CN210990031U - Intelligent mobile robot system and intelligent mobile robot - Google Patents
Intelligent mobile robot system and intelligent mobile robot Download PDFInfo
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- CN210990031U CN210990031U CN201921005205.3U CN201921005205U CN210990031U CN 210990031 U CN210990031 U CN 210990031U CN 201921005205 U CN201921005205 U CN 201921005205U CN 210990031 U CN210990031 U CN 210990031U
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Abstract
The utility model discloses an intelligent mobile robot system and intelligent mobile robot, wherein, the top shell capping department of intelligent mobile robot is equipped with and supports manual hand control unit, and this hand control unit includes handspike, detecting element and connecting portion, and connecting portion movably sets up in the screens groove of the top shell capping of intelligent mobile robot, and the handspike is rotationally installed in connecting portion, corresponds on the check point of the preset direction in connecting portion position and is provided with detecting element; wherein, the detecting unit distributes at the edge of screens groove. Compared with the prior art, the utility model discloses a triggering action of artificial cooperation detection sensor for the user only needs to apply the effort in the twinkling of an eye to the handle bar when using the handheld handle bar of robot and just can trigger control robot towards predetermineeing the direction autonomous movement, satisfies the user and uses the custom of the handle bar of being connected with the robot.
Description
Technical Field
The utility model relates to a clean floor, furniture, wall or the mechanical technical field of covering on the wall, especially an intelligent movement robot system and intelligent movement robot.
Background
With the progress of technology, more and more indoor cleaning robots appear in the life of people and become one of generally accepted household appliances. Chinese utility model CN204618109U discloses a new-type dual-purpose dust catcher robot, this new-type dual-purpose dust catcher robot is provided with the control lever at the dust catcher casing, and the user can carry out the manual control dust absorption operation through flexible control lever, the user only need elongate flexible control lever can, treat to use accomplish the back, will stretch out and draw back again control lever accomodate can. However, the technical scheme often increases the hand-holding burden of the consumer in the continuous use process, and is inconvenient for the consumer to exert strength.
SUMMERY OF THE UTILITY MODEL
The problem of the consumer habit of exerting oneself to that prior art exists, the utility model provides an intelligent mobile robot system is equipped with the hand control device who supports user manual operation and trigger through the top shell capping department at intelligent mobile robot to promote user experience, its specific technical scheme as follows:
an intelligent mobile robot system comprises an intelligent mobile robot and a manual control device, and is characterized in that the manual control device is assembled at the top shell cover surface of the intelligent mobile robot, the manual control device comprises a hand lever, a detection unit and a connecting part, the connecting part is movably arranged in a clamping groove of the top shell cover surface of the intelligent mobile robot, the hand lever is rotatably arranged on the connecting part, and the detection unit is correspondingly arranged on a detection point in the preset direction at the position of the connecting part; wherein, the detecting unit distributes at the edge of screens groove. The intelligent mobile robot system reduces the handheld burden of a user in the continuous use process, can improve the automation degree of the robot, and meets the use habit that the user actively controls the robot to move to a target area for automatic operation.
Further, the manual control device is detachably mounted in the clamping groove of the top shell cover surface of the intelligent mobile robot, and is convenient to assemble.
Further, the detection points are: on the top shell cover surface of the intelligent mobile robot, the positions of the connecting parts are taken as centers and are distributed in an X shape, and the connecting parts keep preset distances from the position points in a static state; the preset direction is a direction in which the detection points are distributed in an X shape, and includes a forward direction and a reverse direction of the intelligent mobile robot, and left and right directions of the intelligent mobile robot. According to the technical scheme, the movement direction of the robot in the intelligent mobile robot system is controlled to be controllable by setting the position of the detection point, so that the control habit of actively controlling the robot by a user is met.
Further, the detection unit includes a first detection unit and a second detection unit, the first detection unit is disposed in the advancing direction and the reverse direction of the intelligent mobile robot, and the second detection unit is disposed in the left and right directions of the intelligent mobile robot. The detection effect of the handle bar structure assembled on the connecting part and the connecting part is enhanced.
Further, the connecting part comprises a push rod assembly and a rotating shaft assembly; the push rod component is assembled on the bottom surface of the connecting part, so that the push rod component is driven to roll in the clamping groove by the external force of forward pushing action or backward pulling action, and the connecting part is driven to abut against the detection unit corresponding to the moving direction of the connecting part; the rotating shaft assembly comprises a shaft groove which is rotatably connected with the hand lever, the shaft groove is convexly arranged on the connecting part, and the rotating axis of the shaft groove is vertical to the rotating axis of the push rod assembly; wherein, the rotation axis direction of the shaft groove is the advancing direction of the intelligent mobile robot or the opposite direction; the horizontal component direction of the externally applied forward acting force is the same as the advancing direction of the intelligent mobile robot, the horizontal component direction of the externally applied backward acting force is the same as the reverse direction of the advancing direction of the intelligent mobile robot, but the forward acting force and the backward acting force are applied by the outside instantly and then are removed quickly. The intelligent mobile robot converts an acting force applied from the outside into a trigger signal for the first detection unit by means of the manual control device arranged on the intelligent mobile robot, and the rotating shaft assembly converts the variable quantity of the hand lever rotated by the user into a trigger signal for the second detection unit and directly transmits the information of the moving direction of the manual control robot of the user.
