, make rear portion liter
The tooth bar 7 come down to a lower group in part rises, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support 21 band, until should
Wheel 1 bottom of travel mechanism is concordant or cascaded surface to be climbed.
3rd advance module: pass through control realization: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, makes described
Intelligent stair sweeping robot advances, until the wheel 1 connecting the travel mechanism of rear portion lifting assembly is just being positioned at cascaded surface to be climbed
Top.
One skilled in the art will appreciate that except realizing, in pure computer readable program code mode, the system that the present invention provides
And beyond each device, module, unit, by method step is carried out programming in logic, the present invention can be provided completely
System and each device, module, unit with gate, switch, special IC, programmable logic controller (PLC) and embedding
Enter the form of the controller etc. that declines to realize identical function.So, the system of present invention offer and every device, module, list
Unit is considered a kind of hardware component, and to include in it for realizing the device of various function, module, unit also may be used
With the structure being considered as in hardware component；Can also by being used for realizing the device of various function, module, unit are considered as both can being real
The software module of existing method can be again the structure in hardware component.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, the feature in embodiments herein and embodiment can any phase
Combination mutually.
Claims (10)
1. an intelligent stair sweeping robot, it is characterised in that including: travel mechanism, elevating mechanism, hoistable platform, cleaning
Mechanism；
Hoistable platform can move up and down along elevating mechanism；
Cleaning agency is arranged on hoistable platform；
The bottom of elevating mechanism is provided with travel mechanism.
Intelligent stair sweeping robot the most according to claim 1, it is characterised in that described hoistable platform includes: platform
Main support (17), platform auxiliary stand (18), leg mounting bracket (19)；
Platform main support (17) is fastenedly connected platform auxiliary stand (18), and is positioned at the top of platform auxiliary stand (18)；
The front end edge horizontal direction of platform main support (17) extends leg mounting bracket (19)；
The front end of leg mounting bracket (19) downwardly extends out vertical supports (20)；
It is arranged on the bottom of the universal wheel (16) bottom vertical supports (20) and is arranged on the universal of platform auxiliary stand (18) bottom
Wheel (16) bottom flush；
The both sides of platform auxiliary stand (18) are respectively mounted cleaning agency；
The bottom of cleaning agency flush in universal wheel (16) bottom or slightly above universal wheel (16) bottom.
Intelligent stair sweeping robot the most according to claim 2, it is characterised in that described hoistable platform connects two
Elevating mechanism, the two elevating mechanism is designated as anterior lifting assembly, rear portion lifting assembly respectively；
Anterior lifting assembly is positioned between leg mounting bracket (19) and rear benefit lifting assembly；
Described elevating mechanism, fixes angle bar (6), tooth bar (7), gear (8), lifting platform including lifting motor (5), lifting motor
Guide groove (12), lifting platform guide wheel (13), lifting support (21)；
Lifting support (21) is positioned at platform main support (17) lower section；
It is provided with on lifting support (21) and extends through the lifting platform guide groove (12) of platform main support (17), tooth along the vertical direction
Bar (7)；
The both sides of lifting support (21) are separately installed with travel mechanism；
Lifting motor (5) is fixed angle bar (6) by lifting motor and is arranged on platform main support (17), and lifting motor (5)
Output shaft connects gear (8)；
Gear (8) engages with tooth bar (7)；
The wheel shaft of lifting platform guide wheel (13) is arranged on platform main support (17), and the wheel face of lifting platform guide wheel (13) is with flat
The groove face of platform lifting guide groove (12) rolls and coordinates.
Intelligent stair sweeping robot the most according to claim 3, it is characterised in that described anterior lifting assembly, rear portion
Lifting assembly is separate, it is possible to is respectively relative to described hoistable platform and moves along the vertical direction；
The center of gravity of described intelligent stair sweeping robot is between lifting assembly, rear portion lifting assembly and close in described front portion
Described anterior lifting assembly.
Intelligent stair sweeping robot the most according to claim 1, it is characterised in that described travel mechanism, including: wheel
(1), angle bar (14) fixed by steering wheel (3), driving motor (4), steering wheel fixed mount (2), driving motor；
Steering wheel (3) connects elevating mechanism by steering wheel fixed mount (2)；
The steering wheel steering wheel (15) of steering wheel (3), driving motor are fixed angle bar (14), are driven motor (4), wheel (1) to be sequentially connected with.
