Floating device for a robot, robot and method for controlling the same

Abstract

The application discloses a floating device of a robot, the robot and a control method thereof, and belongs to the technical field of robots. The floating device of the robot comprises a support, which is used for being rotatably connected with a body of the robot; a guide structure, which is arranged on the support; and a work tool assembly, which comprises a loading frame and a work tool arranged on the loading frame. The loading frame is slidably connected with the guide structure in the vertical direction, and the work tool assembly is arranged to move relative to a work surface when working on the work surface. The work tool assembly is arranged to move up and down relative to the guide structure and / or rotate around an axis of rotation between the support and the body when the work surface is uneven. The work tool assembly can move up and down relative to the support, and the support can rotate relative to the body of the robot. When the work surface is uneven, the work tool assembly can be kept in close contact with the work surface, and can adapt to the uneven height of the work surface, so that a better treatment effect of the work tool assembly on the work surface can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a floating device of a robot, the robot and a control method thereof. BACKGROUND

[0002] Robots have different uses in different fields. In the field of construction, they can be used for wall painting and varnishing indoors, and for cleaning floors or disinfecting in daily life, and for polishing workpieces in manufacturing, and are widely used. The current robots have good treatment effect on flat work surfaces (surfaces to be cleaned by objects), but can only process a part of uneven work surfaces. For example, a cleaning robot has good cleaning effect on flat surfaces, but when the tool of the cleaning robot contacts with an uneven work surface, one side is high and the other side is low, which may cause the cleaning robot to clean the higher side of the work surface, while the lower side cannot be cleaned or has poor cleaning effect. Robots applied in wall painting and other fields also have the problem of poor treatment effect on uneven work surfaces. For example, a wall painting robot may cause uneven painting on the wall. SUMMARY

[0003] The present application aims to at least solve the problem of poor treatment effect of the current robots on uneven work surfaces. The object is achieved by the following technical solutions:

[0004] The first aspect of the present application provides a floating device of a robot, comprising:

[0005] A support is used to rotatably connect with a body of the robot;

[0006] A guide structure is arranged on the support;

[0007] A work tool assembly comprises a loading frame and a work tool arranged on the loading frame, the loading frame is slidably connected with the guide structure in the vertical direction, and the work tool assembly is arranged to move relative to the work surface when working on the work surface;

[0008] The work tool assembly is arranged to move up and down relative to the guide structure and / or rotate around the rotation axis between the support and the body when the work surface is uneven.

[0009] According to the floating device of the robot, the working tool assembly can move up and down relative to the support, and the support can rotate relative to the body of the robot. When the working surface is uneven, the working tool assembly can be kept in contact with the working surface, and can adapt to the unevenness of the working surface, so that the working tool assembly can achieve a better processing effect on the working surface. For example, when the robot is a cleaning robot, the working surface can be cleaned better; when the robot is a wall painting robot, the paint can be uniformly applied; and when the robot is a polishing robot, the workpiece can be uniformly polished.

[0010] In addition, the floating device of the robot can further have the following additional technical features.

[0011] In some embodiments of the present application, the floating device further comprises:

[0012] The driving mechanism is arranged on the support, and the driving mechanism has a driving connection part connected with the loading frame. The driving mechanism is used to drive the working tool assembly to move up and down.

[0013] When the working tool assembly is not working, the driving mechanism lifts the working tool assembly; when the working tool assembly is working, the driving mechanism moves the working tool assembly downward. The driving mechanism can switch the working mode and the non-working mode of the working tool assembly.

[0014] In some embodiments of the present application, the driving connection part is movably connected to the loading frame, and the loading frame is provided with a moving space for the driving connection part to move up and down.

[0015] When the drive connection moves upward to the maximum position within the working space, the drive mechanism provides an upward force to the tool assembly to reduce the pressure between the tool assembly and the working surface. When the drive connection moves upward to the maximum position within the working space and continues to move upward, the drive mechanism lifts the tool assembly upward. If applied in a cleaning robot, such as with a soft roller brush or cloth structure, the drive mechanism lifts the tool assembly without removing it from the working surface to adjust the contact force between the roller brush and the working surface. Alternatively, it can lift the tool assembly to remove it from the working surface. If applied to other robots, the drive mechanism can directly lift the tool assembly to remove it from the working surface. When the drive connection moves downward to the maximum position within the working space, the drive mechanism provides a downward force to the tool assembly to increase the pressure between the tool assembly and the working surface. At this time, the drive mechanism can apply a constant force output to the tool assembly. The drive connection part of the drive mechanism has a movable space on the loading frame. When the drive connection part moves up or down to the maximum position within the movable space, the pressure between the working tool assembly and the working surface can be adjusted. The drive connection part is movably connected to the loading frame. When the drive connection part is in the movable space but has not moved to the maximum position, the working tool assembly can rotate and move up and down relative to the robot body according to the height of the working surface to adapt to the unevenness of the working surface. Compared with the working tool assembly being directly fixed to the robot body, this can increase the contact area between the working tool assembly and the working surface.

[0016] In some embodiments of the present invention, the loading frame is provided with a connecting hole, the connecting hole forming an active space, the driving connecting part is inserted into the active space of the connecting hole, and two opposing first limiting surfaces are provided at intervals on the upper and lower sides of the active space. The driving connecting part is provided with two back-to-back and spaced-apart second limiting surfaces, each first limiting surface is opposite to each second limiting surface, and the distance between the two first limiting surfaces is greater than the distance between the two second limiting surfaces.

