Safety driving device and method for a cleaning robot, and cleaning robot system

Abstract

The present invention discloses a safety driving device and method for a cleaning robot, and a cleaning robot system. The safety driving device of the cleaning robot includes: at least one track arranged along the driving route of the cleaning robot; a connection structure connecting the cleaning robot and the track to enable the cleaning robot to move along the track; at least one distance measuring component, the distance measuring component including a telescopic rod, a contact member, a baffle and a distance measuring sensor, the telescopic rod being installed on the cleaning robot, the contact member being arranged at the telescopic end of the telescopic rod and slidingly abutted against the track; the baffle being connected to the telescopic end of the telescopic rod and capable of moving relatively closer to or away from the distance measuring sensor. Whether there is an error in the transmission of the control signal, or special situations such as uneven road surfaces or accidental impacts occur, the safety driving device of the present invention can ensure that the cleaning robot moves within the driving route range without deviation, and has high use safety.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and particularly to a safe driving device and method for a cleaning robot, and a cleaning robot system. Background Art

[0002] With the continuous development of artificial intelligence technology, intelligent cleaning robots are also increasingly developed.

[0003] When it comes to intelligent cleaning robots, what people usually think of is the household floor cleaning robot. In fact, in addition to the household market, cleaning robots also have great potential in the commercial field. The basic functions of existing commercial cleaning robots are to replace manual labor and clean and eliminate ground dust, dirt, garbage, etc. in various scenarios. For example, tunnel cleaning robots are mainly used to regularly clean the vertical reflective marks on the inspection road side and the contour marks on the tunnel side wall in the tunnel, so as to make the marks clearly and completely displayed, thereby reducing the probability of safety accidents in the tunnel and ensuring road safety.

[0004] Limited by the working scenario, tunnel cleaning robots usually adopt remote control. The tunnel cleaning robot moves on the inspection road and performs cleaning operations according to the received remote control signal. Due to the particularity of the working occasion, the stability and safety of the tunnel cleaning robot moving on the inspection road are very important. For example, it is necessary to ensure that the tunnel cleaning robot does not deviate from the driving path during movement. Even in special situations such as control signal transmission errors, uneven road surfaces, or accidental impacts, it is necessary to ensure that the tunnel cleaning robot does not deviate from its driving path range to prevent the tunnel cleaning robot from hitting the tunnel side wall or falling from the inspection road to the vehicle driving lane, so as to improve the use safety of the tunnel cleaning robot. Summary of the Invention

[0005] The main object of the present invention is to propose a safe driving device for a cleaning robot, aiming to improve the use safety of the cleaning robot, especially the use safety of the tunnel cleaning robot.

[0006] To achieve the above object, the present invention proposes a safe driving device for a cleaning robot, which includes:

[0007] At least one track arranged along the driving route of the cleaning robot;

[0008] A connection structure connecting the cleaning robot and the track to make the cleaning robot move along the track;

[0009] At least one distance measuring component, the distance measuring component includes a telescopic rod, a contact member, a baffle and a distance measuring sensor, the telescopic rod is installed on the cleaning robot, the contact member is arranged at the telescopic end of the telescopic rod and is in sliding contact with the track; the baffle is connected to the telescopic end of the telescopic rod and can be relatively close to or far away from the distance measuring sensor.

[0010] Wherein, there is one track, and the track is located in or outside the orthographic projection area of the cleaning robot;

[0011] Or, there are two or more tracks, and the two or more tracks are all located in the orthographic projection area of the cleaning robot, or are all located outside the orthographic projection area of the cleaning robot, or part of them are located in the orthographic projection area of the cleaning robot and part of them are located outside the orthographic projection area of the cleaning robot.

[0012] Wherein, the connection structure includes a sliding seat, and the sliding seat is in sliding contact with the track.

[0013] Wherein, at least one roller group is arranged on the sliding seat, the roller group includes two oppositely arranged rollers, and each roller is in rolling contact with one side wall of the track.

[0014] Wherein, a transverse plate portion and a vertical plate portion are constructed on the track, and one end of the vertical plate portion is connected to the transverse plate portion;

[0015] The roller is a grooved roller, and the side wall of the transverse plate portion is embedded in the groove of the grooved roller; or, the roller is a flat roller, and the flat roller is in rolling contact with the side wall of the vertical plate portion.

[0016] Wherein, a plurality of rolling members are further arranged on the sliding seat, the rolling members extend towards the transverse plate portion and are in sliding contact with the transverse plate portion.

[0017] Wherein, the connection structure further includes a connecting strip and at least one hinge assembly, and the connecting strip is connected to the cleaning robot;

[0018] The hinge assembly includes a first hinge rod and a second hinge rod, one end of the first hinge rod is hinged to one end of the second hinge rod, and the other end is hinged to the sliding seat; the other end of the second hinge rod is hinged to the connecting strip.

[0019] Wherein, the safety driving device of the cleaning robot further includes an auxiliary positioning component, and the auxiliary positioning component includes a scanner and a plurality of position markers;

[0020] The plurality of position markers are arranged at intervals along the track in sequence, the scanner is arranged on the cleaning robot, and the scanner is used to identify the position markers to obtain their information so as to determine the position of the cleaning robot.

[0021] The present invention also proposes a safety driving method for a cleaning robot. The safety driving method for the cleaning robot is based on the safety driving device of the cleaning robot described above, and the safety driving method for the cleaning robot includes:

[0022] When receiving a driving command, determine whether the driving command is a forward driving command or a reverse driving command, and control the cleaning robot to drive according to the driving command;

[0023] When the driving command is a forward driving command, obtain a first distance value between the forward end of the cleaning robot and the track, calculate a first rotation angle value of the cleaning robot according to the first distance value, and adjust the forward driving trajectory of the cleaning robot according to the first rotation angle value;

[0024] When the driving command is a reverse driving command, obtain a second distance value between the reverse end of the cleaning robot and the track, calculate a second rotation angle value of the cleaning robot according to the second distance value, and adjust the reverse driving trajectory of the cleaning robot according to the second rotation angle value.

