CN114766978A - Cleaning mechanical arm and control method thereof - Google Patents
Cleaning mechanical arm and control method thereof Download PDFInfo
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- CN114766978A CN114766978A CN202210503294.4A CN202210503294A CN114766978A CN 114766978 A CN114766978 A CN 114766978A CN 202210503294 A CN202210503294 A CN 202210503294A CN 114766978 A CN114766978 A CN 114766978A
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- 238000000034 method Methods 0.000 title claims abstract description 17
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- 238000010276 construction Methods 0.000 claims description 3
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- 238000010030 laminating Methods 0.000 description 4
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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
- A47L11/28—Floor-scrubbing 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
- A47L11/4002—Installations of electric equipment
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- 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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention relates to a cleaning mechanical arm and a control method thereof, and belongs to the technical field of automatic cleaning equipment. The device comprises a host, wherein the host is provided with a mechanical arm which can swing along the vertical and/or horizontal direction; the host machine or the mechanical arm is also provided with a vision sensor and a laser radar, and the vision sensor is in signal connection with the controller and is used for identifying a surface to be cleaned or an obstacle; the controller is configured to map based on the lidar and the vision sensor and to calibrate the starting coordinates of the fixed cleaning points; when cleaning the task for the first time, the mechanical arm trains cleaning actions according to preset parameters of the surface to be cleaned, then generates a fixed cleaning action script, and finishes cleaning work regularly. The invention has the advantages of real-time feedback of the stroke of the cleaning tool, solving the problem of poor precision of force feedback of the mechanical arm at lower cost and ensuring uniform, stable and reliable actions of the mechanical arm.
Description
Technical Field
The invention relates to the technical field of automatic cleaning equipment, in particular to a cleaning mechanical arm and a control method thereof.
Background
Cleaning devices are often used for cleaning floors in homes and public areas, and commercial cleaning devices are widely used in large public areas such as malls, exhibition halls, airports and libraries.
Most of commercial cleaning devices have limited cleaning areas, can only clean the floor of a public area, and cannot clean a table top or a wall surface.
The mechanical arm force feedback is deficient, and when the cleaning equipment with the mechanical arm is used for cleaning a table board or a wall surface, the cleaning tool is kept in a state of being attached to the table board or the wall surface and applying certain force to clean the table board or the wall surface in multiple directions, and the cleaning surface is difficult to clean effectively due to the lack of the force feedback.
The mechanical arm force feedback precision is very poor, and a current feedback mechanism adopted by a non-industrial mechanical arm causes high misjudgment frequency and poor product stability due to large current error.
Therefore, there is a need for a cleaning robot arm and a control method thereof, which have a real-time torque feedback function and high force feedback precision, and are uniform, stable and reliable in robot arm actions when performing an automatic cleaning task, and which are the technical problems that need to be solved by those skilled in the art.
Disclosure of Invention
The present application is made in view of the above-mentioned needs in the prior art, and an object of the present application is to provide a cleaning robot and a control method thereof.
In order to solve the above problem, the technical solution provided by the present application includes:
the cleaning mechanical arm comprises a main machine, wherein the main machine is provided with a mechanical arm which can swing in a vertical and/or horizontal direction; the host or the mechanical arm is also provided with a vision sensor and a laser radar, and the vision sensor is in signal connection with the controller and is used for identifying a surface to be cleaned or an obstacle; the controller is configured to map based on the lidar and the vision sensor and calibrate the start coordinates of the fixed cleaning points; and during the first cleaning task, after the mechanical arm trains the cleaning action according to the preset parameters of the surface to be cleaned, generating a fixed cleaning action, and finishing the cleaning work regularly.
In a preferred embodiment of the present invention, the controller is configured to control the robotic arm to approach the surface to be cleaned at a first speed and to engage the surface to be cleaned at a second speed, the first speed being greater than the second speed.
In a preferred embodiment of the present invention, a motor is disposed at a joint of the mechanical arm, and a torque sensor is disposed on the motor and in signal connection with the controller; such that the torque of the motor is not greater than the preset torque when approaching the surface to be cleaned at the second speed.
In a preferred embodiment of the present invention, the front end of the mechanical arm is telescopically connected to a cleaning tool through a damping mechanism, and the cleaning tool is provided with a stroke sensor; the controller calculates a force applied by the cleaning tool to the cleaning surface based on the torque sensor and the travel sensor feedback signal.
