CN113520244A - Stone nursing robot and escaping method thereof - Google Patents
Stone nursing robot and escaping method thereof Download PDFInfo
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- CN113520244A CN113520244A CN202110772112.9A CN202110772112A CN113520244A CN 113520244 A CN113520244 A CN 113520244A CN 202110772112 A CN202110772112 A CN 202110772112A CN 113520244 A CN113520244 A CN 113520244A
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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
- A47L11/02—Floor surfacing or polishing machines
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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
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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
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4072—Arrangement of castors or wheels
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Abstract
The invention discloses a stone nursing robot and a escaping method thereof, and relates to the field of stone nursing robots. The nursing pad comprises a robot body, front wheels positioned on the advancing direction of the robot, rear wheels positioned at the rear sides of the front wheels, a plurality of groups of pad bodies for cleaning and nursing, a pad changing device and a barrier removing device, wherein the pad changing device is used for realizing the automatic replacement of the pad bodies; the obstacle removing device is positioned between the front wheel and the rear wheel and is used for eliminating the obstruction which is possibly brought to the front wheel or the rear wheel by the replaced cushion body. According to the stone nursing robot and the escaping method thereof, the barrier below the robot can be pulled away under the condition that the normal operation of the robot is not influenced, and the situation that the wheels of the robot are clamped by the barrier is avoided.
Description
Technical Field
The invention relates to the field of stone nursing robots, in particular to a stone nursing robot and a escaping method thereof.
The applicant's prior patents: application No. CN202010515668.5 entitled "pad changing device, floor stone care machine, and pad changing method" filed 6/8/2020, is incorporated herein by reference.
Background
With the development of automation technology and artificial intelligence, the demand of intelligent robots is more and more extensive; the coming of the robot era will revolutionize the existing production and manufacturing modes and the human life style. The traditional stone nursing generally adopts a manual operation mode, depends on the experience of operators, has the disadvantages of low efficiency, high cost and uneven quality, and can be applied to the projects of stone cleaning, polishing, nursing, renovating, grinding and the like to realize automatic operation.
Stone material nursing robot, it nurses the stone material to utilize pad bodies such as cleaning pad, like the stone material nursing robot that prior patent (application number CN202010515668.5) of this application related to, its pad body needs to be changed after working a period of time, and the old and useless pad body that moves back and get off drops in stone material nursing robot's below easily, influences the passing of robot, leads to the robot can't continue the operation.
Disclosure of Invention
In order to solve at least one of the problems mentioned in the background art, the invention provides a stone nursing robot and a method for getting rid of difficulties, which can remove obstacles below the robot without influencing the normal operation of the robot and avoid the obstacles from blocking wheels of the robot.
The specific technical scheme provided by the invention is as follows:
a stone nursing robot comprises a robot body, front wheels positioned on the advancing direction of the robot, rear wheels positioned on the rear sides of the front wheels, a plurality of groups of pad bodies for cleaning and nursing, a pad changing device and a barrier removing device, wherein the pad changing device is used for realizing automatic replacement of the pad bodies; the obstacle removing device is positioned between the front wheel and the rear wheel and is used for eliminating the obstruction which is possibly brought to the front wheel or the rear wheel by the replaced cushion body.
Optionally, the obstacle removing device is arranged between the pad changing device and the front wheel and close to one side of the front wheel, so that the robot can be used for poking the pad body replaced by the pad changing device to two sides or one side in the process of retreating or both retreating and advancing; or
The obstacle removing device is arranged between the pad changing device and the rear wheel and close to one side of the rear wheel, so that the pad body replaced by the pad changing device can be pushed open to two sides or one side in the operation process that the robot moves forwards or moves forwards and backwards.
Optionally, the size of the end of the barrier removing device close to the pad changing device is smaller than the size of the end of the barrier removing device far away from the pad changing device.
Optionally, the height of the obstacle removing device is adjusted according to the thickness of the pad body replaced by the pad replacing device.
The invention also provides a trap-escaping method of the stone nursing robot, which comprises the following steps:
after the robot finishes the action of automatically changing the pad, controlling the robot to execute backward and/or forward operation;
and in the process of retreating and/or advancing, the obstacle is pulled to two sides or one side through an obstacle removing device arranged on the robot.
