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Mobile device, intelligent robot and method for detecting obstacle and outer wheel motion state

A technology of intelligent robots and mobile devices, which is applied in the direction of automatic detection of obstacles, automatic control of traveling motion, instruments, etc., and can solve the problems that intelligent robots cannot judge obstacles encountered

Active Publication Date: 2016-06-08
ECOVACS ROBOTICS (SUZHOU ) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the collision plate is stuck or the infrared sensor fails, the intelligent robot cannot judge the obstacles encountered, causing the robot's traveling wheels to keep rotating and slipping

Method used

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  • Mobile device, intelligent robot and method for detecting obstacle and outer wheel motion state
  • Mobile device, intelligent robot and method for detecting obstacle and outer wheel motion state
  • Mobile device, intelligent robot and method for detecting obstacle and outer wheel motion state

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] Such as Figure 2-4 As shown, the mobile device of the present invention includes a drive wheel and a drive shaft 13. The drive wheel includes an inner wheel 11 and an outer wheel 12. The inner wheel 11 is arranged on the inner side of the outer wheel 12, wherein the protrusion 9 on the outer side of the inner wheel 11 is connected to the inner side of the outer wheel 12. The recessed part 10 is provided correspondingly, and the raised part 9 is at least one, and the number of the recessed part 10 is corresponding to the raised part 9. The protruding part 9 is an elastic hook, so that the inner wheel 11 and the outer wheel 12 can be engaged and separated.

[0048]During the normal walking process of the intelligent robot 8, the raised portion 9 of the inner wheel fits in the concave portion 10 of the outer wheel, and the power source transmits the power to the inner wheel 11 through the transmission shaft 13. Due to the static friction between the inner and outer wheels...

Embodiment 2

[0050] The common feature of the second embodiment and the first embodiment is that the inner wheel 11 can drive the outer wheel 12 to rotate synchronously, and can also rotate relative to the outer wheel 12 .

[0051] Such as Figure 5-6 As shown, the inner wheel 11 is accommodated inside the outer wheel 12, and a round hole 111 for accommodating the steel ball 20 and the spring 19 is provided on the first side of the inner wheel. The round hole 111 is a through hole, and under the elastic force of the spring 19 The protruding part of the steel ball 20 protruding from the round hole is against the outer wheel friction plate 21 provided on the first inner side of the outer wheel 12, and the outer wheel friction plate 21 is correspondingly provided with a recess 211, which accommodates at least part of the protrusion of the steel ball 20 part, so that sufficient frictional force is generated between the outer wheel friction plate 21 and the steel ball 20.

[0052] There is at ...

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PUM

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Abstract

The invention relates to a mobile device, an intelligent robot and a method for detecting the motion state of an outer wheel. The intelligent robot includes a mobile device, a functional unit, a drive unit and a control unit. The mobile device is arranged at the bottom of the intelligent robot, and the control unit is connected to the drive unit. Under the action of the control unit, the drive unit controls the movement of the mobile device; the mobile device includes driving wheels and the drive shaft, the driving wheel includes an inner wheel and an outer wheel, and the inner wheel is fixedly connected to the drive shaft; when the intelligent robot moves normally, the inner wheel drives the outer wheel to rotate synchronously; when the intelligent robot encounters an obstacle, the outer wheel stops rotating, and the inner wheel is relatively The outer wheel turns. The present invention judges whether the mobile device continues to move, or performs a turning action or a backward action through the detection of the detection unit. If an obstacle is encountered, the outer wheel and the ground will not slip when the mobile device stops moving. It can also pass the detection unit. Detect to determine whether the mobile device is slipping.

Description

technical field [0001] The invention belongs to the technical field of daily household appliance manufacturing, and relates to a mobile device, an intelligent robot and a method for detecting obstacles and outer wheel motion states. Background technique [0002] Intelligent robots include mopping robots, vacuum cleaners, etc., which integrate mobile robot and vacuum cleaner technologies, and are currently the most challenging and popular research and development topics in the field of household appliances. Since 2000, the commercial products of cleaning robots have been launched one after another, becoming a new type of high-tech product in the field of service robots, with considerable market prospects. [0003] Intelligent robots mainly sense obstacles by bumping boards or infrared sensors. Mobile devices in traditional intelligent robots such as figure 1 shown. When the collision plate is stuck or the infrared sensor fails, the intelligent robot cannot judge the obstacl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A47L9/00G05D1/02
CPCA47L2201/04A47L9/2852G05D1/0227
Inventor 沈象波
Owner ECOVACS ROBOTICS (SUZHOU ) CO LTD