In a preferred embodiment of the present invention, the mechanical arm includes at least one swing arm, a rear end of the swing arm is drivingly hinged to the main machine, a telescopic arm is slidably connected to a front end of the swing arm, and a rotating member is fixedly mounted to a front end of the telescopic arm, and the rotating member is rotatably connected to the cleaning tool.
In a preferred embodiment of the present invention, the cleaning tool comprises a cleaning tray and a cleaning attachment; the cleaning disc is hinged to the front end of the swing arm through a rotating member; the cleaning accessory is fixedly arranged at the front end of the cleaning disc.
A control method for a cleaning mechanical arm comprises the following steps: 1) scanning and mapping: the controller carries out a scanning map construction task based on the laser radar and the feedback signal of the visual sensor, and calibrates the initial coordinate of the fixed cleaning point; 2) training treatment: when cleaning a task for the first time, carrying out system input on parameters of a surface to be cleaned, and pre-training a mechanical arm cleaning action according to the information parameters; 3) fixing a script: through the pre-training action, a fixed mechanical arm cleaning action script is generated, and a cleaning task is completed at regular time.
In a preferred embodiment of the present invention, in step 3), during the cleaning task, the swing arm angle is properly adjusted according to the torque feedback of the motor, so as to achieve the self-adaptive effect of the cleaning action.
In a preferred embodiment of the present invention, in step 3), the force applied to the cleaning surface by the cleaning tool connected to the front end of the swing arm is calculated by comparing the actual values fed back by the rotation angle of the motor and the stroke of the telescopic arm with the second threshold value in real time.
In a preferred embodiment of the present invention, in step 3), the mechanical arm approaches the surface to be cleaned at a first speed and adheres to the surface to be cleaned at a second speed, and the first speed is higher than the second speed.
The invention provides a cleaning device, which has the following beneficial effects:
1. the problem of poor precision of force feedback of the existing mechanical arm is effectively solved in a lower-cost and more convenient mode through real-time feedback of a stroke sensor of the cleaning tool;
2. during a first cleaning task, after the mechanical arm performs training cleaning action according to preset parameters of a surface to be cleaned, a fixed cleaning action script is generated, and the automatic cleaning task is executed through a fixed software script, so that the actions of the mechanical arm are uniform, stable and reliable;
3. the controller monitors the rotation angle and the torque of the motor and the stroke of the cleaning tool in real time, and adjusts the swing angle of the swing arm in real time, so that the mechanical arm has action self-adaptive capacity in the cleaning process;
4. the laser radar is arranged on the host machine and detects the distance between the host machine and the obstacle in real time, so that the host machine can avoid the obstacle when walking;
5. the cleaning tool is rotatably connected to the cleaning tool around the rotating piece, so that the cleaning tool can be attached to a wall surface or a table top, and the aim of effective cleaning is fulfilled;
6. the travel sensor sets up on burnisher, measures the flexible volume of burnisher axis direction, the travel sensor is connected with the controller electricity, the swing angle of swing arm is controlled according to flexible volume information to the controller to the laminating dynamics of control burnisher and wall and/or mesa reaches effective clear purpose.
Drawings
Fig. 1 is a schematic structural diagram of a cleaning robot according to the present invention.
Description of reference numerals: 1. a host; 2. a first motor; 3. a first joint; 4. a first swing arm; 5. a controller; 6. a second motor; 7. a second joint; 8. a third motor; 9. a second swing arm; 10. a damping mechanism; 11. a travel sensor; 12. a telescopic arm; 13. a rotating member; 14. the tool is cleaned.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
For the purpose of facilitating understanding of the embodiments of the present application, the following detailed description will be given with reference to the accompanying drawings, which are not intended to limit the embodiments of the present application.
The cleaning equipment provided by the embodiment is used for cleaning large public areas such as malls and exhibition halls. Cleaning equipment is often used for cleaning the ground, most of the existing cleaning equipment cannot clean the wall surface or the table top and needs manual cleaning; when cleaning a wall surface or a table surface, the cleaning equipment with the cleaning mechanical arm lacks force feedback and cannot be effectively cleaned; in addition, current feedback mechanism is usually adopted in the existing mechanical arm, the misjudgment occurrence frequency is high, and the stability of the product is poor.