Optionally, the specific steps include:
the control module sends a pad changing instruction, and the robot runs from the operation area to the pad changing area;
executing a pad changing instruction once, and detecting whether pad withdrawing is successful; if not, re-executing the pad changing instruction until success;
executing a pad dialing instruction: the robot moves forwards or moves forwards and backwards, and the replaced cushion body is pushed open outwards by the obstacle removing device arranged on the robot in the moving process of the robot;
and the robot retreats for a certain distance again or advances for a certain distance to go to the area to be operated.
Optionally, when the obstacle removing device is arranged between the pad changing device and the front wheel and close to one side of the front wheel, the robot performs a retreating operation when executing a pad shifting instruction;
when the obstacle removing device is arranged between the pad changing device and the rear wheel and is close to one side of the rear wheel, the robot executes forward operation when executing a pad shifting instruction.
Optionally, the executing the pad-dialing instruction includes executing a first preset number of back and/or forward sub-operations, and the executing the pad-dialing instruction specifically includes the following steps:
controlling the robot to execute the backward and/or forward sub-operation once, and judging whether the robot is out of the trapped state or not;
if yes, quitting the pad dialing instruction;
if not, after controlling the robot to execute the forward or backward operation, continuing to execute the backward and/or forward sub-operation of the next round.
Optionally, the backward and/or forward speed of the next round of the backward and/or forward sub-operation is not less than the backward and/or forward speed of the previous round of the backward and/or forward sub-operation.
Optionally, after executing the backward and/or forward sub-operations for a first preset number of times, determining whether the robot has left the trapped state;
if yes, quitting the pad dialing instruction;
and if not, controlling the robot to execute alarm operation.
When the stone nursing robot is used for stone nursing, the obstacle removing device can be matched with the pad replacing device to pull the replaced waste pad bodies to two sides, so that the situation that the stone nursing robot cannot continue to run and work due to the fact that the waste pad bodies fall below the stone nursing robot is avoided, the replaced waste pad bodies do not need to be manually removed, and the stone nursing robot has the advantages of being short in time consumption, high in working efficiency and free of manual intervention.
According to the method for getting rid of the difficulties of the stone nursing robot, when the stone nursing robot carries out automatic pad changing operation, the pad body falls below the robot and can block the robot from going forward or going backward, and the obstacle removing device is arranged between the pad changing device and the wheels and used for pulling the changed waste pad body to two sides or one side when the robot carries out backward and/or forward operation so as to avoid clamping the wheels, so that the normal work of the stone nursing robot is not influenced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a stone care robot according to the present invention;
FIG. 2 is a schematic view of the obstacle removing device of the robot shown in FIG. 2;
fig. 3 is a schematic structural view of the obstacle removing device of the robot shown in fig. 2.
Fig. 4 is a schematic flow chart of a escaping method of the stone nursing robot according to the present invention;
fig. 5 is a schematic flow chart illustrating a concrete escaping method of the stone nursing robot according to the present invention;
fig. 6 is a schematic flow chart illustrating a pad-poking instruction executing method of the stone nursing robot according to the present invention;
fig. 7 is a schematic flow chart illustrating a pad-poking instruction executing method of the stone nursing robot according to the present invention;
fig. 8 is a schematic flow chart illustrating a pad-poking instruction execution method of the stone nursing robot according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the stone nursing robot provided by the present invention generally may include a robot body 1, front wheels 3, rear wheels 4, and a plurality of sets of pads 6 for cleaning and nursing. The front wheels 3 are located in the forward direction of the robot, and the rear wheels 4 are located on the rear side of the front wheels 3. The robot body 1 is provided with a pad changing device 5 and a barrier removing device 2. The pad changing device 5 is used for realizing automatic replacement of the pad body 6. The obstacle removing device 2 is positioned between the front wheel 3 and the rear wheel 4 and is used for eliminating the obstruction which can be brought to the front wheel 3 or the rear wheel 4 by the replaced cushion body 6 and avoiding being trapped. Specific structures of the robot body 1 and the pad changing device 5 can be found in a prior patent (application number CN202010515668.5) of the inventor of the present application, and are not described in detail herein. When the intelligent stone nursing robot moves back and forth the cushion in-process, the cushion body 6 falls down, and then falls down below the machine, so that the wheels can be clamped, and the normal operation of the equipment is influenced. When the pad needs to be replaced, the stone nursing robot reaches a pad replacing area; then, the stone nursing robot carries out automatic pad changing operation, and the waste pad body 6 falls below the machine; and then controlling the stone nursing robot to perform backward/forward operation, and poking the barrier to two sides or one side so as to avoid clamping the wheels, thereby not influencing the normal work of the stone nursing robot.
Specifically, as shown in fig. 2, the robot body 1 is provided with a pad changer 5. The pad changing device 5 is used for realizing the automatic pad changing function of the robot. When the robot needs to change the pad, the pad changing device 5 automatically changes the waste pad body 6. At this time, the replaced waste pad 6 falls below the robot, and hinders the advance or retreat of the robot. Then, the robot is controlled to move forward and/or backward, so that the barrier (the waste pad body 6) can be pushed away outwards to avoid being trapped.
Optionally, the installation height of the obstacle deflector 2 is adjustable. The height adjustment mechanism is well known to those skilled in the art. The height of the obstacle removing device 2 is adjusted according to the thickness of the cushion body 6 replaced by the cushion replacing device 5, so that the height of the obstacle removing device 2 is conveniently adjusted to be the same as the height of an obstacle (the fallen cushion body 6), and the obstacle is conveniently and selectively pulled out.
In a specific embodiment, as shown in fig. 2, the obstacle removing device 2 is arranged between the pad changing device 5 and the front wheel 3, so that when the robot performs a backward operation, the pad body 6 changed by the pad changing device 5 is pushed aside to two sides/one side during the backward operation.
In another specific embodiment, the obstacle removing device 2 is arranged between the pad changing device 5 and the rear wheel 4, so that the pad body 6 changed down by the pad changing device 5 is pushed aside to two sides/one side during the advancing operation of the robot.
It is to be understood that the obstacle deflector 2 may be arranged either close to the front wheel 3 or close to the rear wheel 4; when the obstacle removing device 2 is arranged close to the front wheel 3, the pad poking process is generally backward movement, and certainly, the combined action of backward movement and forward movement can also be adopted; when the obstacle deflector 2 is positioned near the rear wheel 4 side, the pad poking process is generally forward, of course in combination with a combined action that may be forward and backward.
The obstacle removing device 2 of the stone nursing robot can be in a block-shaped structure, a rod-shaped structure, a sheet-shaped structure and the like. The working principle is as follows: the obstacle removing device 2 is fixedly connected with the robot body 1 through a connecting piece 21, in the process of retreating or advancing of the robot, the obstacle removing device 2 is firstly contacted with an obstacle, then the robot retreats or advances continuously, so that the obstacle removing device 2 can push (or extrude) the obstacle, the obstacle is pushed and separated from the advancing path of wheels of the robot, and the robot is trapped. Preferably, the size of the end of the obstacle removing device 2 close to the pad changing device 5 is smaller than that of the end of the obstacle removing device 2 far from the pad changing device 5, so that the obstacle can be more easily kicked out to the left and right or one side. For example, the obstacle deflector 2 may be triangular, polygonal, arcuate, etc.
Preferably, the robot is further provided with a pad-withdrawing detection device (not shown in the figure) for detecting whether pad withdrawal is successful. The pad returning detection device is an ultrasonic sensor arranged on the robot body 1 and can judge whether the distance between the pad and the multiple groups of pad bodies 6 gives feedback about the success of pad returning.
The stone nursing robot provided by the invention can be matched with an automatic pad replacing device to pull the replaced waste pad bodies to two sides, the replaced waste pad bodies do not need to be manually removed, and the stone nursing robot has the advantages of short time consumption, high working efficiency and no need of manual intervention.
As shown in fig. 4 to 8, the present invention also provides a method for escaping from a stone nursing robot, which generally comprises the following steps:
after the robot finishes the action of automatically changing the pad, controlling the robot to perform backward and/or forward operation; in the process of backing and/or advancing, the obstacle is pulled to two sides or one side through the obstacle removing device arranged on the robot.
Specifically, after the robot performs the automatic pad changing operation, it is determined or detected whether an obstacle is present below the robot. When an obstacle exists below the robot and exists on a forward or backward traveling path of the robot and can obstruct the robot from traveling, a control module (not shown in the figure) of the robot sends out a control command to control the robot to perform backward or forward movement, so that the obstacle is pushed aside to two sides or one side by the obstacle removing device 2 of the robot in the backward or forward process of the robot, the obstacle is far away from the forward or backward traveling path of the robot, and the robot is enabled to get rid of difficulties.
