A method for escaping from a difficult situation for a stone care robot

Abstract

The present invention discloses a method for a stone care robot to get out of trouble, and relates to the field of stone care robots. The stone care robot includes a robot body, a front wheel located in the forward direction of the robot and a rear wheel located behind the front wheel, as well as multiple groups of pads for cleaning and care, and also includes a pad changing device and an obstacle removing device. The pad changing device is used to realize automatic replacement of the pad; the obstacle removing device is located between the front wheel and the rear wheel, and is used to eliminate the obstruction of the replaced pad to the rear wheel. The stone care robot and the method for getting out of trouble provided by the present invention can remove obstacles under the robot without affecting the normal operation of the robot, so as to prevent the obstacles from getting stuck in the wheels of the robot.

Description

[0001] This application is a divisional application of the patent application with application number 202110772112.9 (the filing date of the original application is July 8, 2021, and the name of the invention is A stone care robot and its escape method). Technical Field

[0002] The invention relates to the field of stone care robots, and in particular to a method for the stone care robot to escape from trouble. Background Art

[0003] With the development of automation technology and artificial intelligence, the demand for intelligent robots is becoming more and more widespread; the arrival of the robot era will change the existing production and manufacturing model and human lifestyle. Traditional stone care generally adopts manual operation, relying on the experience of operators, and has disadvantages such as low efficiency, high cost and uneven quality. The stone care robot provided by the present invention can be applied to stone cleaning, polishing, care, renovation, grinding and other projects to achieve automatic operation.

[0004] A stone care robot uses a cleaning pad or other pad to care for stone. For example, the stone care robot involved in the prior patent of this application (application number CN202010515668.5) needs to have its pad replaced after working for a period of time. The replaced and worn pad is easy to fall under the stone care robot, affecting the robot's passage and causing the robot to be unable to continue operating. Summary of the invention

[0005] In order to solve at least one of the problems mentioned in the above background technology, the present invention provides a method for a stone care robot to escape from an obstacle, which can remove obstacles under the robot without affecting the normal operation of the robot and prevent the obstacles from getting stuck in the wheels of the robot.

[0006] The specific technical solutions provided by the present invention are as follows:

[0007] A method for a stone care robot to escape from trouble, the stone care robot comprising a robot body, a front wheel located in the forward direction of the robot and a rear wheel located behind the front wheel, and a plurality of cushions for cleaning and care; the stone care robot also comprises a cushion changing device, a cushion withdrawal detection device and an obstacle removal device, the cushion changing device is used to realize automatic replacement of the cushion; the cushion withdrawal detection device is arranged on the robot body, and is used to detect whether the cushion withdrawal is successful; the obstacle removal device is used to eliminate the obstruction that the replaced cushion may bring to the front wheel or the rear wheel; wherein the obstacle removal device is arranged between the cushion changing device and the rear wheel and close to the side of the rear wheel, so as to push the cushion replaced by the cushion changing device to both sides or one side when the robot performs the forward operation or the combination of the forward and backward movements.

[0008] Optionally, the escape method comprises the following steps:

[0009] The control module issues a pad-changing command, and the robot moves from the working area to the pad-changing area;

[0010] Execute the pad replacement command once to check whether the pad withdrawal is successful; if not, re-execute the pad replacement command until it succeeds;

[0011] Execute the pad-pushing command: the robot moves forward or moves both forward and backward. During the movement of the robot, the replaced pad is pushed outward by the obstacle removal device provided on the robot;

[0012] The robot retreats a certain distance again, or moves forward a certain distance, to the area to be operated.

[0013] Optionally, the executing the dial pad instruction includes executing a first preset number of back and / or forward sub-operations, and the specific steps of executing the dial pad instruction are:

[0014] After controlling the robot to perform a forward sub-operation, determine whether the robot has escaped from the trapped state; if so, exit the pad command, and the robot can drive to the waiting operation area to continue the operation; if not, control the robot to perform a backward operation, continue to perform the next round of forward sub-operation, and then determine again whether the robot has escaped from the trapped state until it is out of trouble.

[0015] Optionally, the forward speed of the next round of forward sub-operation is not less than the forward speed of the previous round of forward sub-operation.

[0016] Optionally, after executing a first preset number of forward and / or backward sub-operations, it is determined whether the robot has escaped from the trapped state;

[0017] If yes, exit the dial pad command;

[0018] If not, control the robot to perform alarm operations.