The invention comprises a laser radar and a vision sensor arranged on a host, wherein the vision sensor is in signal connection with a controller and identifies a vision area as a surface to be cleaned or an obstacle; the controller carries out scanning and mapping tasks based on the laser radar and the vision sensor, and calibrates the initial coordinates of the fixed cleaning points; during a first cleaning task, after the mechanical arm performs training cleaning action according to preset parameters of a surface to be cleaned, and generates fixed cleaning action, cleaning work is completed regularly; the motor is provided with angle sensor and torque sensor, monitors motor rotation angle, moment and burnisher's stroke in real time to the swing angle of real-time adjustment swing arm guarantees that the arm cleaning process possesses action adaptive capacity, makes burnisher and wall or mesa keep laminating mutually, in order to reach effective clear effect.
The following examples are provided for this purpose in this detailed description.
Example 1
The embodiment provides a cleaning mechanical arm, and referring to fig. 1, the cleaning mechanical arm comprises a main machine 1, wherein the main machine 1 is provided with a mechanical arm which can swing in a vertical and/or horizontal direction; the mechanical arm comprises at least one swing arm, and the rear end of the swing arm is in driving hinge connection with the host 1. Specifically, the swing arm and the main machine 1 can be driven by an air cylinder, one end of the air cylinder is hinged with the main machine 1, the other end of the air cylinder is hinged with the swing arm, and the rear end of the swing arm is hinged with the main machine; the air cylinder, the main engine and the swing arm form a triangle, the structure is stable, the cleaning tool can be kept to be attached to the wall surface or the table surface, and the cleaning stability is good.
Preferably, a joint is arranged between the swing arm and the main machine, a joint is also arranged between the swing arm and the main machine, and motors are arranged at the joints; the swing arm is driven to swing by the joint and the motor, so that the mechanical arm has more degrees of freedom, and the cleaning action of the cleaning tool is more flexible.
Preferably, still be provided with laser radar on host computer 1 or the arm, laser radar and 5 signal connection of controller, avoid the barrier when laser radar is used for the host computer walking.
Specifically, the laser radar detects the distance between the host and the obstacle, transmits a distance signal to the controller 5, compares the distance signal with a set first threshold value, if the distance is smaller than or equal to the first threshold value, the controller 5 controls the host to stop in the original position, and after the obstacle is removed, the host 1 continues to clean according to a set route. The main machine 1 is prevented from colliding with an obstacle to damage the main machine or clean the mechanical arm.
Preferably, a vision sensor is further arranged on the main machine 1 or the mechanical arm and is in signal connection with the controller 5, and the vision sensor transmits detected image information to the controller 5 and is used for identifying a vision area as a surface to be cleaned or an obstacle.
Specifically, the controller 5 stores an image information library of obstacles and a surface to be cleaned. The controller 5 compares the detected image information to judge whether the detected image information is an obstacle, and if the detected image information is the obstacle, the host 1 stops in place; when the moving distance of the obstacle is larger than or equal to a first threshold value or the obstacle moves out of the visual area of the visual sensor, the controller 5 controls the host 1 to continue cleaning according to the designated route; the collision between the main machine 1 and the barrier is avoided, the main machine 1 or the cleaning mechanical arm is damaged, and the cleaning task is guaranteed to be completed on time according to the specified path.
Preferably, the visual sensor is further configured to recognize that the surface to be cleaned is a wall surface or a table surface, and control the mechanical arm to perform different cleaning actions. The host machine 1 controls the mechanical arm to clean the cleaning surface at different swing angles and swing actions according to the fact that the current cleaning surface is a wall surface or a table surface, feeds back the motor rotation angle, the torque and the stroke of the cleaning tool 14 in real time, controls the swing angle of the mechanical arm, and achieves the self-adaptive effect of the cleaning action of the cleaning mechanical arm.
The controller 5 is configured to map based on the lidar and vision sensors and to calibrate the start coordinates of the fixed cleaning points.
Specifically, the vision sensor sends detected image information to the controller, and the controller stores the image information in the controller, so that when a cleaning task is subsequently executed, the controller controls the host to walk according to a specified route, namely the controller compares the detected image information with the stored image information and corrects the deviation in time, so that the host performs the cleaning task according to the specified route.