The invention provides a method for escaping from a stone nursing robot, which is used for judging or detecting whether an obstacle exists below the robot, can be used for detecting and judging through a sensor arranged below the robot, and can be used as a detection and judgment means well known by a person skilled in the art. Such as a camera device, a radar device, etc. Or the stone nursing robot can be controlled to directly judge that the barrier exists below the stone nursing robot after the pad body is replaced. In a specific embodiment, the robot is provided with a pad-out detection device (not shown) for detecting whether pad-out is successful. The pad returning detection device is an ultrasonic sensor arranged on the robot body 1 and can judge whether the distance between the pad and the multiple groups of pad bodies 6 gives feedback about the success of pad returning. When the cushion body 6 is judged to be successfully retreated, the obstacle (the cushion body 6 under the change) is directly judged to be present under the cushion body 6.
As shown in fig. 5, the escaping method of the stone nursing robot provided by the invention comprises the following specific steps:
1) the control module sends a pad changing instruction, and the robot runs to a pad changing area from the operation area;
2) executing a pad changing instruction once, and detecting whether pad withdrawing is successful; if not, re-executing the pad changing instruction until success;
3) executing a pad dialing instruction: the robot moves forwards or moves forwards and backwards, and the replaced cushion body 6 is pushed open outwards by the obstacle removing device arranged on the robot in the moving process of the robot;
4) and the robot retreats for a certain distance again or advances for a certain distance to go to the area to be operated.
The specific processes of the stone nursing robot for sending the pad changing instruction and executing the pad changing instruction can be referred to in the prior patent, and the specific processes are not described herein again. After the cushion replacing instruction is executed, the replaced cushion body 6 is positioned below the robot and can prevent the robot from continuously working, at the moment, the cushion shifting instruction is executed to control the robot to move forward or move backward, and the replaced cushion body 6 is shifted outwards through the obstacle removing device, so that the replaced cushion body 6 is prevented from preventing the robot from running and getting rid of difficulties.
When the obstacle removing device 2 is arranged between the pad changing device 5 and the front wheel 3 and close to one side of the front wheel 3, the robot performs a retreating operation (or performs an operation combining the retreating action and the advancing action) when executing a pad-poking instruction; when the obstacle removing device 2 is arranged between the pad changing device 5 and the rear wheel 4 and close to one side of the rear wheel 4, the robot performs forward operation (or performs operation combining forward and backward movement) when executing a pad shifting instruction, so that the replaced pad body 6 is shifted to the outside.
Executing the pad-dialing instruction comprises executing the back and/or front sub-operation for a first preset number of times, and the specific steps of executing the pad-dialing instruction are as follows:
controlling the robot to execute a backward and/or forward sub-operation and judging whether the robot is out of the trapped state or not;
if yes, quitting the pad dialing instruction;
if not, after the robot is controlled to execute the forward or backward operation, the next backward and/or forward sub-operation is continuously executed.
As shown in fig. 6, when the obstacle removing device, that is, the stone nursing robot, is disposed near the front wheel side, the pad moving process is a specific flow of executing a pad moving instruction when moving backward. At the moment, after the robot is controlled to execute the retreating son operation for one time, whether the robot is out of the trapped state or not is judged; if so, exiting the pad-poking instruction, and enabling the robot to drive to the area to be operated to continue to operate; if not, after the robot is controlled to perform forward operation (i.e. move forward for a short distance), the next round of backward sub-operation is continuously performed, and then whether the robot is out of the trapped state or not is judged again until the robot is out of the trapped state.
That is, after the back sub-operation is performed once, if it is determined that the robot is not out of the trapped state, the robot is controlled to perform a forward operation such that the robot moves a distance ahead, and then the back sub-operation is performed once again. The barrier is pulled away from the travel path in a mode of back-forward-back for a plurality of times, so that the user can get rid of the trouble.