[0019] Optionally, the stone care robot also includes a device for judging or detecting whether there is an obstacle below the robot, and when the robot completes the automatic pad changing action, it judges or detects whether there is an obstacle below.

[0020] Optionally, the device for judging or detecting whether there is an obstacle below the robot is a camera device or a radar device.

[0021] Optionally, the pad withdrawal detection device includes an ultrasonic sensor, which is arranged on the robot body and can judge the distance between the robot body and multiple groups of pads to obtain feedback on whether the pad withdrawal is successful; when it is determined that the pad withdrawal is successful, it is judged or detected whether there is an obstacle under the robot.

[0022] Optionally, a dimension of an end of the obstacle removal device close to the gasket changing device is smaller than a dimension of an end of the obstacle removal device away from the gasket changing device.

[0023] Optionally, the height of the obstacle removal device is adjusted according to the thickness of the pad replaced by the pad changing device.

[0024] The stone care robot provided by the present invention is used for stone care. When the stone care robot is used, its obstacle removal device can cooperate with the pad changing device to push the replaced old pad body to both sides to avoid the situation where the old pad body falls under the stone care robot and causes the stone care robot to be unable to continue to pass and work. There is no need to manually remove the replaced old pad body, which has the advantages of short time consumption, high work efficiency and no need for human intervention.

[0025] The present invention provides a method for a stone care robot to escape from an obstacle. When the stone care robot performs an automatic pad changing operation, a pad falls under the robot, which will hinder the robot from moving forward or backward. An obstacle removal device is provided between the pad changing device and the wheels. When the robot performs the backward and / or forward operation, the replaced old pad is pushed to both sides or one side to avoid getting the wheels stuck, thereby not affecting the normal operation of the stone care robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 It is a structural schematic diagram of a stone care robot of the present invention;

[0028] Figure 2 is based on Figure 1 The structural schematic diagram of the obstacle removal device of the stone care robot shown;

[0029] Figure 3 is based on Figure 1 The structural schematic diagram of the obstacle removal device of the stone care robot is shown.

[0030] Figure 4 It is a schematic flow chart of a method for escaping a stone care robot of the present invention;

[0031] Figure 5 It is a specific flow chart of a method for escaping a stone care robot of the present invention;

[0032] Figure 6It is a schematic flow chart of executing a pad-pushing instruction in a method for escaping a stone care robot of the present invention;

[0033] Figure 7 It is a schematic flow chart of executing a pad-pushing instruction in a method for escaping a stone care robot of the present invention;

[0034] Figure 8 It is a flow chart of executing a pad-pushing instruction in a method for escaping a stone care robot according to the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] like Figure 1-Figure 3 As shown, a stone care robot provided by the present invention can generally include a robot body 1, a front wheel 3, a rear wheel 4 and a plurality of groups of pads 6 for cleaning and care. The front wheel 3 is located in the forward direction of the robot, and the rear wheel 4 is located on the rear side of the front wheel 3. The robot body 1 is provided with a pad changing device 5 and an obstacle removal device 2. The pad changing device 5 is used to realize the automatic replacement of the pad 6. The obstacle removal device 2 is located between the front wheel 3 and the rear wheel 4, and is used to eliminate the obstacles that the replaced pad 6 may bring to the front wheel 3 or the rear wheel 4 to avoid being trapped. Among them, the specific structure of the robot body 1 and the pad changing device 5 can be found in the prior patent (application number CN202010515668.5) of the inventor of this application, and will not be repeated here. When the intelligent stone care robot is in the process of replacing the pad, the pad 6 falls off and falls under the robot, thereby jamming the wheel, thereby affecting the normal operation of the equipment. When the pad needs to be replaced, the stone care robot reaches the pad return and replacement area; then, the stone care robot performs automatic pad replacement operation, and the waste pad body 6 falls under the machine; then the stone care robot is controlled to perform backward / forward operation, and the obstacle is pushed to both sides or one side to avoid getting the wheels stuck, thereby not affecting the normal operation of the stone care robot.

[0037] Specifically, Figure 2As shown, the robot body 1 is provided with a pad changing device 5. The pad changing device 5 is used to realize the automatic pad changing function of the robot. When the robot needs to change pads, the pad changing device 5 automatically replaces the old pad body 6. At this time, the replaced old pad body 6 falls under the robot, which will hinder the robot from moving forward or backward. Then, the robot is controlled to move forward and / or backward to push the obstacle (the old pad body 6) outward to avoid being trapped.