Preferably, the fixed cleaning point refers to a wall surface or a table surface to be cleaned, before the host 1 starts a cleaning task, distance information of the surface to be cleaned is transmitted to the controller according to user setting and detection of the laser radar, and the controller stores the distance information in the controller; and simultaneously, the vision sensor stores the image information of the surface to be cleaned with the same distance in the controller.
Through the cooperative matching of the laser radar and the vision sensor, the initial coordinate of the fixed cleaning point is calibrated, so that the host 1 performs a cleaning task according to an appointed route, and performs an appointed cleaning task on a wall surface or a table surface to be cleaned at the fixed cleaning point.
Preferably, the controller 5 is configured to control the mechanical arm to approach the surface to be cleaned at a first speed and to adhere to the surface to be cleaned at a second speed, the first speed being greater than the second speed.
Specifically, the laser radar detects the distance between the cleaning tool 14 and the surface to be cleaned in real time, when the distance between the cleaning tool and the surface to be cleaned is smaller than D, the distance D can be 10mm or 15mm, and the distance D is switched to a second speed, so that the cleaning tool can be stably attached to the surface to be cleaned, and the cleaning tool or the mechanical arm can be prevented from being damaged due to the fact that the cleaning tool is attached to the current cleaning surface at a higher speed; in addition, the excessive attaching speed is prevented, the pressure between the cleaning tool 14 and the surface to be cleaned is controlled to be variable, and the attaching pressure is not suitable for the cleaning task of the current cleaning surface and cannot be used for effective cleaning.
The motor is provided with a torque sensor which is in signal connection with the controller 5; such that when the cleaning tool 14 approaches the surface to be cleaned at the second speed, the torque of the motor is not greater than the preset torque. On one hand, when a cleaning task is executed, the mechanical arm has self-adaptability, and the angle of the swing arm can be properly adjusted so as to achieve the self-adaptive effect of the cleaning action; on the other hand, the excessive torque can be avoided, the cleaning tool 14 is prevented from being attached to the surface to be cleaned at a higher speed, and the cleaning tool 14 and the mechanical arm are protected; in addition, the torque sensor is adopted to feed back the torque in real time, and compared with a current feedback mechanism, the torque feedback precision is high, and the cleaning stability of the cleaning mechanical arm is good.
The front end of the robotic arm is telescopically coupled to a cleaning tool 14 via a damping mechanism 10. Specifically, the damping mechanism 10 may be a spring, a cylinder, or soft rubber; so that the surface to be cleaned has a certain pressure and the cleaning tool 14 is kept attached to the wall surface or the table surface.
Preferably, the swing arm is provided with a cavity, the damping mechanism 10 is arranged in the cavity of the swing arm, the damping mechanism 10 is preferably a spring, one end of the spring is fixedly connected with the inner wall of the cavity, and the other end of the spring is fixedly connected with the telescopic arm 12. The sensitivity of the spring is higher, and the flexible volume is great, is convenient for the flexible volume of stroke sensor real-time detection spring to the swing angle of swing arm can in time be adjusted, effective clear purpose is reached.
Preferably, the front end of the cleaning tool 14 is further provided with a flexible material with a large friction coefficient, such as soft glue, so that the friction force between the cleaning tool 14 and the surface to be cleaned is increased, and the cleaning surface is effectively cleaned.
Preferably, the mechanical arm comprises a first swing arm 4 and a second swing arm 9, and the motor comprises a first motor 2, a second motor 6 and a third motor 8; the rear end of the first swing arm 4 is rotationally connected with the first motor 2 through a first joint 3.
Specifically speaking, first motor 2 installs on host computer 1, first motor 2 horizontal installation is in host computer 1 casing, 3 fixed mounting of first joint are on 2 output shafts of first motor, 2 control of first motor 3 use 2 output shafts of first motor as the centre of a circle along vertical direction swing, first joint 3 through the screw with 4 one end fixed connection of first swing arm, 4 and 3 synchronous oscillation of first joint.