[0025] Wherein, after the step of adjusting the forward driving trajectory of the cleaning robot according to the first rotation angle value, it further includes:

[0026] Obtain a third distance value between the reverse end of the cleaning robot and the track, and verify the first rotation angle value according to the third distance value.

[0027] Wherein, after the step of adjusting the reverse driving trajectory of the cleaning robot according to the second rotation angle value, it further includes:

[0028] Obtain a fourth distance value between the forward end of the cleaning robot and the track, and verify the second rotation angle value according to the fourth distance value.

[0029] The present invention also proposes a cleaning robot system, which includes a cleaning robot and the safe driving device of the cleaning robot described above.

[0030] Wherein, the cleaning robot includes a mobile chassis, a robotic arm and a cleaning component. The robotic arm is arranged on the mobile chassis, and the cleaning component is arranged at the end of the robotic arm.

[0031] Wherein, a first obstacle avoidance component is arranged on the mobile chassis, and the first obstacle avoidance component is used to detect the orientation of an obstacle and control the cleaning robot to avoid or stop accordingly.

[0032] Wherein, a second obstacle avoidance component is arranged on the robotic arm, and the second obstacle avoidance component is used to detect the orientation of an obstacle and control the robotic arm to avoid or stop accordingly.

[0033] Wherein, the robotic arm can receive an action instruction of remote control and execute the corresponding remote control action.

[0034] Wherein, the cleaning component includes a brush-type brush head or a rotary disk-type brush head or a drum-type brush head.

[0035] Wherein, the cleaning robot further includes a water supply component and a charging component arranged on the mobile chassis;

[0036] The water supply component is used to supply water to the cleaning component, and the charging component is used to connect to an external power source.

[0037] In the safe driving device of the present invention, the track is arranged along the driving route of the cleaning robot. The cleaning robot is connected to the track through a connection structure. When the cleaning robot moves (forward or backward) on the road surface, the connection structure moves with it and slides on the track, so that the cleaning robot can always maintain a connection relationship with the track without detachment. It can be seen that whether there is an error in the transmission of the control signal, or the road surface is uneven, or there are special situations such as accidental impact, etc., this safe driving device can ensure that the cleaning robot moves within the driving route range without deviation, and has high use safety. Description of the Drawings

[0038] Figure 1 It is a schematic structural diagram of a cleaning robot and its safe driving device in an embodiment of the present invention;

[0039] Figure 2 is Figure 1 A schematic structural diagram of the safe driving device in the embodiment;

[0040] Figure 3 is Figure 2 A schematic structural diagram of the safe driving device in another perspective in the embodiment;

[0041] Figure 4 It is a schematic structural diagram of the safe driving device in an embodiment of the present invention;

[0042] Figure 5 is Figure 4 A schematic structural diagram of the safe driving device in another perspective in the embodiment;

[0043] Figure 6 It is a schematic structural diagram of the distance measuring component of the safe driving device in an embodiment of the present invention;

[0044] Figure 7 It is a flowchart of the safe driving method of the cleaning robot in an embodiment of the present invention;

[0045] Figure 8 It is a flowchart of the safe driving method of the cleaning robot in another embodiment of the present invention. Detailed Embodiments

[0046] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0047] It should be noted that all the directional indications (such as up, down, left, right, front, back,...) in the embodiments of the present invention are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0048] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0049] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0050] Refer to Figure 1 、 Figure 2 and Figure 6 , Figure 1 which is a schematic structural diagram of a cleaning robot and its safe driving device in an embodiment of the present invention, Figure 2 is Figure 1 a schematic structural diagram of the safe driving device in the embodiment, Figure 6 which is a schematic structural diagram of the ranging component of the safe driving device in an embodiment of the present invention:

[0051] The present invention provides a safe driving device 100 for a cleaning robot 10. The safe driving device 100 of the cleaning robot 10 includes:

[0052] At least one track 110, and the track 110 is arranged along the driving route of the cleaning robot 10;

[0053] A connection structure 120, which connects the cleaning robot 10 and the track 110 to enable the cleaning robot 10 to move along the track 110;

[0054] At least one distance measuring component 130, the distance measuring component 130 includes a telescopic rod 131, a contact piece 132, a baffle 133 and a distance measuring sensor 134. The telescopic rod 131 is installed on the cleaning robot 10. The contact piece 132 is arranged at the telescopic end of the telescopic rod 131 and can be in sliding contact with the track 110. The baffle 133 is connected to the telescopic end of the telescopic rod 131 and can move relatively closer to or farther away from the distance measuring sensor 134.

[0055] The safety driving device 100 proposed in this embodiment is applied to the cleaning robot 10. Among them, the type of the cleaning robot 10 involved is not limited. It can be, for example, Figure 1 the cleaning robot 10 shown in the figure, which is composed of a mobile chassis, a robotic arm and a cleaning component. The base of the robotic arm is fixed on the mobile chassis, and the cleaning component is installed at the end of the robotic arm. The mobile chassis realizes the movement of the cleaning robot 10, and the robotic arm carried by the mobile chassis drives the cleaning component to move in the working space for cleaning operations. Of course, the cleaning robot 10 can also be of other types.

[0056] The function of the safety driving device 100 is to make the cleaning robot 10 move along the driving route without deviation, so as to ensure the safe driving of the cleaning robot. This technical solution is mainly applied to the working scenarios where the cleaning robot 10 is remotely controlled and the cleaning site has special situations that are likely to cause the cleaning robot 10 to deviate from the driving route range, such as tunnel cleaning.

[0057] Among them, the safety driving device 100 includes a track 110 and a connection structure 120. The track 110 is arranged along the driving route of the cleaning robot 10. The cleaning robot 10 is connected to the track 110 through the connection structure 120. When the cleaning robot 10 moves (forward or backward) on the road surface, the connection structure 120 moves with it and slides on the track 110, so that the cleaning robot 10 can always maintain a connection relationship with the track 110 without detachment.

[0058] There is at least one track 110, that is, the track 110 can be one or multiple, which is set according to actual needs. In actual setting, the track 110 needs to be arranged according to the actual road conditions, such as straight arrangement and winding arrangement, etc. And specifically applied to the tunnel scenario, when there is one track 110, one track 110 can be arranged on the inspection road in the tunnel or on the side wall of the tunnel; when there are multiple tracks 110, multiple tracks 110 can be all arranged on the inspection road in the tunnel, or all arranged on the side wall of the tunnel, or part of them are arranged on the inspection road in the tunnel and part of them are arranged on the side wall of the tunnel, which is set according to the actual situation; correspondingly, the cleaning robot 10 travels on the inspection road in the tunnel.

[0059] In addition, the connection structure 120 can be configured in a movable manner, that is, the connection structure can be deformed movably to ensure that while the cleaning robot 10 moves along the track 110, the cleaning robot 10 can also move relatively away from or close to the track 110 to flexibly adjust its distance from the track 110. The configuration of the connection structure 120 can be various. As a specific implementation, for example, the connection structure 120 includes a slider and a fixed block. A chute matching the slider is formed on the track 110, and the slider can slide along the track 110 in the chute. The fixed block is connected to the cleaning robot 10 through a fastener; an elastic member is connected between the fixed block and the slider, and the elastic member is, for example, a spring. In this way, when the cleaning robot 10 turns, the distance between the cleaning robot 10 and the track 110 decreases or increases, and the elastic member shortens or elongates accordingly. In addition to this, the connection structure 120 can also be configured in other ways, for example, the connection structure 120 uses a chain, a cord or others, including but not limited to this.

[0060] That is, in practical applications, the connection structure 120 can adopt various different types of configurations. For example, the above-mentioned slider and fixed block can be used as long as they can implement the technical solution of this embodiment. Other structural forms will be further described in subsequent embodiments and will not be elaborated here too much. Correspondingly, the configuration shape of the track 110 can also be various. For example, the cross-section of the track 110 is in various shapes such as an I-shape or an angle shape, and it can be adaptively set with the connection structure 120.

[0061] In this embodiment, the working principle of the distance measuring component 130 is as follows: during the driving process of the cleaning robot 10, the contact member 132 remains in a sliding contact state with the track 110, and the distance measured by the distance measuring sensor 134 between it and the baffle 133 can be regarded as the distance between the cleaning robot 10 and the track 110; if the cleaning robot 10 gradually approaches the track 110, the contact member 132 is pushed relatively by the track 110 so that the telescopic end of the telescopic rod 131 retracts, thereby driving the baffle 133 to move relatively closer to the distance measuring sensor 134, and the measured distance value of the distance measuring sensor 134 decreases; on the contrary, if the cleaning robot 10 gradually moves away from the track 110, the telescopic end of the telescopic rod 131 extends adaptively, and the contact member 132 is kept in a sliding contact state with the track 110, thereby driving the baffle 133 to move relatively away from the distance measuring sensor 134, and the measured distance value of the distance measuring sensor 134 increases. Specifically, the telescopic rod 131 includes an outer rod 1311 and an inner rod 1312 slidably disposed in the outer rod 1311. One end of the inner rod 1312 extending into the outer rod 1311 is connected or abutted with a spring between it and the outer rod 1311, and the other end of the inner rod 1312 extending out of the outer rod 1311 is the telescopic end of the telescopic rod 131. The outer rod 1311 of the telescopic rod 131 is fixedly disposed on the cleaning robot 10, and the inner rod 1312 of the telescopic rod 131 can slide in the outer rod 1311 along it. Correspondingly, the contact member 132 is disposed at the other end of the inner rod 1312 extending out of the outer rod 1311, and the spring is in a compressed state between one end of the inner rod 1312 extending into the outer rod 1311 and the outer rod 1311. Under the elastic force of the spring on the inner rod 1312, the contact member 132 remains in a sliding contact state with the track 110. Among them, the two ends of the spring can be connected or abutted with the outer rod 1311 and the inner rod 1312, and it is selected according to the actual situation. The contact member 132 adopts a universal ball, and the universal ball extends towards the track 110 and slidably abuts against the side wall of the track 110. When the cleaning robot 10 jolts up and down during the driving process, the universal ball can roll in multiple directions along the track 110 to achieve good cooperation with the track 110.

[0062] As an optimization, two distance measuring components 130 can be provided, and the two distance measuring components 130 are respectively arranged at the front end (i.e., the head) and the rear end (i.e., the tail) of the cleaning robot 10 to respectively measure the distances between the front end and the rear end of the cleaning robot 10 and the track 110 in real time. According to the measured distances between the cleaning robot 10 and the track 110, the robot can be controlled in real time to adjust the driving trajectory.

[0063] Among them, the distance measuring sensor 134 can be disposed at the fixed end of the telescopic rod 131 through a mounting bracket, such as Figure 1As shown in the figure; alternatively, the ranging sensor 134 is installed on the cleaning robot 10. When specifically setting it, as long as the ranging sensor 134 is opposite to the position of the baffle 133. In addition, in the present safe driving device 100, the ranging component 130 and the connection structure 120 are designed as separate parts, as Figure 1 shown; in other embodiments, the ranging component 130 can also be arranged on the connection structure 120. Specifically, in combination with the foregoing embodiments, the ranging component 130 is arranged on the connection bar 123 of the connection structure 120, including but not limited to this.

[0064] It can be seen that whether there is an error in the transmission of the control signal, or special situations such as uneven road surface or accidental impact, the safe driving device 100 of this embodiment can ensure that the cleaning robot 10 moves within the driving route range without deviation, and the use safety is high.

[0065] In some embodiments, there is one track 110, and the track 110 is located in or outside the orthographic projection area of the cleaning robot 10;

[0066] Or, there are two or more tracks 110, and the two or more tracks 110 are all located in the orthographic projection area of the cleaning robot 10, or are all located outside the orthographic projection area of the cleaning robot 10, or part of them are located in the orthographic projection area of the cleaning robot 10 and part of them are located outside the orthographic projection area of the cleaning robot 10.

[0067] In this embodiment, when setting one track 110, the track 110 can be located in the orthographic projection area of the cleaning robot 10. That is, the track 110 can be located below the cleaning robot 10, and the cleaning robot 10 straddles above the track 110. At this time, the track 110 can be set on the inspection road in the tunnel.

[0068] Or, the track 110 can be located outside the orthographic projection area of the cleaning robot 10, that is, the track 110 can be located on one side of the cleaning robot 10. At this time, the track 110 can be set on the inspection road in the tunnel or on the side wall of the tunnel.

[0069] When setting two or more tracks 110, the two or more tracks 110 can all be located in the orthographic projection area of the cleaning robot 10. That is, the two or more tracks 110 can all be located below the cleaning robot 10, and the cleaning robot 10 straddles above the two or more tracks 110. At this time, the track 110 can be set on the inspection road in the tunnel.

[0070] Alternatively, two or more tracks 110 may all be located outside the orthographic projection area of the cleaning robot 10. That is, two or more tracks 110 may be located on the same side of the cleaning robot 10. At this time, two or more tracks 110 may all be arranged on the inspection path in the tunnel, or may all be arranged on the side wall of the tunnel, or may be respectively arranged on the inspection path in the tunnel and the side wall of the tunnel; it is also possible that two or more tracks 110 are located on opposite sides of the cleaning robot 10. At this time, two or more tracks 110 may all be arranged on the inspection path in the tunnel, or may be respectively arranged on the inspection path in the tunnel and the side wall of the tunnel.

[0071] Or, two or more tracks 110 may be partially located in the orthographic projection area of the cleaning robot 10 and partially located outside the orthographic projection area of the cleaning robot 10. That is, some tracks 110 may be located below the cleaning robot 10, and the cleaning robot 10 straddles above these tracks 110, and these tracks 110 are arranged on the inspection path in the tunnel; while some other tracks 110 are located on the same side or opposite sides of the cleaning robot 10, and these other tracks 110 may be arranged on the inspection path in the tunnel and / or the side wall of the tunnel.

[0072] Refer to Figures 2 to 5 , Figure 3 is Figure 2 a schematic structural view of the safety traveling device from another perspective in the embodiment, Figure 4 a schematic structural view of the safety traveling device in an embodiment of the present invention, Figure 5 is Figure 4 a schematic structural view of the safety traveling device from another perspective in the embodiment:

[0073] In some embodiments, the connection structure 120 includes a sliding seat 121, and the sliding seat 121 is in sliding contact with the track 110. In this embodiment, the connection structure 120 adopts the structural design of the sliding seat 121, and realizes the sliding connection between the connection structure 120 and the track 110 through the sliding contact between the sliding seat 121 and the track 110. When the cleaning robot 10 moves, the sliding seat 121 will move accordingly and slide on the track 110. Among them, the structural configuration of the sliding seat 121 can be various. The sliding seat 121 can be slidably matched with the track 110 through other structural members, or can be directly slidably matched with the track 110, which is set according to the actual situation.

[0074] In some embodiments, at least one roller group is provided on the sliding seat 121. The roller group includes two rollers 122 arranged oppositely, and each roller 122 is in rolling contact with one side wall of the track 110.

[0075] In this embodiment, the sliding seat 121 is located above the track 110, the roller group is arranged at the bottom of the sliding seat 121, and the two rollers 122 in the roller group are respectively located on the opposite sides of the sliding seat 121. For any roller group, the two rollers 122 therein are respectively in the opposite side directions of the track 110 and can correspondingly adhere to the opposite side walls of the track 110; wherein, the opposite side directions of the track 110 described here can be, for example, Figure 2 and Figure 3 As shown, in the actual working scenario, the left and right side directions of the track 110; it is easy to understand that when the cleaning robot 10 moves, it will correspondingly drive the sliding seat 121 to move, the rollers 122 in the roller group contact the track 110 and roll along the track 110.

[0076] In actual setting, a fitting gap can be reserved between the rollers 122 in the roller group and the track 110, so that there is an activity margin between the sliding seat 121 and the track 110. The sliding seat 121 can move left and right relative to it on the track 110, so as to realize the sliding correction of the sliding seat 121 on the track 110 when the cleaning robot 10 moves left and right, which helps to reduce the probability of jamming. Under the condition of meeting the working conditions, as Figure 2 and Figure 3 As shown, only one roller group needs to be arranged on the sliding seat 121, which can reduce the cost expenditure. If multiple roller groups are arranged, the multiple roller groups are arranged in sequence, and their arrangement direction is consistent with the length direction of the track 110.

[0077] In some embodiments, the track 110 is configured with a cross plate portion 111 and a vertical plate portion 112, and one end of the vertical plate portion 112 is connected to the cross plate portion 111;

[0078] The roller 122 is a groove roller, and the side wall of the cross plate portion 111 is embedded in the groove of the groove roller; alternatively, the roller 122 is a flat roller, and the flat roller rolls in contact with the side wall of the vertical plate portion 112.