As shown in fig. 7, when the obstacle removing device, that is, the stone nursing robot, is disposed near the rear wheel side, the pad-poking process is a specific flow of executing a pad-poking instruction when the robot moves forward. At the moment, after the robot is controlled to execute a primary advancing sub-operation, whether the robot is out of the trapped state or not is judged; if so, exiting the pad-poking instruction, and enabling the robot to drive to the area to be operated to continue to operate; if not, after the robot is controlled to perform the backward operation (i.e. backward for a short distance), the next round of forward sub-operation is continuously performed, and then whether the robot is out of the trapped state or not is judged again until the robot is out of the trapped state.
That is, after the forward sub-operation is performed once, if it is determined that the robot does not get out of the trapped state, the robot is controlled to perform the backward operation, so that the robot successively goes backward for a certain distance, and then the forward sub-operation is performed once again. The barrier is pulled away from the advancing path in a mode of advancing, retreating and advancing for multiple times, so that the user can get rid of the trouble.
In a specific embodiment, the backward/forward speed of the backward/forward sub-operation of the next round is not less than the backward/forward speed of the backward/forward sub-operation of the previous round, so that the robot can push the obstacle more easily by increasing the backward/forward speed of the next round.
Optionally, as shown in fig. 8, the escaping method of the stone nursing robot provided by the invention further includes an alarm step. The method comprises the following specific steps:
after the back sub-operation of the first preset times is executed, judging whether the robot is out of the trapped state or not;
if yes, quitting the pad dialing instruction;
if not, controlling the robot to execute alarm operation.
That is, the number of times of the back and/or forward sub-operations is preset (for example, N back and/or forward sub-operations are set to be executable), and when the robot does not leave the trapped state after performing the back and forward sub-operations for a plurality of times, the robot is controlled to perform an alarm operation so as to emit an alarm sound or light to remind the user.
According to the escaping method of the stone nursing robot, the obstacle below the robot is pushed aside to two sides in the advancing or retreating process by controlling the robot to advance or retreat for a certain distance, so that wheels are prevented from being clamped, and the normal work of the robot is not influenced. After the stone nursing robot is used for automatically replacing the pad body, the replaced waste pad body does not need to be moved away in a manual mode, and the stone nursing robot has the advantages of short time consumption, high working efficiency, no need of manual intervention and the like.
The escaping method of the stone nursing robot provided by the invention can also be suitable for other robots, such as a sweeping robot, an intelligent robot and the like.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A stone nursing robot comprises a robot body, front wheels positioned on the advancing direction of the robot, rear wheels positioned on the rear sides of the front wheels, and a plurality of groups of pad bodies for cleaning and nursing, and is characterized by further comprising a pad changing device and a barrier removing device, wherein the pad changing device is used for realizing automatic replacement of the pad bodies; the obstacle removing device is positioned between the front wheel and the rear wheel and is used for eliminating the obstruction which is possibly brought to the front wheel or the rear wheel by the replaced cushion body.
2. The stone nursing robot of claim 1, wherein the obstacle-removing device is disposed between the pad-changing device and the front wheel and near one side of the front wheel, so as to pull the pad body under the pad-changing device to two sides or one side during the operation of the robot in backward or forward movement; or
The obstacle removing device is arranged between the pad changing device and the rear wheel and close to one side of the rear wheel, so that the pad body replaced by the pad changing device can be pushed open to two sides or one side in the operation process that the robot moves forwards or moves forwards and backwards.
3. The robot of claim 2, wherein an end of the barrier clearance apparatus proximate the pad changer is smaller in size than an end of the barrier clearance apparatus distal from the pad changer.
4. The robot of claim 2, wherein the height of the obstacle removing device is adjusted according to the thickness of a pad body replaced by the pad replacing device.
5. A escaping method of a stone nursing robot as claimed in any one of claims 1-4, characterized by comprising the following steps:
after the robot finishes the action of automatically changing the pad, controlling the robot to execute backward and/or forward operation;
and in the process of retreating and/or advancing, the obstacle is pulled to two sides or one side through an obstacle removing device arranged on the robot.
6. The escaping method of claim 5, wherein the specific steps comprise:
the control module sends a pad changing instruction, and the robot runs from the operation area to the pad changing area;
executing a pad changing instruction once, and detecting whether pad withdrawing is successful; if not, re-executing the pad changing instruction until success;
executing a pad dialing instruction: the robot moves forwards or moves forwards and backwards, and the replaced cushion body is pushed open outwards by the obstacle removing device arranged on the robot in the moving process of the robot;
and the robot retreats for a certain distance again or advances for a certain distance to go to the area to be operated.
