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Stair climbing method of sweeping robot

A technology for sweeping robots and stair climbing, which is used in manual sweeping machines, carpet cleaning, floor cleaning, etc., can solve problems such as the inability of sweeping robots to climb.

Active Publication Date: 2020-06-12
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Sweeping robots usually have a walking system and a vacuuming system. Thanks to technological progress, sweeping robots can realize route planning and automatic obstacle avoidance through navigation and positioning algorithms. At present, the main development direction of sweeping robots is in optimizing algorithms, so that robots can Go deep into the corners of the home to clean, identify obstacles, etc., but there is not much change in its structure. Although it can be used on flat ground, for houses with stairs in duplex structures, villas, etc., the sweeping robot cannot climb the stairs to the upper floor for cleaning.

Method used

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  • Stair climbing method of sweeping robot
  • Stair climbing method of sweeping robot
  • Stair climbing method of sweeping robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] This embodiment is an embodiment of a sweeping robot, which provides a main structure of the sweeping robot. The main structure can realize two sweeping robots forming a robot group, and the robot group can climb stairs;

[0052] combine figure 1 As shown, a sweeping robot disclosed in this embodiment includes a robot body on which a walking system and a dust collection system are arranged. The robot body includes: a front joint 1, a connecting joint 2 and a rear joint 3. The front joint 1 and the rear joint 3 are respectively hingedly connected to the two ends of the connecting joint 2 to form a chain-like structure, and the hinge axis of the chain-like structure is parallel to the ground;

[0053] combine figure 2 As shown, the front joint 1 includes: a front joint body 1-1, a connecting shaft 1-2, an electromagnet 1-3, a first driving member 1-4 and a second driving member 1-5;

[0054] The front end of the front joint main body 1-1 is a semicircular complete fill...

Embodiment 2

[0071] On the basis of Embodiment 1, this embodiment provides a structure for connecting shafts 1-2;

[0072] combine image 3 As shown, the connecting shaft 1-2 includes: a shaft body 1-2-1, a disk surface 1-2-2 and a connecting shaft gear 1-2-3, the shaft body 1-2-1 is a hollow shaft, The electromagnet 1-3 is fixedly arranged inside the shaft body 1-2-1, and the outer end surface of the electromagnet 1-3 is coplanar with the outer end surface of the shaft body 1-2-1, and the disk surface 1-2-2 is coaxially fixedly connected to the outer end surface of the shaft body 1-2-1, and is coplanar with the outer end surface of the shaft body 1-2-1, and the connecting shaft gear 1-2-3 is the same as The shaft is connected to the shaft body 1-2-1 and engaged with the first driving member 1-4.

[0073] Specifically, the outer end surface of the disk surface 1-2-2 is used as a connecting surface, and a coaxial structure is provided on the connecting surface of the connecting shaft 1-2,...

Embodiment 3

[0076] This embodiment provides a structure of the second driving member on the basis of the first or second embodiment;

[0077] combine figure 2 As shown, the end of the connecting section 2 is provided with a rack, the rack is arranged along the complete rounded corner of the end of the connecting section 2, and the rack is engaged with the second driving member 1-5.

[0078] Specifically, the length of the rack is not less than the section arc length of the complete fillet at the end of the connecting joint 2, so that the front joint 1 and the rear joint 3 can rotate to both sides to be perpendicular to the connecting joint 2, satisfying the right angle of the stairs. climbing needs.

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Abstract

The invention belongs to the technical field of smart home equipment, and particularly relates to a stair climbing method of a sweeping robot. The method comprises the steps of a, robot combination, b, stair climbing preparation, c, first-side preparation, d, first-side climbing, e, second-side preparation, f, second-side climbing, g, robot set resetting, h, resetting definition and i, climbing circulation. Two sweeping robots are combined, wherein when one robot overturns and climbs upwards, the other sweeping robot is fixed to serve as a support, after the climbing robot is stabilized, the previously fixed robot is driven to overturn upwards, meanwhile, the climbed robot is fixed to serve as a support, and so on, and stair climbing of the sweeping robots is achieved through the circulation.

Description

technical field [0001] The invention belongs to the technical field of smart home equipment, and in particular relates to a method for a sweeping robot to climb stairs. Background technique [0002] With the improvement of living standards, people pay more and more attention to smart home. In the process of freeing hands to automate housework, sweeping robots are currently one of the most popular products. Sweeping robots usually have a walking system and a vacuuming system. Thanks to technological progress, sweeping robots can realize route planning and automatic obstacle avoidance through navigation and positioning algorithms. At present, the main development direction of sweeping robots is in optimizing algorithms, so that robots can Go deep into the corners of the home to clean, identify obstacles, etc., but there is not much change in its structure. Although it can be used on flat ground, for houses with stairs in duplex structures, villas, etc., the sweeping robot cann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/4036A47L11/4041A47L11/4066A47L11/4072A47L11/4094
Inventor 马俊
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY