Method for judging condition of lifting telescopic type corridor cleaning robot to walk up and down stairs

Abstract

The invention discloses a method for judging the condition of a lifting telescopic type corridor cleaning robot to walk up and down stairs. The method comprises the steps that proximity sensors are arranged at the upper position, the middle position and the lower position of the vehicle body front end of the robot respectively, and proximity sensors which are used for sensing downwards are mounted at the vehicle body rear end of the robot; the proximity sensors at the upper position, the middle position and the lower position are combined to judge whether the stairs are in front of the robot or not; in the process of coming up the stairs, the proximity sensors at the lower position of the front end are used for judging whether a machine body is lifted to a reasonable height or not, and the proximity sensors at the rear end are used for judging whether the machine body extends out to a safety position or not; in the process of coming down the stairs, the proximity sensor which is placed on the upper portion of the front end of the robot and tilts downwards is used for judging whether the downward stairs are in front of the robot or not; when the robot prepares to come up or down the stairs, the two proximity sensors on the lower portion of the front end or the two proximity sensors on the lower portion of the rear end are used for judging the posture of the robot placed right opposite to the edge of the stairs. The above series judgment guarantees the fact that the robot can walk up and down stairs reliably. According to the method for judging the condition of the lifting telescopic type corridor cleaning robot to walk up and down stairs, the cost is low, and implementation is easy.

Description

technical field [0001] The invention relates to a method for a lifting and telescopic corridor cleaning robot to go up and down stairs, and belongs to the field of robots 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. Among them, the method of judging up and down stairs is an important aspect in the study of stair cleaning robots. At present, the relevant i...

AI Technical Summary

Problems solved by technology

Among them, the crawler type and the tumbling type have complex structures, and it is difficult to design cleaning devices

Wheeled stair-climbing robots mostly use planetary wheels or other compound wheels, which are huge and complex in structure, and rarely take into account the function of cleaning stairs, which greatly reduces the practicality

Most of the legged stair-climbing robots adopt the humanoid walking type, the mechanism is complicated, the cost is high, and it seems overkill, which is not conducive to market promotion

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