[0079] In this embodiment, the cross section of the track 110 is in an I shape and is configured with a cross plate portion 111 and a vertical plate portion 112. Refer to Figure 2 and Figure 3 , the roller 122 is selected as a groove roller (that is, a V-shaped roller). When the sliding seat 121 moves, the two groove rollers can correspondingly roll along the two side walls of the cross plate portion 111. The above is only one implementation scheme, or it can also be other implementation schemes. Refer to Figure 4 and Figure 5 , the roller 122 is a flat roller. When the sliding seat 121 moves, the two flat rollers can correspondingly adhere to the two side walls of the vertical plate portion 112 and roll. The structural setting of this embodiment limits the cooperation between the roller and the side wall of the track 110 for rolling, and thus the sliding seat 121 can slide stably on the track 110 without derailing.

[0080] Further, referring to Figure 4 and Figure 5 , when the roller 122 is a flat roller and rolls in contact with the side wall of the vertical plate portion 112, a rolling member 1 can be provided on the slide seat 121. The rolling member 1 extends toward the cross plate portion 111 and slidably abuts against the cross plate portion 111. The function of the rolling member 1 is to support the slide seat 121, which can prevent the slide seat 121 from contacting and rubbing against the cross plate portion 111 of the track 110 and extend its service life. Moreover, the rolling member 1 can also assist the slide seat 121 to slide on the track 110 and improve the smoothness during its sliding. Among them, the specific type and quantity of the rolling member 1 can be set according to the actual situation. For example, the rolling member 1 can be a universal ball, etc., which is not limited herein.

[0081] Specifically, a connecting shaft 2 is installed on the slide seat 121. The roller 122 is rotatably installed on the slide seat 121 through the connecting shaft 2. The slide seat 121 is provided with strip-shaped holes corresponding to each connecting shaft 2. One end of the connecting shaft 2 passes through the strip-shaped hole and is connected to the slide seat 121 through a fastening nut 3. The connecting shaft 2 can move along the strip-shaped hole to make the roller 122 attach to or loosen from the track 110.

[0082] For the rollers 122 in the roller group, they are all installed on the slide seat 121 through the connecting shafts 2. The connecting shafts 2 are fixed on the slide seat 121, and the rollers are sleeved on the connecting shafts 2 and can rotate around their axes. One end of the connecting shaft 2 passes through the slide seat 121 from below the slide seat 121 through the strip-shaped hole and is in threaded cooperation with the fastening nut 3 above the slide seat 121 to fix the connecting shaft 2 on the slide seat 121. Among them, the extending direction of the strip-shaped hole is consistent with the vertical direction of the track 110 in the horizontal plane. By loosening the fastening nut 3, the connecting shaft 2 can be moved along the strip-shaped hole to change the position of the roller 122, realizing the position adjustment of the roller 122, so as to adapt to tracks 110 of different widths.

[0083] As an excellent design, a holding member 4 is provided on the sliding seat 121. The holding member 4 is located on the side of the connecting shaft 2 away from the track 110 and abuts against the fastening nut 3 along the extending direction of the strip-shaped hole. Although the connecting shaft 2 is connected to the sliding seat 121 through the fastening nut 3, due to the provision of the strip-shaped hole, in actual use, when the cleaning robot 10 is affected by turning or other actions from time to time, and the acting force of the cleaning robot 10 on the sliding seat 121 is greater than the frictional force between the sliding seat 121 and the connecting shaft 2, it is easy for the connecting shaft 2 on the sliding seat 121 to move along the strip-shaped hole towards the side away from the track 110. Therefore, the fastening nut 3 is abutted by the provided holding member 4 to further limit the movement of the connecting shaft 2 in the strip-shaped hole, ensure the installation position of the roller 122 remains unchanged, prevent the gap between the roller 122 and the track 110 from increasing or even the roller 122 from disengaging from the track 110, and achieve a stable fit between the roller 122 and the track 110. Preferably, the holding member 4 is a screw. The screw is horizontally passed through the sliding seat 121 and threadedly connected to the sliding seat 121. By screwing the screw forward and backward on the sliding seat 121, one end of the screw can be relatively close to or far from the fastening nut 3, thereby achieving the abutment or disengagement between the screw and the fastening nut 3.

[0084] In some embodiments, the second connection end includes a connection bar 123 and at least one hinge assembly 124. The connection bar 123 is connected to the cleaning robot 10.

[0085] The hinge assembly 124 includes a first hinge rod 1241 and a second hinge rod 1242. One end of the first hinge rod 1241 is hinged to one end of the second hinge rod 1242, and the other end is hinged to the sliding seat 121; the other end of the second hinge rod 1242 is hinged to the connection bar 123.

[0086] In this embodiment, the connection structure 120 adopts the structural design of the connection bar 123 and is connected to the cleaning robot 10 through the connection bar 123. Specifically, the connection bar 123 is connected to the cleaning robot 10 through a plurality of fasteners 5, which is convenient for disassembly and assembly. The fasteners 5 are preferably screws. Moreover, there are two fasteners 5, and the two fasteners 5 are respectively arranged at both ends of the connection bar 123 to connect the connection bar 123 and the cleaning robot 10. It should be noted that the naming of the connection bar 123 in this implementation scheme is only for describing its shape and functional role, and it can also have other names and other structural configurations.