[0038] Optionally, the installation height of the obstacle removal device 2 is adjustable. Its height adjustment mechanism is a method well known to those skilled in the art. The height of the obstacle removal device 2 is adjusted according to the thickness of the pad 6 replaced by the pad changing device 5, so as to facilitate the height adjustment of the obstacle removal device 2 to the same height as the obstacle (the fallen pad 6), so as to facilitate the selective removal of the obstacle.

[0039] In a specific embodiment, Figure 2 As shown, the obstacle removal device 2 is arranged between the pad changing device 5 and the front wheel 3, so as to push the pad body 6 replaced by the pad changing device 5 to both sides / one side during the backward operation of the robot.

[0040] In another specific embodiment, the obstacle removal device 2 is disposed between the mat changing device 5 and the rear wheel 4, so as to push the mat body 6 replaced by the mat changing device 5 to both sides / one side during the forward movement of the robot.

[0041] It should be understood that the obstacle removal device 2 can be set on the side close to the front wheel 3 or on the side close to the rear wheel 4; when the obstacle removal device 2 is set on the side close to the front wheel 3, the process of pushing the pad is generally backward, and of course it can also be a combination of backward and forward actions; when the obstacle removal device 2 is set on the side close to the rear wheel 4, the process of pushing the pad is generally forward, and of course it can also be a combination of forward and backward actions.

[0042] The present invention provides a stone care robot, and its obstacle removal device 2 can be a block-shaped, rod-shaped, sheet-shaped or other structure. Its working principle is: the obstacle removal device 2 is fixedly connected to the robot body 1 through a connecting piece 21. When the robot is retreating or advancing, the obstacle removal device 2 first contacts the obstacle, and then the robot continues to retreat or advance, so that the obstacle removal device 2 can push (or squeeze) the obstacle, thereby pushing the obstacle away from the travel path of the robot's wheels, thereby getting out of trouble. Preferably, the size of the end of the obstacle removal device 2 close to the pad changing device 5 is smaller than the size of the end of the obstacle removal device 2 away from the pad changing device 5, so that it is easier to push the obstacle to the left or right sides or one side. For example, the obstacle removal device 2 can be triangular, polygonal, arc-shaped, etc.

[0043] Preferably, the robot is also provided with a mat removal detection device (not shown in the figure) for detecting whether the mat removal is successful. The mat removal detection device is an ultrasonic sensor arranged on the robot body 1, which can judge the distance between the plurality of mat groups 6 and obtain feedback on whether the mat removal is successful.

[0044] The stone care robot provided by the present invention can cooperate with the automatic pad changing device to push the replaced old pad body 6 to both sides without manual removal of the replaced old pad body 6, which has the advantages of short time consumption, high work efficiency and no need for manual intervention.

[0045] like Figure 4-Figure 8 As shown, the present invention also provides a method for escaping a stone care robot, which generally includes the following steps:

[0046] When the robot completes the automatic pad changing action, the robot is controlled to perform a backward and / or forward operation;

[0047] During the process of retreating and / or advancing, obstacles are pushed away to both sides or one side by the obstacle removal device 2 arranged on the robot.

[0048] Specifically, after the robot completes the automatic pad changing action, it determines or detects whether there is an obstacle below it. When there is an obstacle below the robot, and the obstacle exists on the robot's forward or backward path, which will hinder the robot's movement, a control instruction is issued through the robot's control module (not shown in the figure) to control the robot to perform a backward or forward action, so that during the backward or forward process, the robot's obstacle removal device 2 pushes the obstacle to both sides or one side, thereby keeping the obstacle away from the robot's forward or backward path, allowing the robot to escape.

[0049] The present invention provides a method for a stone care robot to escape from trouble, which judges or detects whether there is an obstacle underneath the robot, and the judgment may be performed by a sensor disposed under the robot, and the method may be a detection and judgment means well known to those skilled in the art. For example, a camera device, a radar device, and the like. It is also possible to directly judge whether there is an obstacle underneath the stone care robot after the pad body 6 is replaced by controlling the stone care robot. In a specific embodiment, the robot is provided with a pad withdrawal detection device (not shown in the figure), and the pad withdrawal detection device is used to detect whether the pad withdrawal is successful. The pad withdrawal detection device is an ultrasonic sensor disposed on the robot body 1, which can judge the distance between the robot body 1 and multiple groups of pad bodies 6 to obtain feedback on whether the pad withdrawal is successful. When it is judged that the pad body 6 is successfully withdrawn, it is directly judged that there is an obstacle underneath it (the replaced pad body 6).

[0050] like Figure 5 As shown, the present invention provides a method for escaping a stone care robot, and the specific steps include:

[0051] 1) The control module issues a pad changing command, and the robot moves from the working area to the pad changing area;

[0052] 2) Execute the pad replacement command once to check whether the pad withdrawal is successful; if not, re-execute the pad replacement command until it is successful;

[0053] 3) Execute the pad-pushing instruction: the robot moves forward or moves both forward and backward. During the movement of the robot, the replaced pad body 6 is pushed outward by the obstacle removal device provided on the robot;

[0054] 4) The robot retreats a certain distance again, or moves forward a certain distance to the area to be operated.

[0055] The specific process of the stone care robot issuing a pad replacement command and executing the pad replacement command can be found in the prior patent, and the specific process will not be repeated here. After executing the pad replacement command, the replaced pad body 6 is located below the robot, which will hinder the robot from continuing to work. At this time, the pad removal command is executed to control the robot to move forward or move forward and backward, and the replaced pad body 6 is pushed outward through the obstacle removal device, thereby avoiding the replaced pad body 6 from hindering the operation of the robot and making it escape.

[0056] When the obstacle removal device 2 is arranged between the pad changing device 5 and the front wheel 3 and is close to the side of the front wheel 3, the robot performs a backward operation (or performs a combination of backward and forward actions) when executing a pad pushing command; when the obstacle removal device 2 is arranged between the pad changing device 5 and the rear wheel 4 and is close to the side of the rear wheel 4, the robot performs a forward operation (or performs a combination of forward and backward actions) when executing a pad pushing command, so as to push the replaced pad body 6 to the outside.

[0057] Executing the dial pad instruction includes executing a first preset number of back and / or forward sub-operations, and the specific steps of executing the dial pad instruction are:

[0058] After controlling the robot to perform a backward and / or forward sub-operation, it is determined whether the robot has escaped from the trapped state;

[0059] If yes, exit the dial pad command;

[0060] If not, after controlling the robot to execute the forward or backward operation, continue to execute the next round of backward and / or forward sub-operation.

[0061] like Figure 6As shown, when the obstacle removal device of the stone care robot is set close to the front wheel side, the pad-pushing process is the specific process of executing the pad-pushing command when retreating. At this time, after the robot is controlled to perform a backward sub-operation, it is determined whether the robot has escaped from the trapped state; if so, the pad-pushing command is exited, and the robot can drive to the waiting operation area to continue the operation; if not, the robot is controlled to perform a forward operation (i.e., forward a short distance), and then continue to perform the next round of backward sub-operation, and then judge again whether the robot has escaped from the trapped state until it is free.

[0062] That is to say, after executing a backward sub-operation, if it is determined that the robot has not escaped from the trapped state, the robot is controlled to execute a forward operation, so that the robot moves forward a certain distance, and then continues to execute a backward sub-operation. Through multiple backward-forward-backward operations, the obstacle is pushed away from the path of travel, thereby escaping from the trapped state.

[0063] like Figure 7 As shown, when the obstacle removal device of the stone care robot is set near the rear wheel side, the pad-pushing process is the specific process of executing the pad-pushing command when moving forward. At this time, after the robot is controlled to execute a forward sub-operation, it is determined whether the robot has escaped from the trapped state; if so, the pad-pushing command is exited, and the robot can drive to the waiting operation area to continue the operation; if not, the robot is controlled to execute a backward operation (i.e., retreat a short distance), and then continue to execute the next round of forward sub-operation, and then it is determined again whether the robot has escaped from the trapped state until it escapes.

[0064] That is to say, after executing a forward sub-operation, if it is determined that the robot has not escaped from the trapped state, the robot is controlled to perform a backward operation, so that the robot retreats a certain distance, and then continues to perform a forward sub-operation. Through multiple forward-backward-forward methods, the obstacle is pushed away from the path of travel, thereby escaping from the trapped state.

[0065] In a specific embodiment, the backward / forward speed of the next round of backward / forward sub-operation is not less than the backward / forward speed of the previous round of backward / forward sub-operation, so that by increasing the backward / forward speed of the next round, the robot's pushing force on the obstacle is increased, making it easier to escape.