Furthermore, the hand lever comprises a handle control button at the top of the lever and a movable shaft at the bottom of the lever, the hand lever can be rotatably arranged on a shaft groove of the rotating shaft component in the left-right direction, the movable shaft penetrates through the shaft groove of the rotating shaft component, and the straight line of the movable shaft is parallel to the rotating axis of the shaft groove; and a power switch used for controlling the driving motor to be turned on and off is connected between the handle control key and the driving motor. According to the technical scheme, the assembly scheme of the hand lever is matched with the connecting part, so that a user can conveniently rotate the hand lever left and right, and meanwhile, the handle control keys are arranged to meet the actual application requirements of controlling the intelligent mobile robot system.
Further, after receiving the forward pushing acting force or the backward pulling acting force transmitted by the hand lever, the connecting part directly establishes an abutting relation with the first detection unit, or establishes an abutting relation with the first detection unit through an intermediate medium, and is used for triggering the first detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; wherein, the intermediate medium comprises a limit switch. According to the technical scheme, the first detection unit is triggered by means of contact and butt of the connecting part or closed connection of the limit switch so as to drive the intelligent mobile robot to move forwards or backwards; the first detection unit corresponding to the intelligent mobile robot in the advancing direction is directly pressed by the connecting part, or the detection unit is directly pressed by the connecting part, so that the driving motor rotates forwards; the first detection unit corresponding to the direction opposite to the advancing direction of the intelligent mobile robot is directly pressed by the connecting part, or the detection unit is directly pressed by the connecting part, and the driving motor rotates reversely; the whole structure is convenient to adjust.
Further, when the hand lever rotates a limit angle leftwards or rightwards around the shaft groove from the vertical direction, the hand lever is electrically connected with the second detection unit through an intermediate medium and is used for triggering the second detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; wherein the intermediate medium comprises a slip ring detection unit fitted in the shaft groove; the limit angle is a rotation angle required for the handle bar to rotate into a sensing range of the second detection unit. The hand lever rotates left and right around the shaft groove to realize left and right steering movement of the intelligent mobile robot; in the process that the hand lever rotates around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever according to the electric signals correspondingly converted from the material parameters on the slip ring, and when the rotation angle reaches the limit angle, the second detection unit is triggered to transmit the driving signals to the driving motor of the intelligent mobile robot, so that the intelligent mobile robot can move in a steering mode.
Further, the hand lever is detachably mounted in the connecting portion; and the hand lever is a telescopic lever with a lock catch and is used for selectively controlling the length change of the hand lever. The hand lever is detachably connected in the intelligent mobile robot and supports stretching, so that the intelligent mobile robot is convenient to disassemble and assemble; not only can meet the packaging requirements, but also can be suitable for people with different heights, and improves the use convenience of the product.
Furthermore, the number of the hand levers is one, the operation direction of the intelligent mobile robot can be synchronously controlled by a single hand, two hands are not needed to be synchronously operated, and the operation is convenient.
An intelligent mobile robot is characterized in that a clamping groove is formed in the top shell cover surface of the intelligent mobile robot and used for assembling a manual control device, the manual control device comprises a hand lever, a detection unit and a connecting part, the connecting part is movably arranged in the clamping groove of the top shell cover surface of the intelligent mobile robot, the hand lever is rotatably arranged on the connecting part, and the detection unit is correspondingly arranged on a detection point in a preset direction at the position of the connecting part; wherein, the detecting unit distributes at the edge of screens groove. The intelligent mobile robot transmits information of a user manually controlling the moving direction of the robot to the detection unit through the connecting part, and the detection unit converts the information into a driving instruction of the robot, so that the robot is controlled to move autonomously, and the hand lever and the body of the intelligent mobile robot are guaranteed to keep uniform movement. Compared with the prior art, this technical scheme detects the trigger action of sensor through artificial cooperation for the user only needs just to exert the effort in the twinkling of an eye to the handspike when using the handheld handspike of robot and just can trigger control robot and independently remove towards predetermineeing the direction, alleviates the handheld burden that the user lasts in the use, can improve the degree of automation of robot again, satisfies the use custom that the user initiatively controlled the machine and removed to the regional automatic operation of target.
Drawings
Fig. 1 is a schematic structural diagram of an intelligent mobile robot provided by an embodiment of the present invention.
Reference numerals:
101: an intelligent mobile robot; 102: a connecting portion; 103: a handle; 104: a drive wheel; 105: a guide wheel; 106: a forward detection unit; 107: a right turn detection unit; 108: a back-off detection unit; 109: a left turn detection unit; 110: the handle controls the keys.
Detailed Description
The technical solution in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. Other configurations and operations of the reminder device according to embodiments of the present invention will be apparent to those skilled in the art and will not be described in detail herein. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. In addition, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may include, for example, any type of connection or integration, either direct or indirect through intervening media, communication between two elements, or any interaction between two elements, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides an intelligent mobile robot system, which comprises an intelligent mobile robot and a manual control device, wherein the manual control device is assembled at the top shell cover surface of the intelligent mobile robot; the hand control device comprises a hand lever, a detection unit and a connecting part, wherein the connecting part is movably arranged in a clamping groove of the cover surface of the top shell of the intelligent mobile robot, the clamping groove can be a concave platform arranged on the cover surface of the top shell of the intelligent mobile robot, and the connecting part can conveniently move back and forth so as to directly or indirectly contact the detection unit arranged in the corresponding direction; the manual control device is detachably assembled at the clamping groove of the top shell cover surface of the intelligent mobile robot and can support a user to manually assemble the manual control device.