[0087] Further, the connection structure 120 realizes the connection between the sliding seat 121 and the connection bar 123 through the provided hinge assembly 124. When the cleaning robot 10 moves relatively closer to the track 110, the first hinge rod 1241 and the second hinge rod 1242 in the hinge assembly 124 adaptively close correspondingly; when the cleaning robot 10 moves relatively farther away from the track 110, the first hinge rod 1241 and the second hinge rod 1242 in the hinge assembly 124 adaptively open correspondingly. In addition, when the cleaning robot 10 experiences up-and-down bumps during driving, the hinge assembly 124 can also friendly adapt to its movement actions without the situation of structural jamming. Preferably, two hinge assemblies 124 are arranged in parallel. In addition, in the hinge assembly 124, in addition to the first hinge rod 1241 and the second hinge rod 1242, the structural design of other hinge rods can also be added and set according to the actual situation.

[0088] In some embodiments, the safety driving device 100 of the cleaning robot 10 further includes an auxiliary positioning assembly, and the auxiliary positioning assembly includes a scanner and a plurality of position markers;

[0089] The plurality of position markers are arranged at intervals along the track 110 in sequence, the scanner is arranged on the cleaning robot 10, and the scanner is used to identify the position marker to obtain its information so as to determine the position of the cleaning robot 10.

[0090] In this embodiment, the plurality of position markers are arranged at intervals along the track 110 in sequence, and different position markers represent different positions. The cleaning robot 10 moves along the track 110, and when it reaches any position marker, the scanner automatically identifies the position marker to obtain its information so as to determine the current position of the cleaning robot 10. By positioning the cleaning robot 10 to real-time control its moving position, it helps to improve the use safety of the cleaning robot 10. Among them, the positioning types of the scanner and the position marker can be various. For example, the scanner is a code scanner and the position marker uses a two-dimensional code. Of course, this is only exemplary and not restrictive, and other positioning types can also be used. Among them, the interval distance between each position marker is set according to the actual situation, and the interval distances can be the same or different. The setting position of the position marker can be selected according to the actual situation. For example, the position marker is arranged on the track 110 or on the maintenance path in the tunnel or on the tunnel side wall, including but not limited to this.

[0091] Refer to Figure 7 , Figure 7 which is a flowchart of the safety driving method of the cleaning robot in an embodiment of the present invention:

[0092] The present invention also proposes a safety driving method for the cleaning robot 10. The safety driving method of the cleaning robot 10 is based on the safety driving device 100 of the cleaning robot 10 described above, and the safety driving method of the cleaning robot 10 includes:

[0093] Step S101: When a driving command is received, determine whether the driving command is a forward driving command or a reverse driving command, and control the cleaning robot 10 to drive according to the driving command;

[0094] Step S102: When the driving command is a forward driving command, obtain a first distance value between the forward end of the cleaning robot 10 and the track 110, calculate a first rotation angle value of the cleaning robot 10 according to the first distance value, and adjust the forward driving trajectory of the cleaning robot 10 according to the first rotation angle value;

[0095] Step S103: When the driving command is a reverse driving command, obtain a second distance value between the reverse end of the cleaning robot 10 and the track 110, calculate a second rotation angle value of the cleaning robot 10 according to the second distance value, and adjust the reverse driving trajectory of the cleaning robot 10 according to the second rotation angle value.

[0096] In this embodiment, in the safe driving method of the cleaning robot 10, steps S101 to S103 are implemented by obtaining the distance value between the cleaning robot 10 and the track 110 when the cleaning robot 10 is moving forward or backward, calculating the rotation angle value of the cleaning robot 10 according to the distance value, and controlling the cleaning robot 10 to turn according to the rotation angle value to adjust the driving trajectory of the cleaning robot 10, so that the cleaning robot 10 maintains a constant distance from the track 110 and realizes the safe driving of the cleaning robot 10.

[0097] Among them, the measurement of the distance value preferably uses the ranging component 130 in the foregoing embodiment, and two ranging components 130 are provided. The two ranging components 130 are respectively arranged at the forward end (i.e., the front of the vehicle) and the reverse end (i.e., the rear of the vehicle) of the cleaning robot 10 to respectively measure the distance values between the forward end and the reverse end of the cleaning robot 10 and the track 110 in real time. Of course, this is only exemplary and not restrictive, and other measurement components can also be selected.

[0098] Moreover, the calculation of the rotation angle value uses the PID control algorithm. The PID control algorithm is a control algorithm that combines three links: proportional, integral, and differential. Its essence is to perform operations according to the input deviation value according to the functional relationships of proportional, integral, and differential, and the operation result is used to control the output. Specifically, taking the measured distance value as the measured value, e(t) as the difference between the given value (i.e., the preset distance) and the measured value, and u(t) as the output signal of the PID controller, that is, the rotation angle value of the cleaning robot 10. In addition, in the PID calculation formula, the P, I, and D parameters are adjusted to make the driving of the cleaning robot more stable.

[0099] Refer to Figure 8 , Figure 8Flowchart of the safe driving method of the cleaning robot in another embodiment of the present invention:

[0100] In some embodiments, after the step of adjusting the forward driving trajectory of the cleaning robot 10 according to the first corner value, the safe driving method of the cleaning robot 10 further includes:

[0101] Step S104: Obtain the third distance value between the rear end of the cleaning robot 10 and the track 110, and verify the first corner value according to the third distance value.

[0102] In this embodiment, after the cleaning robot 10 adjusts its forward driving trajectory, the distance value between its rear end and the track 110 should be equal to a given value (i.e., the preset distance). Therefore, the first corner value can be verified according to whether the third distance value between the rear end of the cleaning robot 10 and the track 110 is equal to the given value. If the third distance value is equal to the given value, it means the first corner value is correct; if the third distance value is not equal to the given value, it means the first corner value is incorrect. In the case where the first corner value is incorrect, other operation steps can be executed, such as recalculating the corner value of the cleaning robot and adjusting the forward driving trajectory of the cleaning robot, which helps to improve the accuracy of the cleaning robot control.

