Handling method for preventing stair cleaning robot from falling off and collision during moving on step

A cleaning robot and processing method technology, applied in the field of anti-fall and collision processing, can solve the problems of collision and stair cleaning robot falling, and achieve the effect of high versatility and reliability.

Inactive Publication Date: 2014-07-30
NANTONG UNIVERSITY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a method that can effectively s

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  • Handling method for preventing stair cleaning robot from falling off and collision during moving on step
  • Handling method for preventing stair cleaning robot from falling off and collision during moving on step
  • Handling method for preventing stair cleaning robot from falling off and collision during moving on step

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Embodiment Construction

[0027] A method for anti-falling and collision treatment when a stair cleaning robot moves on the steps. The robot 1 includes: two drive wheels 11, 12 under the body to drive the robot forward, backward and turn; A universal wheel front wheel 13 and universal wheel rear wheel 14 play a role in supporting the robot on the one hand, and facilitate the robot to turn on the other hand; driving wheels 16, 17 are also housed below the body; The first and second distance measuring sensors 2, 3 and the third and fourth distance measuring sensors 4 and 5 are respectively installed on both sides to detect when the robot walks on the steps, the distance between the side of the body and the kick surface of the upper step distance, so that it is within a safe range to ensure that the robot does not fall or collide; the first proximity sensor 6 that detects obliquely downwards is installed above the front end of the robot body, and the first and second contact sensors 7 and 8 are installed a...

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Abstract

The invention discloses a handling method for preventing a stair cleaning robot from falling off and collision during moving on a step. A robot car body is equipped with a distance measurement sensor, a proximity sensor and a contact-type sensor, wherein the proximity sensor at the front part inclines downward to detect whether the robot is shielded or judging whether the front of the driving direction of the robot is empty or not, so as to prevent the robot from falling off from two ends of the step; when the robot turns round on the step, the proximity sensor is used for judging whether a position below is empty or not, so as to prevent the rear wheel of the universal wheel of the robot from missing one step from the current step and prevent the robot from dropping off; the distance measurement sensor ensures that one side of the robot is basically parallel to the raking riser of an upper step and positioned around the safe distance X; the contact-type sensor detects whether the front of the robot is in contact with a barrier or not through a contact plate, is used for judging whether the front of the robot in the walking direction runs into a wall or a guard rail and handling correctly. The handling method provided by the invention can effectively solve the problems of falling off and collision of the stair cleaning robot, the method is reliable, and the universality is high.

Description

technical field [0001] The invention relates to a method for preventing falling and colliding when a stair cleaning robot moves on stair steps. It belongs to the field of robot and intelligent control. Background technique [0002] With the rapid increase of population in today's world, in order to effectively use the limited ground space, people are increasingly developing to higher places. Various high-rise buildings, lecture halls, conference halls, stadium stands and other buildings including stairs are becoming more and more common, and the work of cleaning the corridors is obvious. Increase, the market demand in this area came into being. On the other hand, the vast majority of cleaning robots that have entered people's daily life are indoor flat floor cleaning robots, so it is necessary to research and develop stairs cleaning robots. In order to clean the stairs, the robot is required to be able to move back and forth on the steps of the stairs. Since the steps of t...

Claims

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Application Information

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IPC IPC(8): B62D61/00B60R16/02
Inventor 张磊马永林姚兴田王汉成帅立国胡金飞杨元徐丹
Owner NANTONG UNIVERSITY
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