The intelligent mobile robot of the embodiment can be a random sweeping robot, an inertial navigation sweeping robot, a laser navigation sweeping robot, an air purifying robot and the like. In other embodiments of the present invention, the connection portion is installed in the connection manner of the locking groove can be a buckle connection, but can slide back and forth in the locking groove. A hand lever with a manual operation function can be installed on the connecting part, and the hand lever rotates in the left-right direction relative to the top shell cover surface of the intelligent mobile robot; the detection units are correspondingly arranged on the detection points in the preset direction at the position of the connecting part, are distributed at the edges of the clamping groove corresponding to the assembly positions of the detection units in the position of fig. 1, specifically 106, 107, 108 and 109, and are distributed at the edges of the clamping groove, so that four detection directions are set in a limited manner. After the hand control device is installed on the intelligent mobile robot, information of a hand lever manually operated by a user can be transmitted to the detection unit, wherein the information of the hand lever manually operated by the user is information of the intelligent mobile robot manually controlled to move towards the preset direction, and the information comprises forward, backward, left, right or other directions. The handheld burden of a continuous user in the using process is reduced, the automation degree of the robot can be improved, and the use habit that the user actively controls the machine to move to a target area for automatic operation is met.
The detection points are as follows: on the top shell cover surface of the intelligent mobile robot, the positions of the connecting parts are taken as centers and are distributed in an X shape, and the connecting parts keep preset distances from the position points in a static state; the preset direction corresponds to a direction in which the detection points are distributed in an X shape, and comprises a forward direction and a reverse direction of the intelligent mobile robot, and left and right directions of the intelligent mobile robot. The embodiment of the utility model provides a to the setting of detection point position, let the moving direction of the robot in the intelligent mobile robot system is controllable, and it is right to satisfy the user intelligent mobile robot's the habit of controlling realizes triggering and controls intelligent mobile robot gos forward, retreats, turns left or turns right.
In the above embodiment, the detecting unit includes a first detecting unit and a second detecting unit, the first detecting unit is disposed in the forward direction and the reverse direction of the smart mobile robot, and as shown in fig. 1, the first detecting unit is specifically divided into a forward detecting unit 106 in the forward direction of the smart mobile robot 101, a backward detecting unit 108 in the reverse direction of the forward direction of the smart mobile robot 101, and the forward detecting unit 106 and the backward detecting unit 108 are disposed in front-back symmetry with the axis of the connecting portion 102 as the center line; the second detection units are disposed in the left and right directions of the smart mobile robot 101, and as shown in fig. 1, are specifically divided into a right turn detection unit 107 in the right direction of the smart mobile robot 101, a left turn detection unit 109 in the left direction of the smart mobile robot 101, the right turn detection unit 107, and the left turn detection unit 109, which are disposed in bilateral symmetry with the axis of the connection portion 102 as a center line; a forward detection unit 106 and a backward detection unit 108 for detecting the moving direction of the connecting portion 102 in the detent groove; the right turn detection unit 107 and the left turn detection unit 109 are used for detecting the rotation direction of the hand lever, thereby enhancing the detection effect of the rotation process of the hand lever mechanism assembled on the connecting part and the movement process of the connecting part.
Preferably, the connecting portion 102 includes a push rod assembly and a rotating shaft assembly; push rod assembly assembles the bottom surface of connecting portion for external application push away effort or pull back effort drive push rod assembly roll in the screens groove, push rod assembly can span including the level the roll pole of the bottom surface of connecting portion, the drive connecting portion are in roll in the screens groove, in order to order about connecting portion correspond rather than the direction of movement detecting element looks butt. Specifically, the horizontal component direction of the externally applied forward-pushing force is the same as the forward direction of the smart mobile robot 101, and the horizontal component direction of the externally applied backward-pulling force is the same as the reverse direction of the forward direction of the smart mobile robot. The two ends of the rolling rod respectively correspond to the position of the right-turn detection unit 107 and the position of the left-turn detection unit 109. In this embodiment, after the connecting portion of the intelligent mobile robot system is installed on the handle bar, the pushing rod assembly is driven to roll forward in the position-locking groove until the forward movement detection unit 106 abuts against the front end of the handle bar after a forward pushing action is applied to the outside, and the pushing rod assembly is driven to roll backward in the position-locking groove until the backward movement detection unit 108 abuts against the rear end of the handle bar after a backward pulling action is applied to the outside. The push-forward acting force and the pull-back acting force are applied from the outside for a moment and then are quickly removed, and due to inertia, the push rod assembly moves towards the same direction as the horizontal component of the acting force until the push rod assembly abuts against the first detection unit. The rotating shaft component comprises a shaft groove which is connected with the hand lever in a rotating way, the shaft groove is convexly arranged on the connecting part, and the rotating axis of the shaft groove is vertical to the rotating axis of the push rod component; the rotation axis direction of the shaft groove is the advancing direction of the smart mobile robot 101 or the opposite direction thereto, and the rotation axis direction of the push rod assembly is the left side direction or the right side direction across the smart mobile robot 101. The intelligent mobile robot 101 is equipped with the hand control device to form an intelligent mobile robot system. The intelligent mobile robot 101 converts an acting force applied from the outside into a trigger signal to the first detection unit by means of the manual control device installed thereon, and the rotating shaft assembly converts a variation amount of the hand lever rotated by the user into a trigger signal to the second detection unit, thereby directly transmitting information of the moving direction of the manual control robot of the user.