Intelligent stair sweeping robot the most according to claim 1, it is characterised in that described cleaning agency, including: dust suction
Fan (9), jamb duster motor (10), jamb duster (11)；
Hoistable platform, dust absorption fan (9), jamb duster motor (10), jamb duster (11) are sequentially connected with；
Described hoistable platform and/or elevating mechanism connect range sensor.
7. the control method of the intelligent stair sweeping robot according to any one of a claim 1 to 6, it is characterised in that
Including:
Clean step: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Mobile to clean；And/or
Cat ladder step: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
The control method of intelligent stair sweeping robot the most according to claim 7, it is characterised in that described cat ladder step
Including:
Initialization step: under the driving of lifting motor (5), makes hoistable platform decline along lifting platform guide groove (12), until flat
Platform main support (17) contact lifting support (21)；Under the driving of travel mechanism, front proper the treating of hoistable platform is made to climb ladder
Face；Wherein, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；By current cascaded surface
A upper cascaded surface is designated as cascaded surface to be climbed；
Step praised by platform: under lifting motor (5) common of anterior lifting assembly, rear portion lifting assembly drives, make lifting
Platform rises along lifting platform guide groove (12), until universal wheel (16) bottom that vertical supports (20) is installed is higher than ladder to be climbed
Face；
First advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot draw close to cascaded surface to be climbed,
Until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；Anterior lifting assembly, after
Under the common driving of the lifting motor (5) of portion's lifting assembly, hoistable platform is made to decline along lifting platform guide groove (12), until vertical
Universal wheel (16) the bottom contact that support (20) is installed is against on cascaded surface to be climbed；
Front-wheel praises step: under the driving of the lifting motor (5) of anterior lifting assembly, makes the tooth bar in anterior lifting assembly
(7) rise, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support (21) band, until this travel mechanism
Wheel (1) bottom is concordant or cascaded surface to be climbed；
Second advance step: under the driving of travel mechanism, makes described intelligent stair sweeping robot draw close to cascaded surface to be climbed,
Until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value so that described intelligent stair is clear
The center of gravity sweeping robot is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises step: under the driving of the lifting motor (5) of rear portion lifting assembly, make the tooth bar in the lifting assembly of rear portion
(7) rise, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support (21) band, until this travel mechanism
Wheel (1) bottom is concordant or cascaded surface to be climbed；
3rd advance step: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, makes described intelligent stair sweeping machine
People advances, until the wheel (1) connecting the travel mechanism of rear portion lifting assembly is positioned at directly over cascaded surface to be climbed.
9. the control system of the intelligent stair sweeping robot according to any one of a claim 1 to 6, it is characterised in that
Including:
Clean module: control travel mechanism and move, make described intelligent stair sweeping robot along the width of cascaded surface
Mobile to clean；And/or
Cat ladder module: control elevating mechanism and lift, makes hoistable platform be higher than cascaded surface or less than cascaded surface.
The control system of intelligent stair sweeping robot the most according to claim 9, it is characterised in that described cat ladder mould
Block includes:
Initialization module: pass through control realization: under the driving of lifting motor (5), makes hoistable platform along lifting platform guide groove
(12) decline, until platform main support (17) contact lifting support (21)；Under the driving of travel mechanism, before making hoistable platform
Rectify to treat and climb cascaded surface；Wherein, the cascaded surface that described intelligent stair sweeping robot is currently located is designated as current cascaded surface；
A upper cascaded surface of current cascaded surface is designated as cascaded surface to be climbed；
Module praised by platform: pass through control realization: anterior lifting assembly, lifting motor (5) common of rear portion lifting assembly
Under driving, hoistable platform is made to increase along lifting platform guide groove (12), until universal wheel (16) end that vertical supports (20) is installed
End is higher than cascaded surface to be climbed；
First advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot to treating
Climb cascaded surface to draw close, until the minimum range between anterior lifting assembly and cascaded surface to be climbed is less than the first setting threshold value；Front
Under portion's lifting assembly, lifting motor (5) common of rear portion lifting assembly drive, make hoistable platform along lifting platform guide groove (12)
Decline, until universal wheel (16) the bottom contact that vertical supports (20) is installed is against on cascaded surface to be climbed；
Front-wheel praises module: passes through control realization: under the driving of the lifting motor (5) of anterior lifting assembly, makes anterior lifting
Tooth bar (7) in assembly rises, with travel mechanism's rising of the anterior lifting assembly that is dynamically connected by lifting support (21) band, until
Wheel (1) bottom of this travel mechanism is concordant or cascaded surface to be climbed；
Second advance module: pass through control realization: under the driving of travel mechanism, makes described intelligent stair sweeping robot to treating
Climb cascaded surface to draw close, until the minimum range between rear portion lifting assembly and cascaded surface to be climbed is less than the second setting threshold value so that
The center of gravity of described intelligent stair sweeping robot is positioned at the surface of cascaded surface to be climbed；
Trailing wheel praises module: pass through control realization: under the driving of the lifting motor (5) of rear portion lifting assembly, make rear portion lift
Tooth bar (7) in assembly rises, with travel mechanism's rising of the rear portion lifting assembly that is dynamically connected by lifting support (21) band, until
Wheel (1) bottom of this travel mechanism is concordant or cascaded surface to be climbed；
3rd advance module: pass through control realization: in the pre-connection under the driving of the travel mechanism of portion's lifting assembly, make described intelligence
Stair cleaning machine device people advances, until the wheel (1) connecting the travel mechanism of rear portion lifting assembly is positioned at cascaded surface to be climbed and just goes up
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737541.1A CN106175608B (en) | 2016-08-26 | 2016-08-26 | Intelligent stair sweeping robot and its control method and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737541.1A CN106175608B (en) | 2016-08-26 | 2016-08-26 | Intelligent stair sweeping robot and its control method and control system |
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| CN106175608A true CN106175608A (en) | 2016-12-07 |
| CN106175608B CN106175608B (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610737541.1A Expired - Fee Related CN106175608B (en) | 2016-08-26 | 2016-08-26 | Intelligent stair sweeping robot and its control method and control system |
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| CN107981799A (en) * | 2017-11-26 | 2018-05-04 | 梁瑞城 | A kind of clean robot |
| CN108030448A (en) * | 2018-01-16 | 2018-05-15 | 刘肖俊 | A kind of wheel with high-strength conformability combines clean robot enough |
| CN108607823A (en) * | 2016-12-13 | 2018-10-02 | 北京天诚同创电气有限公司 | Photovoltaic cell board cleaning device and its excessively slope control method, control system and array |
| CN109549570A (en) * | 2019-01-15 | 2019-04-02 | 梧州学院 | A kind of stair cleaning machine |
| CN109567681A (en) * | 2018-12-31 | 2019-04-05 | 龙祖祥 | It can lifting type corridor and level land clean robot |
| CN111387886A (en) * | 2020-05-13 | 2020-07-10 | 苏州高之仙自动化科技有限公司 | Cleaning device and cleaning robot |
| CN111728541A (en) * | 2020-07-21 | 2020-10-02 | 桂林电子科技大学 | Full-automatic climbing type stair cleaning robot and using method thereof |
| CN111956120A (en) * | 2020-09-02 | 2020-11-20 | 安徽柯尘清洁设备有限公司 | A remove locating component for vacuum cleaner |
| CN113197517A (en) * | 2021-05-08 | 2021-08-03 | 广州大学 | Cleaning robot capable of climbing stairs |
| CN113662478A (en) * | 2021-07-30 | 2021-11-19 | 薛嘉燕 | Property stair cleaning device self-adaptive to step height |
| CN114557642A (en) * | 2022-03-24 | 2022-05-31 | 黄河科技学院 | Automatic cleaning and wiping robot for stairs |
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| CN111956120A (en) * | 2020-09-02 | 2020-11-20 | 安徽柯尘清洁设备有限公司 | A remove locating component for vacuum cleaner |
| CN113197517A (en) * | 2021-05-08 | 2021-08-03 | 广州大学 | Cleaning robot capable of climbing stairs |
| CN113662478A (en) * | 2021-07-30 | 2021-11-19 | 薛嘉燕 | Property stair cleaning device self-adaptive to step height |
| CN114557642A (en) * | 2022-03-24 | 2022-05-31 | 黄河科技学院 | Automatic cleaning and wiping robot for stairs |
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| CN106175608B (en) | 2019-01-25 |
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