Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs

Abstract

The invention discloses a method for conveniently and effectively judging whether a telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs. Proximity sensors are respectively mounted at an upper position, a middle position and a lower position, at the front end of a robot vehicle body, and proximity sensors which perform downward detection are mounted at the rear end of the vehicle body; whether stairs are in front of the robot is judged by the combination of the proximity sensor at the upper position, the proximity sensor at the middle position, and the proximity sensors at the lower position; when the robot walks upstairs, the proximity sensors at the lower part of the front end are used for judging whether the vehicle body is lifted to reasonable height, and the proximity sensors at the rear end are used for judging whether the vehicle body stretches out to a safe position; when the robot walks downstairs, the oblique downward proximity sensor at the upper part of the front end of the robot is used for judging whether downward stairs are in front of the robot or not; when the robot is ready to walk upstairs or downstairs, the two proximity sensors at the lower part of the front end or the two proximity sensors at the lower position of the rear end are utilized so as to judge whether the robot right faces the edges of the stairs or not. Through the series of judgment, the robot is guaranteed to reliably walk upstairs or downstairs. The method disclosed by the invention is low in cost and easy to realize.

Description

[0001] This application is a divisional application with application number: 201410192412.X, application date: 2014.5.8, and name: "Method for Discriminating Up and Down Stairs of Elevating and Telescoping Corridor Cleaning Robot". technical field [0002] 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 [0003] 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 fla...

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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