As can be seen from fig. 1, the hand lever 103 includes a movable shaft at the bottom of the lever, the hand lever 103 can be rotationally arranged in the left-right direction on the shaft groove of the rotating shaft assembly, the hand lever 103 can swing clockwise (to the right side of the intelligent mobile robot) around the shaft groove, the hand lever 103 can also swing counterclockwise (to the left side of the intelligent mobile robot) around the shaft groove, the movable shaft penetrates through the shaft groove of the rotating shaft assembly, and the straight line where the movable shaft is located is parallel to the rotation axis of the shaft groove. The assembly scheme of the hand lever 103 disclosed by the embodiment is matched with the connecting part, so that the left-right rotation operation of a user is facilitated. Therefore, the push rod assembly forwards pushes or backwards pulls the acting force of the hand lever 103 by the user to be converted into the trigger signal of the first detection unit, the rotating shaft assembly rotates the variation of the hand lever 103 by the user to be converted into the trigger signal of the second detection unit, and the information of the moving direction of the intelligent mobile robot 101 is directly transmitted and manually controlled by the user.
As shown in fig. 1, the handle 103 further includes a handle control button 110 at the top of the handle, and a power switch for controlling the on/off of the driving motor is connected between the handle control button 110 and the driving motor. In addition, a movable handheld control part can be arranged at the top of the hand lever 103, so that a single hand can hold the handheld control part, the swinging direction of the handheld control part is manually controlled, and then the swinging direction is transmitted to the driving motor, so that the speed difference of the driving wheels 104 arranged on the left side and the right side can be adjusted to control the intelligent mobile robot to turn. The arrangement of the handle control keys and the handheld control part meets the actual control application requirements of the intelligent mobile robot.
As shown in fig. 1, the hand lever 103 is detachably installed in the connection part 102, the hand lever 103 may be separated from the smart mobile robot 101, and the hand lever 103 may be a straight lever and may be vertically or obliquely disposed in the connection part 102. In this embodiment, after the intelligent mobile robot is separated from the manual control device, the intelligent mobile robot is used as an automatic cleaning floor sweeping robot, when a user needs to manually contact and control the intelligent mobile robot, the manual control device is assembled to the intelligent mobile robot, the hand lever 103 is inserted into the connecting portion 102, and the connecting portion 102 is inserted into the top shell cover surface of the intelligent mobile robot at a certain inclination angle. The hand lever 103 is a telescopic lever with a lock catch and is used for selectively controlling the length change of the hand lever 103, and no matter children, old people or young people with high stature, the telescopic lever only needs to be adjusted to an applicable length, so that the use is very comfortable. In this embodiment, the hand lever 103 can be dismantled connect in among the intelligent mobile robot, and support flexible, make things convenient for the dismouting, both can satisfy the packing requirement, can adapt to the use crowd of different heights again, improve the use convenience of product.
Preferably, the number of the hand lever 103 is one, so that the intelligent mobile robot can be synchronously operated by one hand, the detection unit is triggered by the connecting part 102 in a matching manner, labor is saved, two-hand synchronous operation is not needed, and the operation is convenient.
As an embodiment, after receiving the forward pushing acting force or the backward pulling acting force transmitted by the manual control device, as can be seen from fig. 1, the connection portion 102 establishes an abutting relationship with the first detection unit directly after receiving the forward pushing acting force or the backward pulling acting force transmitted by the hand lever 103, or establishes an abutting relationship with the first detection unit through an intermediate medium, and is used for triggering the first detection unit to transmit a driving signal to a driving motor of the smart mobile robot; the intermediate medium comprises a limit switch; the force transmitted by the hand lever 103 will act on the push rod assembly, which is generated by the user at a certain moment, and not permanently acting on the hand lever 103. When the hand lever 103 transmits a forward pushing action force to the push rod assembly, due to inertia, the push rod assembly moves towards the same direction as the horizontal component direction of the forward pushing action force until the push rod assembly drives the side edge of the connecting part 102 to press the limit switch, so that the limit switch is closed, the forward detection unit 106 is triggered, and then the forward detection unit 106 transmits a signal to the driving motor to control the intelligent mobile robot to move forward; when the hand lever 103 transmits a back-pull acting force to the push rod assembly, due to inertia, the push rod assembly moves in the same direction as the horizontal component direction of the back-pull acting force until the push rod assembly drives the side edge of the connecting part 102 to press the limit switch, so that the limit switch is closed, the backward detection unit 108 is triggered, and then the backward detection unit 108 transmits a signal to the driving motor to control the intelligent mobile robot to backward. This embodiment passes through the handspike 103 drives connecting portion 102 and then the touching the corresponding detecting element of smart mobile robot 101's top shell capping realizes that the user is right smart mobile robot 101's trigger motion operation, and overall structure is convenient for adjust the direction of motion of robot.