The other end of the first swing arm 4 is also fixedly provided with a second motor 6, the second motor 6 is parallel to the installation direction of the first motor 2, the second joint 7 is fixedly arranged on the output shaft of the second motor 6, and the second joint 7 swings in the vertical direction by taking the output shaft of the second motor 6 as the circle center.
The second joint 7 is also fixedly provided with a third motor 8, the plane on which the third motor 8 is arranged is vertical to the plane on which the second motor 6 is arranged, the output shaft of the third motor 8 is fixedly provided with a second swing arm 9, and the second swing arm 9 swings in the horizontal direction by taking the output shaft of the third motor 8 as the center of a circle.
First motor 2, second motor 6 and third motor 8 all set up to servo motor, and servo motor operates steadily, can not take place the low-speed vibration, and accuracy control is accurate, when cleaning wall or mesa, can be steady clean, avoids the arm to operate unstably and cause phenomenon such as clean leaving over.
Preferably, the controller 5 is used for respectively controlling the forward rotation, the reverse rotation and the opening and closing of the first motor 2, the second motor 6 and the third motor 8, and the first motor 2, the second motor 6 and the third motor 8 are respectively provided with a torque sensor and an angle sensor and are respectively in signal connection with the controller 5.
The controller 5 enables the first swing arm 4 to swing along the vertical direction by taking the first motor 2 shaft as a circle center, the second joint 7 swings along the vertical direction by taking the second motor 6 shaft as a circle center, and the second swing arm 9 swings along the horizontal direction by taking the third motor 8 shaft as a circle center; therefore, the mechanical arm has more degrees of freedom and can freely swing in a three-dimensional space, so that the cleaning tool 14 can be better attached to a surface to be cleaned, and the current surface to be cleaned is effectively cleaned.
The front end of the second swing arm 9 is provided with a cavity, a telescopic arm 12 is installed in the cavity, the telescopic arm 12 is enabled to slide in the cavity of the second swing arm 9 through a damping mechanism 10, the opening size of the front end of the cavity is smaller than that of the cavity, and the telescopic arm 12 is prevented from being separated from the cavity.
Preferably, the telescopic arm 12 comprises a sliding end and an output end; the sectional dimension of the sliding end is consistent with that of the cavity, the sectional dimension of the opening at the end part of the cavity is consistent with that of the output end, and the size of the opening at the end part of the cavity is smaller than that of the cavity, so that the telescopic arm 12 can only slide in the cavity, and the telescopic arm 12 is prevented from slipping off the cavity.
The end face of the telescopic arm 12 is fixedly provided with a rotating part 13, the rotating part 13 is spherical, the rotating part 13 is rotatably connected to the cleaning tool 14, namely, the rotating part 13 is rotatably connected with the cleaning tool 14 in a ball hinge mode, and multi-directional rotation connection of the cleaning tool 14 is realized. The cleaning tool 14 is kept attached to the table top or the wall surface, multi-directional wiping is performed, and the current surface to be cleaned can be effectively cleaned.
Specifically, the cleaning tool 14 includes a cleaning tray and a cleaning attachment; the cleaning disc is hinged to the front end of the second swing arm 9 through a rotating part 13 ball, and the cleaning disc rotates around the rotating part 13 in a multi-angle mode, so that the cleaning tool 14 is attached to the table top and the wall surface. The cleaning accessory is fixedly arranged at the front end of the cleaning disc, can be a cleaning tool used in daily life such as a cleaning brush, a cleaning mop and the like, can clean dust, sundries and the like on the wall surface and the table surface to the ground, and is cleaned through the main machine 1; the cost is lower, and the material selection is extensive, is fit for popularizing and applying.
Preferably, the cleaning tool 14 can also be a cleaning brush head with a dust collection function, so that dust, sundries and the like on the wall surface and the table surface can be cleaned, the degree of dirt on the bottom surface is reduced, and the cleaning burden of the host is reduced.
A stroke sensor 11 is arranged in the cavity, and the stroke sensor 11 can detect the expansion amount of the damping mechanism 10; and the expansion amount is compared with a second threshold value set by the controller, if the compression amount is smaller than the second threshold value, the controller controls the motor to rotate, adjusts the swing angle of the swing arm, and adjusts the pressure between the cleaning tool and the wall surface or the table surface so as to effectively clean the surface to be cleaned.