[0103] In some embodiments, after the step of adjusting the reverse driving trajectory of the cleaning robot 10 according to the second corner value, the safe driving method of the cleaning robot 10 further includes:

[0104] Step S105: Obtain the fourth distance value between the front end of the cleaning robot 10 and the track 110, and verify the second corner value according to the fourth distance value.

[0105] In this embodiment, after the cleaning robot 10 adjusts its reverse driving trajectory, the distance value between its front end and the track 110 should be equal to a given value (i.e., the preset distance). Therefore, the second corner value can be verified according to whether the fourth distance value between the front end of the cleaning robot 10 and the track 110 is equal to the given value. If the fourth distance value is equal to the given value, it means the second corner value is correct; if the fourth distance value is not equal to the given value, it means the second corner value is incorrect. In the case where the second corner value is incorrect, other operation steps can be executed, such as recalculating the corner value of the cleaning robot 10 and adjusting the reverse driving trajectory of the cleaning robot 10, which helps to improve the accuracy of the cleaning robot 10 control.

[0106] The present invention also provides a cleaning robot system, which includes a cleaning robot 10 and the safety driving device 100 of the cleaning robot 10 described above. The specific structure of the safety driving device 100 of the cleaning robot 10 refers to the above embodiments. Since this cleaning robot system adopts all the technical solutions of the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be elaborated one by one here.

[0107] In some embodiments, referring to Figure 1 , the cleaning robot 10 includes a mobile chassis 11, a robotic arm 12, and a cleaning component 13. The robotic arm 12 is disposed on the mobile chassis 11, and the cleaning component 13 is disposed at the end of the robotic arm 12. In this embodiment, the base of the robotic arm 12 is fixed on the mobile chassis 11, and the cleaning component 13 is installed at the end of the robotic arm 12. The mobile chassis 11 enables the movement of the cleaning robot 10, and the robotic arm 12 carried by the mobile chassis 11 drives the cleaning component 13 to move in the working space for cleaning operations.

[0108] In some embodiments, a first obstacle avoidance component is provided on the mobile chassis 11. The first obstacle avoidance component is used to detect the orientation of an obstacle and control the cleaning robot 10 to avoid or stop accordingly. In this embodiment, when the cleaning robot 10 is moving, if it encounters an obstacle, the first obstacle avoidance component on the mobile chassis 11 can detect the orientation of the obstacle and control the cleaning robot 10 to avoid or stop, so as to avoid collision with the obstacle, which can further improve the use safety of the cleaning robot 10. The structural composition of the first obstacle avoidance component can be various. For example, the first obstacle avoidance component includes a laser range finder sensor, which can be disposed at the front end (i.e., the head) and the rear end (i.e., the tail) of the cleaning robot 10. The laser range finder sensor senses the obstacle and measures the distance between the obstacle and the cleaning robot 10. The main control module of the cleaning robot 10 receives the measurement signal of the laser range finder sensor and processes it. When the distance between the cleaning robot 10 and the obstacle is less than a preset value, the cleaning robot 10 is controlled to stop moving or avoid. In addition, the first obstacle avoidance component can also adopt a vision sensor, etc., including but not limited to this.

[0109] In some embodiments, a second obstacle avoidance component is provided on the robotic arm 12. The second obstacle avoidance component is used to detect the orientation of an obstacle and accordingly control the robotic arm 12 to avoid or stop. In this embodiment, when the robotic arm 12 is moving, if it encounters an obstacle, the second obstacle avoidance component on the robotic arm 12 can detect the orientation of the obstacle and accordingly control the robotic arm 12 to avoid or stop, so as to avoid collision with the obstacle, and further improve the use safety of the cleaning robot 10. The structural composition of the second obstacle avoidance component can be various. For example, the second obstacle avoidance component includes an electronic skin, which can be attached to the robotic arm 12. The electronic skin senses the obstacle and measures the distance between the obstacle and the robotic arm 12. The main control module of the robotic arm 12 receives the measurement signal of the electronic skin and processes it. When the distance between the robotic arm 12 and the obstacle is less than a preset value, the robotic arm 12 is controlled to stop moving or avoid. In addition, the second obstacle avoidance component can also adopt a vision sensor, etc., including but not limited to this.

[0110] In some embodiments, the robotic arm 12 can receive an action instruction of remote control and execute the corresponding remote control action. In this embodiment, a communication module can be provided on the cleaning robot 10 to establish remote communication with the outside world through the communication module. The staff can remotely control and send an action instruction to the robotic arm 12, and the robotic arm 12 executes the corresponding action according to the received action instruction, so as to remotely control and adjust the position of the robotic arm 12 according to the actual situation when encountering abnormal or emergency situations during the work process, with flexible operation, and further improve the use safety of the cleaning robot 10.

[0111] In some embodiments, the cleaning component 13 includes a brush-type brush head, a rotary disk-type brush head or a roller-type brush head. In this embodiment, the cleaning component 13 can adopt any one of the brush heads including a brush-type brush head, a rotary disk-type brush head and a roller-type brush head, and the specific brush head type can be selected according to the actual application scenario of the cleaning robot 10.

[0112] In some embodiments, the cleaning robot 10 further includes a water supply component and a charging component provided on the mobile chassis 11;

[0113] The water supply component is used to supply water to the cleaning component 13, and the charging component is used to connect to an external power source.

[0114] In this embodiment, the water supply component includes a water tank which stores water. The water tank conveys water to the cleaning component through a water pipe to achieve water addition for cleaning. The charging component is connected to an external power supply to charge the cleaning robot 10. The charging component can be in a wired or wireless charging form. That is, the charging component can include a charging interface and be charged by plugging in a charging cable; the charging component can also include a wireless receiving module and be charged by relatively coupling with a wireless transmitting module. Among them, the charging form and structural configuration of the charging component are set according to actual situations and are not limited herein.