[0066] Alternatively, if Figure 8 As shown, the method for escaping a stone care robot provided by the present invention also includes an alarm step. The details are as follows:

[0067] After executing the first preset number of backing sub-operations, it is determined whether the robot has escaped from the trapped state;

[0068] If yes, exit the dial pad command;

[0069] If not, control the robot to perform alarm operations.

[0070] That is to say, the number of backward and / or forward sub-operations is preset (for example, the backward and / or forward sub-operations can be performed N times). When the robot is still not out of the trapped state after multiple backward / forward sub-operations, the robot is controlled to perform an alarm operation to emit an alarm sound or light to remind the user.

[0071] The present invention provides a method for escaping a stone care robot, which controls the robot to move forward or backward for a certain distance, so as to push away obstacles under the robot to both sides during the process of moving forward or backward, so as to avoid getting the wheels stuck, thereby not affecting the normal operation of the robot. After the stone care robot automatically replaces the pad, it is not necessary to manually remove the replaced waste pad, which has the advantages of short time consumption, high work efficiency, and no need for manual intervention.

[0072] The method for escaping a stone care robot provided by the present invention can also be applied to other robots, such as a sweeping robot, an intelligent robot, and the like.

[0073] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0074] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for escaping a stone care robot, characterized in that: The stone care robot comprises a robot body, a front wheel located in the robot's forward direction and a rear wheel located behind the front wheel, and a plurality of cushions for cleaning and care; the stone care robot also comprises a cushion changing device, a cushion withdrawal detection device and an obstacle removal device, wherein the cushion changing device is used to realize automatic replacement of the cushion; the cushion withdrawal detection device is arranged on the robot body, and is used to detect whether the cushion withdrawal is successful; the obstacle removal device is used to eliminate the obstruction of the replaced cushion to the rear wheel; wherein the obstacle removal device is arranged between the cushion changing device and the rear wheel and close to the side of the rear wheel, so as to push the cushion replaced by the cushion changing device to both sides or one side when the robot performs the forward movement or the forward and backward movement combination operation; The pad withdrawal detection device includes an ultrasonic sensor, which is arranged on the robot body and can judge the distance between the robot body and multiple groups of pad bodies to obtain feedback on whether the pad withdrawal is successful; when it is determined that the pad body is successfully withdrawn, it is determined that there is an obstacle under the robot.

2. The method for escaping a stone care robot according to claim 1, characterized in that: The method for escaping from a difficult situation comprises the following steps: The control module issues a pad-changing command, and the robot moves from the working area to the pad-changing area; Execute the pad replacement command once to check whether the pad withdrawal is successful; if not, re-execute the pad replacement command until it is successful; Execute the pad-pushing command: the robot moves forward or moves both forward and backward. During the movement of the robot, the replaced pad is pushed outward by the obstacle removal device provided on the robot; The robot retreats a certain distance again, or moves forward a certain distance, to the area to be operated.

3. The method for escaping a stone care robot according to claim 2, characterized in that: The executing the pad instruction includes executing a first preset number of back and / or forward sub-operations, and the specific steps of executing the pad instruction are: After controlling the robot to perform a forward sub-operation, determine whether the robot has escaped from the trapped state; if so, exit the pad command, and the robot can drive to the waiting operation area to continue the operation; if not, control the robot to perform a backward operation, continue to perform the next round of forward sub-operation, and then determine again whether the robot has escaped from the trapped state until it is out of trouble.

4. The method for escaping a stone care robot according to claim 3, characterized in that: The forward speed of the next round of forward sub-operation is not less than the forward speed of the previous round of forward sub-operation.

5. The method for escaping a stone care robot according to claim 3, characterized in that: After executing a first preset number of forward and / or backward sub-operations, it is determined whether the robot has escaped from the trapped state; If yes, exit the dial pad command; If not, control the robot to perform alarm operations.

6. The method for escaping a stone care robot according to claim 2, characterized in that: The stone care robot also includes a device for judging or detecting whether there is an obstacle below the robot. After the robot completes the automatic pad changing action, it judges or detects whether there is an obstacle below.

7. The method for escaping a stone care robot according to claim 6, characterized in that: The device for judging or detecting whether there is an obstacle below the robot is a camera device or a radar device.

8. The method for escaping a stone care robot according to claim 1, characterized in that: The size of one end of the obstacle removal device close to the gasket changing device is smaller than the size of one end of the obstacle removal device away from the gasket changing device.

9. The method for escaping a stone care robot according to claim 1, characterized in that: The height of the obstacle removal device is adjusted according to the thickness of the pad body replaced by the pad changing device.

Images