Preferably, the stroke sensor 11 is arranged on the cleaning tool, and the controller 5 calculates the force applied by the cleaning tool 14 to the cleaning surface based on the feedback signals of the torque sensor and the stroke sensor 11, and controls the swing angle of the mechanical arm, so as to achieve the purpose of effectively cleaning the surface to be cleaned; in addition, the feedback mechanism has high feedback precision and good cleaning stability of the cleaning mechanical arm.
During a first cleaning task, the controller 5 performs a scanning and mapping task based on the laser radar and the vision sensor; specifically, the vision sensor transmits detected image information to the controller, the controller stores the image information in the data storage, and when an automatic cleaning task is executed subsequently, the controller compares the detected image information with the image information stored in the storage and corrects the deviation timely, so that the host machine performs the cleaning task according to a specified route.
Preferably, a plurality of laser radars are arranged on the host 1, when the host 1 performs cleaning, the laser radars detect the distance of a fixed obstacle in the circumferential direction in real time, the detected distance information is stored in the data storage, and when an automatic cleaning task is subsequently executed, the controller 5 compares the detected distance information with the distance information stored in the storage, corrects the deviation in time, and cooperates with the vision sensor to enable the host 1 to perform the cleaning task according to an appointed route.
Preferably, the laser radar detects distance information of the wall surface or the table top to be cleaned, carries out calibration recording on initial coordinates of the fixed cleaning points, and identifies the surface to be cleaned as the wall surface or the table top when the automatic cleaning task is executed subsequently.
1. Aiming at a cleaning task of a specific scene, manual intervention is needed for the first time, pre-training processing of mechanical arm cleaning action is carried out, system entry is carried out on the height of a table top, the area of the table top, the distance of a wall surface and the area of the wall surface which need to be cleaned on site, and the mechanical arm cleaning action is pre-trained according to the information parameters; and generating a fixed mechanical arm cleaning action script, and finishing the cleaning task at regular time.
Specifically, aiming at cleaning tasks of specific scenes such as shopping malls, exhibition halls, libraries and the like, manual intervention is needed during cleaning tasks for the first time, pre-training processing is carried out on cleaning actions of the mechanical arm, information such as table top height, table top area, wall surface height and wall surface area needing cleaning is systematically input, and the cleaning actions of the mechanical arm are pre-trained according to the information; and then generating a fixed mechanical arm cleaning action script to complete cleaning work regularly.
Example 2
The present embodiment provides a control method of a cleaning robot arm, which uses the cleaning robot arm described in embodiment 1. The method comprises the following specific steps:
1) scanning and mapping: the controller carries out a scanning map construction task based on the laser radar and the vision sensor, and calibrates the initial coordinate of the fixed cleaning point;
2) training treatment: for the first cleaning task, the surface to be cleaned is subjected to parameters such as: information such as the height of the table top, the area of the table top, the distance between the wall surfaces and the area of the wall surfaces is input into a system, and the cleaning action of the mechanical arm is pre-trained according to the information parameters;
3) fixing a script: through the pre-training action, a fixed mechanical arm cleaning action script is generated, and the cleaning task is completed at regular time.
Preferably, in the process of executing the cleaning task, the controller 5 properly adjusts the angle of the swing arm according to the torque feedback of the motor, so as to achieve the self-adaptive effect of the cleaning action. Specifically, a torque sensor is arranged on the motor and is in signal connection with a controller, and the controller controls the swing arm to properly adjust the angle of the swing arm according to a torque signal fed back by the torque sensor, so that the self-adaptive effect of cleaning action is achieved.
Preferably, the motor is further provided with an angle sensor, the angle sensor is in signal connection with the controller 5, and the controller 5 calculates the force applied to the cleaning surface by the cleaning tool connected with the front end of the swing arm by monitoring the rotation angle of the motor in real time and comparing the actual value of the telescopic amount fed back by the stroke sensor with a second threshold value.
Preferably, the robotic arm approaches the surface to be cleaned at a first speed and engages the surface to be cleaned at a second speed, the first speed being greater than the second speed.
Specifically, when a daily cleaning task is executed, the laser radar detects the distance between the cleaning tool and the surface to be cleaned in real time, when the distance between the cleaning tool and the surface to be cleaned is smaller than D, the distance D can be 10mm or 15mm, and the speed is switched to the second speed, so that the cleaning tool is stably attached to the surface to be cleaned, and the cleaning tool or the mechanical arm is prevented from being damaged due to the fact that the cleaning tool is attached to the current cleaning surface at a higher speed; in addition, the phenomenon that the pressure between the cleaning tool and the surface to be cleaned cannot be controlled due to the fact that the laminating speed is too high is also prevented, and the phenomenon that effective cleaning cannot be achieved due to the fact that the laminating pressure is not suitable for the cleaning task of the current cleaning surface is avoided.
The above-mentioned embodiments, objects, technical solutions and advantages of the present application are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present application, and are not intended to limit the scope of the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the scope of the present application.
Claims (10)
1. A cleaning robot arm comprises a main machine (1), and is characterized in that: the main machine (1) is provided with a mechanical arm which can swing along the vertical and/or horizontal direction;
the main machine (1) or the mechanical arm is further provided with a vision sensor and a laser radar, and the vision sensor is in signal connection with the controller and used for identifying a surface to be cleaned or an obstacle;
the controller is configured to map based on the lidar and the vision sensor and calibrate the start coordinates of the fixed cleaning points;
when cleaning the task for the first time, the mechanical arm trains cleaning actions according to preset parameters of the surface to be cleaned, then generates a fixed cleaning action script, and finishes cleaning work regularly.
2. The cleaning robot arm of claim 1, wherein: the controller is configured to control the robotic arm to approach the surface to be cleaned at a first speed and to engage the surface to be cleaned at a second speed, the first speed being greater than the second speed.
3. The cleaning robot arm of claim 2, wherein: a motor is arranged at the joint of the mechanical arm, a torque sensor is arranged on the motor, and the torque sensor is in signal connection with the controller; such that the torque of the motor is not greater than the preset torque when approaching the surface to be cleaned at the second speed.
4. A cleaning robot arm as claimed in claim 3, wherein: the front end of the mechanical arm is telescopically connected with a cleaning tool (14) through a damping mechanism (10), and a stroke sensor (11) is arranged on the cleaning tool (14); the controller (5) calculates the force applied by the cleaning tool (14) to the cleaning surface based on the torque sensor and the travel sensor (11) feedback signals.
5. A cleaning device as claimed in claim 1 or 3, characterized in that: the arm includes at least one swing arm, the rear end of swing arm with host computer (1) is articulated drivably, the front end sliding connection of swing arm has flexible arm (12), flexible arm (12) front end fixed mounting has a rotation piece (13), rotation piece (13) rotate and connect on burnisher (14).
6. A cleaning device as claimed in claim 5, characterized in that: the cleaning tool (14) comprises a cleaning tray and a cleaning attachment;
the cleaning disc is hinged to the front end of the swing arm through a rotating piece (13) in a ball joint mode;
the cleaning accessory is fixedly arranged at the front end of the cleaning disc.
7. A control method of a cleaning robot comprising the cleaning robot as claimed in any one of claims 1-6, characterized by:
1) scanning and mapping: the controller carries out a scanning map construction task based on the feedback signals of the laser radar and the vision sensor, and calibrates the initial coordinate of the fixed cleaning point;
2) training treatment: when cleaning a task for the first time, carrying out system input on parameters of a surface to be cleaned, and pre-training a mechanical arm cleaning action according to the information parameters;
3) fixing the script: through the pre-training action, a fixed mechanical arm cleaning action script is generated, and a cleaning task is completed at regular time.
8. The control method of a cleaning robot arm according to claim 7, wherein: in the step 3), the angle of the swing arm is properly adjusted according to the torque feedback of the motor in the process of executing the cleaning task, so that the self-adaptive effect of the cleaning action is achieved.
9. The control method of a cleaning robot arm according to claim 7, wherein: and 3) comparing the actual values fed back by the rotation angle of the motor and the stroke of the telescopic arm with a second threshold value in real time, and calculating the force applied to the cleaning surface by the cleaning tool connected with the front end of the swing arm.
10. The control method of a cleaning robot arm according to claim 7, wherein: in the step 3), the mechanical arm approaches to the surface to be cleaned at a first speed and is attached to the surface to be cleaned at a second speed, wherein the first speed is higher than the second speed.
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