As an embodiment, after the intelligent mobile robot receives the left-turn acting force or the right-turn acting force transmitted by the manual control device, when the hand lever 103 rotates around the shaft groove from the vertical direction to the left or the right by a limit angle, the hand lever 103 is electrically connected to the second detection unit through an intermediate medium, and is configured to trigger the second detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; the intermediate medium comprises a slip ring detection device assembled in the shaft groove; the limit angle is a rotation angle required for the handle lever 103 to rotate into the sensing range of the second detection unit. After the steering acting force is applied to the outside, the hand lever 103 rotates left and right around the shaft groove to realize left and right steering movement of the intelligent mobile robot. In the process that the hand lever rotates around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electric signal correspondingly converted by the material parameters on the slip ring, and when the rotation angle reaches the limit angle, the second detection unit is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101 so as to control the intelligent mobile robot 101 to move in a steering mode. The connecting part 102 also has a tension spring to bring the hand lever 103 back to the vertical position once the hand lever 103 is released.
Preferably, the basic structure of the slip ring detection device is as follows: and when the movable shaft of the hand lever 103 rotates, a slip ring detection device converts a resistance parameter change value on the slip ring into a voltage signal to realize detection of the rotation angle of the hand lever 103. The whole device has simple and convenient composition structure and is convenient for steering control of hands.
In the process that the hand lever 103 turns left from the vertical direction around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electrical signal change correspondingly converted by the resistance parameter on the slip ring, and when the rotation angle reaches the limit angle, the left-turn detection unit 109 is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101 so as to control the intelligent mobile robot 101 to turn left; in the process that the hand lever 103 rotates to the right from the vertical direction around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electric signals correspondingly converted by the resistance parameters on the slip rings, and when the rotation angle reaches the limit angle, the right-turn detection unit 107 is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101, so that the intelligent mobile robot 101 is controlled to turn to the right.
The embodiment of the utility model also provides an intelligent mobile robot, which comprises a battery power supply and a driving motor connected with the main control circuit board, and the intelligent mobile robot can be separated from the power supply to start working after being charged; as shown in fig. 1, driving wheels 104 are mounted on the left and right sides of a base of an intelligent mobile robot 101, a driving motor is electrically connected to the driving wheels 104, the driving motor controls the intelligent mobile robot to turn by adjusting the speed difference between the driving wheels 104 mounted on the left and right sides, and a guide wheel 106 is mounted at the front end of the base to guide the direction in which the intelligent mobile robot turns. Therefore, the embodiment of the present invention provides an intelligent mobile robot 101, which has a driving wheel 104 and can autonomously move, for example, a common robot for sweeping floor randomly, an inertial navigation robot for sweeping floor, a laser navigation robot for sweeping floor, an air purification robot, etc.
As shown in fig. 1, the smart mobile robot 101 includes a manual control device supporting manual remote control triggering and mounted at a top case cover surface thereof, and the manual control device may be integrally formed with the top case cover surface of the smart mobile robot 101 or may be assembled separately; the hand control device specifically comprises a hand lever 103, a detection unit and a connection part 102, wherein the connection part 102 is movably arranged in a clamping groove of the top shell cover surface of the intelligent mobile robot 101, the clamping groove can be a concave table arranged on the top shell cover surface of the intelligent mobile robot 101, and the connection part 102 can move back and forth conveniently so as to directly or indirectly contact the detection unit arranged in the corresponding direction. In other embodiments of the present invention, the connection portion 102 is installed in the locking groove in a manner of being connected by a buckle, but can slide back and forth in the locking groove. The hand lever 103 is rotatably mounted on the connecting part 102, and the connecting part 102 supports the rotation of the hand lever 103 in the left-right direction with respect to the top case cover surface of the smart mobile robot 101; the detection units are correspondingly arranged on the detection points in the preset direction at the position of the connecting part 102, and are distributed at the edges of the clamping grooves corresponding to the assembly positions of the detection units distributed at the edges of the clamping grooves in fig. 1, specifically 106, 107, 108 and 109, so that four detection directions are set in a limited manner. On the basis of the above structure, in order to ensure that the manual control device can effectively help the user to control the intelligent mobile robot 101, the detection unit and the driving motor have an electrical connection relationship, and the intelligent mobile robot of the manual control device transmits information of a manual control hand lever 103 of the user to the detection unit through a connection part 102, wherein the information of the manual control hand lever 103 is information of the user manually controlling the intelligent mobile robot to move towards the preset direction, and comprises forward movement, backward movement or turning; then the detection unit converts the information of the manual control hand lever 103 into a driving instruction of the intelligent mobile robot 101, and after the main control circuit board processes the driving instruction, the driving instruction sends a corresponding command to the driving motor, so that the intelligent mobile robot 101 is controlled to move autonomously, and the hand lever 103 and the body of the intelligent mobile robot 101 are guaranteed to keep unified motion. Compared with the prior art, the embodiment of the utility model provides a through the people for apply predetermine ascending effort in the direction in the handspike, the cooperation detects the trigger action of sensor for the user only needs to apply the effort in the twinkling of an eye to the handspike when using the handheld handspike of robot just can trigger control intelligent movement robot 101 is towards predetermineeing the direction autonomous movement, alleviates the handheld burden in the user's use that lasts, can improve again intelligent movement robot 101's degree of automation satisfies the user and controls the use custom that the machine removed to the regional automatic operation of target voluntarily.
In the above embodiment, the detection points may be: on the top shell cover surface of the intelligent mobile robot 101, the positions of the connecting parts 102 are taken as centers and are distributed in an X shape, and the connecting parts 102 keep preset distances from the position points in a static state; wherein, it corresponds to predetermine the direction the check point is the direction that the X font distributes, the embodiment of the utility model provides a set up the direction that the X font distributes into intelligent mobile robot's advancing direction and opposite direction intelligent mobile robot's the left and right sides direction. The embodiment of the utility model provides a let to the setting of detection point position intelligent mobile robot 101's moving direction is controllable, and it is right to satisfy the user intelligent mobile robot's the habit of controlling realizes triggering and controls intelligent mobile robot gos forward, retreats or turns. If the forward direction of the intelligent mobile robot is defined as a reference direction, the backward direction of the intelligent mobile robot is the opposite direction of the reference direction, the left direction of the intelligent mobile robot is the left direction of the reference direction, and the right direction of the intelligent mobile robot is the right direction of the reference direction. The control habit of the user for actively controlling the robot is met.
In the above embodiment, the detecting unit includes a first detecting unit and a second detecting unit, the first detecting unit is disposed in the forward direction and the reverse direction of the smart mobile robot, and as shown in fig. 1, the first detecting unit is specifically divided into a forward detecting unit 106 in the forward direction of the smart mobile robot, a backward detecting unit 108 in the reverse direction of the forward direction of the smart mobile robot, and the forward detecting unit 106 and the backward detecting unit 108 are disposed in front-back symmetry with the axis of the connecting portion 102 as the center line; the second detecting units are disposed in the left and right directions of the smart mobile robot, and as shown in fig. 1, the second detecting units are specifically divided into a right turn detecting unit 107 in the right direction of the smart mobile robot, a left turn detecting unit 109 in the left direction of the smart mobile robot, and the right turn detecting unit 107 and the left turn detecting unit 109 are disposed in bilateral symmetry with the axis of the connecting portion 102 as a center line; the forward detection unit 106 and the backward detection unit 108 are used for detecting the moving direction of the connecting part in the clamping groove; a right turn detection unit 107 and a left turn detection unit 109 for detecting the rotation direction of the hand lever 103; thereby enhancing the detection effect of the detection unit on the manipulation information of the hand lever 103.
As an example, as can be seen from fig. 1, the connecting portion 102 includes a push rod assembly and a rotating shaft assembly, the push rod assembly is mounted on a bottom surface of the connecting portion 102, the push rod assembly may include a rolling rod horizontally crossing the bottom surface of the connecting portion 102, the connecting portion 102 is driven to roll in the detent groove to drive the connecting portion to abut against the detection unit corresponding to the moving direction of the connecting portion, it should be noted that a horizontal component direction of a forward pushing force applied from the outside is the same as an advancing direction of the smart mobile robot 101, and a horizontal component direction of a backward pulling force applied from the outside is the same as an opposite direction of the advancing direction of the smart mobile robot 101. Two ends of the rolling rod respectively correspond to the position of the right-turn detection unit 107 and the position of the left-turn detection unit 109. In this embodiment, the hand lever 103 drives the push rod assembly to roll forward in the locking groove until abutting against the forward detection unit 106 after applying a forward pushing force to the outside; the handle rod 103 drives the push rod assembly to roll backwards in the clamping groove after exerting a back pulling action force outside until abutting against the retreating detection unit 108. The push-forward acting force and the pull-back acting force are applied from the outside for a moment and then are quickly removed, and due to inertia, the push rod assembly moves towards the same direction as the horizontal component of the acting force until the push rod assembly abuts against the first detection unit. The rotating shaft assembly comprises a shaft groove which is rotatably connected with the hand lever 103, the shaft groove is convexly arranged on the connecting part 102, and the rotating axis of the shaft groove is vertical to the rotating axis of the push rod assembly; the rotation axis direction of the shaft groove is the advancing direction of the intelligent mobile robot or the opposite direction, and the rotation axis direction of the push rod assembly is the left side direction crossing the intelligent mobile robot or the right side direction crossing the intelligent mobile robot.
Preferably, the hand lever 103 includes a movable shaft at the bottom of the lever, the hand lever 103 is rotatably disposed in the shaft groove of the rotating shaft assembly in the left-right direction, the hand lever 103 can swing clockwise (to the right side of the intelligent mobile robot) around the shaft groove, the hand lever 103 can also swing counterclockwise (to the left side of the intelligent mobile robot) around the shaft groove, the movable shaft penetrates through the shaft groove of the rotating shaft assembly, and the straight line where the movable shaft is located is parallel to the rotation axis of the shaft groove. The assembly scheme of the hand lever disclosed by the embodiment is matched with the connecting part, so that a user can conveniently rotate the hand lever left and right.
Based on aforementioned rotatable assembly structure, push rod subassembly pushes away the user forward or draw back the effort conversion of hand lever is right first detecting element's trigger signal, the pivot subassembly rotates the user the change volume conversion of hand lever is right second detecting element's trigger signal directly transmits the information of user manual control robot's moving direction.