[0115] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields is included in the scope of protection of the present invention.

Claims

1. A safety driving device for a cleaning robot, characterized in that, Comprising: At least one track, which is arranged along the traveling route of the cleaning robot; A connection structure that connects the cleaning robot and the track to enable the cleaning robot to move along the track; At least one ranging component, which includes a telescopic rod, a contact member, a baffle, and a ranging sensor. The telescopic rod is installed on the cleaning robot, and the contact member is provided at the telescopic end of the telescopic rod and is in sliding contact with the track; The baffle is connected to the telescopic end of the telescopic rod and can move relatively closer to or farther away from the ranging sensor.

2. The safety traveling device of the cleaning robot according to claim 1, wherein There is one track, and the track is located within or outside the orthographic projection area of the cleaning robot; Or, there are two or more tracks, and all of the two or more tracks are located within the orthographic projection area of the cleaning robot, or all are located outside the orthographic projection area of the cleaning robot, or some are located within the orthographic projection area of the cleaning robot and some are located outside the orthographic projection area of the cleaning robot.

3. The safety driving device of the cleaning robot according to claim 1, wherein, The connection structure includes a sliding seat, and the sliding seat is in sliding contact with the track.

4. The safety traveling device of the cleaning robot according to claim 3, wherein At least one roller group is provided on the sliding seat, and the roller group includes two rollers arranged oppositely, and each roller is in rolling contact with one side wall of the track.

5. The safety traveling device of the cleaning robot according to claim 4, wherein A horizontal plate portion and a vertical plate portion are formed on the track, and one end of the vertical plate portion is connected to the horizontal plate portion; The roller is a grooved roller, and the side wall of the horizontal plate portion is embedded in the groove of the grooved roller; or, the roller is a flat roller, and the flat roller is in rolling contact with the side wall of the vertical plate portion.

6. The safety driving device of the cleaning robot according to claim 5, characterized in that, A number of rolling members are further provided on the sliding seat, and the rolling members extend towards the horizontal plate portion and are in sliding contact with the horizontal plate portion.

7. The safety driving device of the cleaning robot according to claim 3, characterized in that, The connection structure further includes a connecting bar and at least one hinge assembly, and the connecting bar is connected to the cleaning robot; The hinge assembly includes a first hinge rod and a second hinge rod. One end of the first hinge rod is hinged to one end of the second hinge rod, and the other end is hinged to the sliding seat; the other end of the second hinge rod is hinged to the connecting bar.

8. The safety driving device of the cleaning robot according to claim 1, characterized in that, It further includes an auxiliary positioning component, and the auxiliary positioning component includes a scanner and a number of position markers; The number of position markers are arranged at intervals along the track in sequence, the scanner is arranged on the cleaning robot, and the scanner is used to identify the position markers to obtain their information to determine the position of the cleaning robot.

9. A safe driving method for a cleaning robot, characterized in that, The safety traveling method of the cleaning robot is based on the safety traveling device of the cleaning robot according to any one of claims 1-8, and the safety traveling method of the cleaning robot includes: When receiving a traveling command, determining whether the traveling command is a forward traveling command or a backward traveling command, and controlling the cleaning robot to travel according to the traveling command; When the driving command is a forward driving command, obtain a first distance value between the forward end of the cleaning robot and the track, calculate a first rotation angle value of the cleaning robot according to the first distance value, and adjust the forward driving trajectory of the cleaning robot according to the first rotation angle value; When the driving command is a reverse driving command, obtain a second distance value between the rear end of the cleaning robot and the track, calculate a second rotation angle value of the cleaning robot according to the second distance value, and adjust the reverse driving trajectory of the cleaning robot according to the second rotation angle value.

10. The safe driving method of the cleaning robot according to claim 9, wherein After the step of adjusting the forward driving trajectory of the cleaning robot according to the first rotation angle value, it further includes: Obtain a third distance value between the rear end of the cleaning robot and the track, and verify the first rotation angle value according to the third distance value.

11. The safe driving method of the cleaning robot according to claim 9, characterized in that, After the step of adjusting the reverse driving trajectory of the cleaning robot according to the second rotation angle value, it further includes: Obtain a fourth distance value between the forward end of the cleaning robot and the track, and verify the second rotation angle value according to the fourth distance value.

12. A cleaning robot system, characterized in that, It includes a cleaning robot and a safe driving device for the cleaning robot according to any one of claims 1-8.

13. The cleaning robot system according to claim 12, wherein The cleaning robot includes a mobile chassis, a robotic arm, and a cleaning component. The robotic arm is arranged on the mobile chassis, and the cleaning component is arranged at the end of the robotic arm.

14. The cleaning robot system according to claim 13, wherein, A first obstacle avoidance component is arranged on the mobile chassis. The first obstacle avoidance component is used to detect the orientation of an obstacle and control the cleaning robot to avoid or stop accordingly.

15. The cleaning robot system according to claim 13, wherein A second obstacle avoidance component is arranged on the robotic arm. The second obstacle avoidance component is used to detect the orientation of an obstacle and control the robotic arm to avoid or stop accordingly.

16. The cleaning robot system according to claim 13, characterized in that, The robotic arm can receive an action instruction of remote control and execute the corresponding remote control action.

17. The cleaning robot system according to claim 13, wherein The cleaning component includes a brush-type brush head or a rotary disk-type brush head or a roller-type brush head.

18. The cleaning robot system according to any one of claims 13-17, characterized in that, The cleaning robot further includes a water supply component and a charging component arranged on the mobile chassis; The water supply component is used to supply water to the cleaning component, and the charging component is used to connect to an external power source.

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