7. The method of escaping from poverty of claim 6,
when the obstacle removing device is arranged between the pad changing device and the front wheel and is close to one side of the front wheel, the robot executes retreating operation when executing a pad shifting instruction;
when the obstacle removing device is arranged between the pad changing device and the rear wheel and is close to one side of the rear wheel, the robot executes forward operation when executing a pad shifting instruction.
8. The escaping method of claim 6 or 7, wherein the executing of the mat-poking instruction comprises executing a first preset number of backward and/or forward sub-operations, and the executing of the mat-poking instruction comprises the specific steps of:
controlling the robot to execute the backward and/or forward sub-operation once, and judging whether the robot is out of the trapped state or not;
if yes, quitting the pad dialing instruction;
if not, after controlling the robot to execute the forward or backward operation, continuing to execute the backward and/or forward sub-operation of the next round.
9. The method of claim 8, wherein the backward and/or forward speed of the next round of the backward and/or forward sub-operation is not less than the backward and/or forward speed of the previous round of the backward and/or forward sub-operation.
10. The escaping method of claim 8, wherein after a first preset number of backward and/or forward sub-operations are performed, it is determined whether the robot has escaped from the trapped state;
if yes, quitting the pad dialing instruction;
and if not, controlling the robot to execute alarm operation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211079275.XA CN115413958A (en) | 2021-07-08 | 2021-07-08 | Stone material nursing robot escaping method |
| CN202110772112.9A CN113520244B (en) | 2021-07-08 | 2021-07-08 | Stone nursing robot and escaping method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110772112.9A CN113520244B (en) | 2021-07-08 | 2021-07-08 | Stone nursing robot and escaping method thereof |
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| CN202211079275.XA Division CN115413958A (en) | 2021-07-08 | 2021-07-08 | Stone material nursing robot escaping method |
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| CN113520244A true CN113520244A (en) | 2021-10-22 |
| CN113520244B CN113520244B (en) | 2022-08-16 |
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| CN202110772112.9A Active CN113520244B (en) | 2021-07-08 | 2021-07-08 | Stone nursing robot and escaping method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114623315A (en) * | 2022-05-17 | 2022-06-14 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
| WO2024019269A1 (en) * | 2022-07-22 | 2024-01-25 | 삼성전자 주식회사 | Robot cleaner and control method thereof |
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| US20140283326A1 (en) * | 2013-03-23 | 2014-09-25 | Samsung Electronics Co., Ltd. | Robot cleaner and control method thereof |
| CN109730594A (en) * | 2019-03-27 | 2019-05-10 | 南京英维尔科技服务有限公司 | A kind of sweeping robot |
| CN111557617A (en) * | 2020-06-08 | 2020-08-21 | 苏州高之仙自动化科技有限公司 | Pad changing device, ground stone nursing machine and pad changing method |
| CN213573094U (en) * | 2020-08-03 | 2021-06-29 | 重庆文理学院 | Traveling mechanism of wall building robot |
-
2021
- 2021-07-08 CN CN202211079275.XA patent/CN115413958A/en active Pending
- 2021-07-08 CN CN202110772112.9A patent/CN113520244B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140283326A1 (en) * | 2013-03-23 | 2014-09-25 | Samsung Electronics Co., Ltd. | Robot cleaner and control method thereof |
| CN109730594A (en) * | 2019-03-27 | 2019-05-10 | 南京英维尔科技服务有限公司 | A kind of sweeping robot |
| CN111557617A (en) * | 2020-06-08 | 2020-08-21 | 苏州高之仙自动化科技有限公司 | Pad changing device, ground stone nursing machine and pad changing method |
| CN213573094U (en) * | 2020-08-03 | 2021-06-29 | 重庆文理学院 | Traveling mechanism of wall building robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114623315A (en) * | 2022-05-17 | 2022-06-14 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
| CN114623315B (en) * | 2022-05-17 | 2022-08-16 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
| WO2024019269A1 (en) * | 2022-07-22 | 2024-01-25 | 삼성전자 주식회사 | Robot cleaner and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115413958A (en) | 2022-12-02 |
| CN113520244B (en) | 2022-08-16 |
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