As shown in fig. 1, the handle bar 103 of the intelligent mobile robot further includes a handle control button 110 at the top of the bar, and a power switch for controlling the on/off of the driving motor is connected between the handle control button 110 and the driving motor. In addition, a movable handheld control part can be arranged at the top of the hand lever 103, so that a single hand can hold the handheld control part, the swinging direction of the handheld control part is manually controlled, and then the swinging direction is transmitted to the driving motor, so that the speed difference of the driving wheels 104 arranged on the left side and the right side can be adjusted to control the intelligent mobile robot to turn. The arrangement of the handle control key and the handheld control part meets the actual control requirement of the intelligent mobile robot.
As shown in fig. 1, the handle bar 103 is detachably installed in the connecting portion 102, the handle bar 103 can be separated from the intelligent mobile robot 101, in this embodiment, after the intelligent mobile robot 101 separates the handle bar 103, as an automatic cleaning floor cleaning robot, when a user needs to perform a manual contact operation, the handle bar 103 can be inserted into the connecting portion 102, and the handle bar 103 can be inserted into the connecting portion 102 at a certain inclination angle with a top case cover surface of the intelligent mobile robot 101. The hand lever 103 is a telescopic lever with a lock catch and is used for selectively controlling the length change of the hand lever 103, and no matter children, old people or young people with high stature, the telescopic lever only needs to be adjusted to an applicable length, so that the use is very comfortable. In this embodiment, the hand lever 103 can be dismantled connect in the intelligent mobile robot 101, and support flexible, make things convenient for the dismouting, both can satisfy the packing requirement, can adapt to the use crowd of different heights again, improve the use convenience of product.
Preferably, the number of the hand levers 103 of the intelligent mobile robot is one, so that the intelligent mobile robot can be synchronously controlled by one hand to run, the detection unit is triggered by the connection part 102, labor is saved, two-hand synchronous operation is not needed, and the operation is convenient.
As an embodiment, after receiving the forward pushing acting force or the backward pulling acting force transmitted by the hand lever 103, the connecting portion 102 establishes an abutting relationship with the first detecting unit directly, or establishes an abutting relationship with the first detecting unit through an intermediate medium, and is configured to trigger the first detecting unit to transmit a driving signal to a driving motor of the smart mobile robot 101; the intermediate medium comprises a limit switch; the force transmitted by the hand lever 103 will act on the push rod assembly, which is generated by the user at a certain moment, and not permanently acting on the hand lever 103. When the hand lever 103 transmits a forward pushing action force to the push rod assembly, due to inertia, the push rod assembly moves towards the same direction as the horizontal component direction of the forward pushing action force until the push rod assembly drives the side edge of the connecting part 102 to press the limit switch, so that the limit switch is closed, the forward detection unit 106 is triggered, and then the forward detection unit 106 transmits a signal to the driving motor to control the intelligent mobile robot to move forward; when the hand lever 103 transmits a back-pull acting force to the push rod assembly, due to inertia, the push rod assembly moves in the same direction as the horizontal component direction of the back-pull acting force until the push rod assembly drives the side edge of the connecting part 102 to press the limit switch, so that the limit switch is closed, the backward detection unit 108 is triggered, and then the backward detection unit 108 transmits a signal to the driving motor to control the intelligent mobile robot to backward. This embodiment passes through the handspike 103 drives connecting portion 102 and then the touching the corresponding detecting element of smart mobile robot 101's top shell capping realizes that the user is right smart mobile robot 101's trigger motion operation, overall structure is convenient for adjust.
As an embodiment, when the hand lever 103 rotates around the shaft groove from the vertical direction to the left or right by a limit angle, the hand lever 103 is electrically connected to the second detection unit through an intermediate medium, and is configured to trigger the second detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; the intermediate medium comprises a slip ring detection device assembled in the shaft groove; the limit angle is a rotation angle required for the handle lever 103 to rotate into the sensing range of the second detection unit. After the steering acting force is applied to the outside, the hand lever 103 rotates left and right around the shaft groove to realize left and right steering movement of the intelligent mobile robot. In the process that the hand lever rotates around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electric signal correspondingly converted by the material parameters on the slip ring, and when the rotation angle reaches the limit angle, the second detection unit is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101 so as to control the intelligent mobile robot 101 to move in a steering mode. The connecting part 102 also has a tension spring to bring the hand lever 103 back to the vertical position once the hand lever 103 is released.
Preferably, the slip ring detection apparatus of the intelligent mobile robot has a basic structure that: and when the movable shaft of the hand lever 103 rotates, a slip ring detection device converts a resistance parameter change value on the slip ring into a voltage signal to realize detection of the rotation angle of the hand lever 103. The whole device has simple and convenient composition structure and is convenient for steering control of hands.
In the process that the hand lever 103 turns left from the vertical direction around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electrical signal change correspondingly converted by the resistance parameter on the slip ring, and when the rotation angle reaches the limit angle, the left-turn detection unit 109 is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101 so as to control the intelligent mobile robot 101 to turn left; in the process that the hand lever 103 rotates to the right from the vertical direction around the shaft groove, the slip ring detection device detects the rotation angle of the hand lever 103 according to the electric signals correspondingly converted by the resistance parameters on the slip rings, and when the rotation angle reaches the limit angle, the right-turn detection unit 107 is triggered to transmit a driving signal to the driving motor of the intelligent mobile robot 101, so that the intelligent mobile robot 101 is controlled to move in a right-turn manner.
The above embodiments are merely for full disclosure and not for limitation, and all changes that can be made without inventive step based on the inventive idea of the present invention should be considered as the scope of the disclosure of the present application.
Claims (11)
1. An intelligent mobile robot system comprises an intelligent mobile robot and a manual control device, and is characterized in that the manual control device is assembled at the top shell cover surface of the intelligent mobile robot, the manual control device comprises a hand lever, a detection unit and a connecting part, the connecting part is movably arranged in a clamping groove of the top shell cover surface of the intelligent mobile robot, the hand lever is rotatably arranged on the connecting part, and the detection unit is correspondingly arranged on a detection point in the preset direction at the position of the connecting part; wherein, the detecting unit distributes at the edge of screens groove.
2. The smart mobile robot system of claim 1, wherein the hand control is detachably mounted in the detent groove of the top case cover surface of the smart mobile robot.
3. The intelligent mobile robot system according to claim 2, wherein the detection points are: on the top shell cover surface of the intelligent mobile robot, the positions of the connecting parts are taken as centers and are distributed in an X shape, and the connecting parts keep preset distances from the position points in a static state;
the preset direction is a direction in which the detection points are distributed in an X shape, and includes a forward direction and a reverse direction of the intelligent mobile robot, and left and right directions of the intelligent mobile robot.
4. The intelligent mobile robot system according to claim 3, wherein the detection unit includes a first detection unit provided in a forward direction of the intelligent mobile robot and a reverse direction thereof, and a second detection unit provided in both right and left side directions of the intelligent mobile robot.
5. The intelligent mobile robot system of claim 4, wherein the connection portion comprises a push rod assembly and a rotation shaft assembly;
the push rod component is assembled on the bottom surface of the connecting part, so that after the hand lever applies a forward pushing acting force or a backward pulling acting force to the outside, the push rod component is driven to roll in the clamping groove, and the connecting part is driven to abut against the detection unit corresponding to the moving direction of the connecting part;
the rotating shaft assembly comprises a shaft groove which is rotatably connected with the hand lever, the shaft groove is convexly arranged on the connecting part, and the rotating axis of the shaft groove is vertical to the rotating axis of the push rod assembly;
wherein, the rotation axis direction of the shaft groove is the advancing direction of the intelligent mobile robot or the opposite direction;
the horizontal component direction of the externally applied forward acting force is the same as the advancing direction of the intelligent mobile robot, the horizontal component direction of the externally applied backward acting force is the same as the reverse direction of the advancing direction of the intelligent mobile robot, but the forward acting force and the backward acting force are applied by the outside instantly and then are removed quickly.
6. The intelligent mobile robot system according to claim 5, wherein the connection portion directly establishes an abutting relationship with the first detection unit after receiving the forward pushing force or the backward pulling force transmitted by the hand lever, or establishes an abutting relationship with the first detection unit through an intermediate medium, and is configured to trigger the first detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; wherein the intermediary comprises a limit switch.
7. The intelligent mobile robot system of claim 5, wherein when the hand lever rotates a limit angle from a vertical direction to the left or the right around the shaft slot, the hand lever is electrically connected to the second detection unit through an intermediate medium, and is configured to trigger the second detection unit to transmit a driving signal to a driving motor of the intelligent mobile robot; wherein the intermediate medium comprises a slip ring detection unit fitted in the shaft groove; the limit angle is a rotation angle required for the handle bar to rotate into a sensing range of the second detection unit.
8. The intelligent mobile robot system according to claim 6 or 7, wherein the hand lever comprises a handle control button at the top of the lever and a movable shaft at the bottom of the lever, the hand lever is rotatably arranged on a shaft groove of the rotating shaft assembly in the left-right direction, the movable shaft penetrates through the shaft groove of the rotating shaft assembly, and the straight line of the movable shaft is parallel to the rotation axis of the shaft groove; and a power switch used for controlling the driving motor to be turned on and off is connected between the handle control key and the driving motor.
9. The intelligent mobile robot system of claim 8, wherein the hand lever is detachably mounted in the connection portion; and the hand lever is a telescopic lever with a lock catch and is used for selectively controlling the length change of the hand lever.
10. The intelligent mobile robot system of claim 9, wherein the number of the hand levers is one.
11. The intelligent mobile robot is characterized in that a clamping groove is formed in the top shell cover surface of the intelligent mobile robot and used for assembling a manual control device, the manual control device comprises a hand lever, a detection unit and a connecting part, the connecting part is movably arranged in the clamping groove of the top shell cover surface of the intelligent mobile robot, the hand lever is rotatably arranged on the connecting part, and the detection unit is correspondingly arranged on a detection point in a preset direction at the position of the connecting part; wherein, the detecting unit distributes at the edge of screens groove.
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| CN201921005205.3U CN210990031U (en) | 2019-07-01 | 2019-07-01 | Intelligent mobile robot system and intelligent mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110313873A (en) * | 2019-07-01 | 2019-10-11 | 珠海市一微半导体有限公司 | A kind of intelligent mobile robot system and intelligent mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110313873A (en) * | 2019-07-01 | 2019-10-11 | 珠海市一微半导体有限公司 | A kind of intelligent mobile robot system and intelligent mobile robot |
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