[0017] The connecting hole has two first limiting surfaces, and the drive connecting part has two second limiting surfaces. The distance between the two first limiting surfaces is greater than the distance between the two second limiting surfaces. When the drive connecting part moves upward, when one of the second limiting surfaces contacts one of the first limiting surfaces, the drive mechanism can provide an upward pulling force, causing the second limiting surface to act on the first limiting surface, thus subjecting the working tool assembly to an upward pulling force and reducing the pressure between the working tool assembly and the working surface. Similarly, when the drive connecting part moves downward, the second limiting surface acts on the first limiting surface, and the drive mechanism can provide a downward pressure to the working tool assembly, increasing the pressure between the working tool assembly and the working surface. At this time, the drive mechanism can exert a constant force output on the working tool assembly. When neither of the two second limiting surfaces contacts the two first limiting surfaces, the working tool assembly can adapt to the unevenness of the working surface. Compared with the working tool assembly being directly fixed to the robot body, this increases the contact area between the working tool assembly and the working surface.

[0018] In some embodiments of the present invention, the drive mechanism includes any one of an electric actuator, an electric cylinder, an electro-hydraulic actuator, or a linear module.

[0019] By using any one of electric actuators, electric cylinders, electro-hydraulic actuators, or linear modules, the magnitude of the upward or downward force on the working tool assembly can be improved, enabling the robot to switch between different modes.

[0020] In some embodiments of the present invention, the floating device further includes:

[0021] The first connector is mounted on the bracket;

[0022] The second connector is mounted on the loading frame;

[0023] An elastic element is compressed and disposed between the first connector and the second connector, and the compression direction of the elastic element is the same as the vertical direction.

[0024] By incorporating elastic components, the pressure between the tool assembly and the work surface can be increased, resulting in better robot processing of the work surface. For example, in a cleaning robot, the tools in the tool assembly can be roller brushes or cloths; the elastic components can increase the pressure on the roller brushes or cloths, achieving a better cleaning effect on the floor.

[0025] In some embodiments of the present invention, the guide structure includes:

[0026] A guide rod is vertically mounted on a bracket, and an elastic element is sleeved on the guide rod. The first connecting member is located on the end of the guide rod away from the working tool assembly.

[0027] The sliding member is slidably mounted on the guide rod in a vertical direction. The sliding member is connected to the second connecting member on the loading frame. The elastic force of the elastic member acts on the bracket and the second connecting member.

[0028] The elastic element is inserted into the guide rod, which not only enables the tool assembly to move up and down relative to the support and provides downward elastic force for the tool assembly, but also avoids the trouble of setting up a separate rod to install the elastic element, making the structure simpler and more compact.

[0029] In some embodiments of the present invention, the floating device further includes a pressure sensor disposed at the end of the elastic member away from the working tool assembly, and the end of the elastic member away from the working tool assembly is abutted against the pressure detection end of the pressure sensor.

[0030] Pressure sensors can detect the elastic force of elastic components, which can further facilitate the adjustment of pressure between the tool assembly and the working surface.

[0031] In some embodiments of the present invention, the floating device further includes:

[0032] The damping element is mounted on the guide rod and located at the end of the elastic element near the working tool assembly. The end of the elastic element near the working tool assembly is abutted against the damping element.

[0033] When the working surface is uneven, the damping component can absorb elastic potential energy, which can make the working tool components work more smoothly and prevent the elastic potential energy from being released too quickly.

[0034] In some embodiments of the present invention, the guide structure further includes a connector, through which the guide rod is connected to the bracket.

[0035] The connector enables the connection between the guide rod and the bracket, facilitating the assembly and disassembly of the guide rod on the bracket.

[0036] In some embodiments of the present invention, the floating device further includes an obstacle recognition device, which is disposed on the working tool assembly or the support, for recognizing obstacles in the direction of the robot's travel.

[0037] And / or, the floating device also includes a material sensor, which is mounted on the tool assembly or support, for identifying the material of the working surface;

[0038] And / or, the floating device also includes a dirt sensor, mounted on the work tool assembly or support, for detecting the degree of dirt on the work surface.

[0039] Obstacle recognition devices can monitor the robot's working status in real time, enabling it to overcome obstacles when they appear in front of it. Material sensors can detect the material of the working surface; when applied to cleaning robots, this allows for adjustment of the pressure between the working surface and the tool components based on the material. Dirt sensors can detect the degree of dirt on the working surface; when applied to cleaning robots, this allows for targeted cleaning based on the level of dirt.

[0040] A second aspect of the invention provides a robot comprising the floating device of the first aspect.

[0041] Since the robot includes the features of the first aspect of the floating device, the effect is the same as described above, and will not be repeated here.

[0042] In some embodiments of the present invention, the robot is a cleaning robot, which includes a body, a support frame rotatably connected to the body, and the rotation axes of the two are the same as the walking direction of the body.

[0043] The robot is a cleaning robot that cleans the work surface (the surface of the object to be cleaned). The first aspect of the floating device can adjust the pressure between the working tool components and the work surface to ensure a better cleaning effect for uneven work surfaces and different levels of dirt.

[0044] In some embodiments of the present invention, the robot further includes:

[0045] A dirt sensor, mounted on the work tool assembly or the support, is used to detect the degree of dirt on the work surface;

[0046] Pressure sensors are used to collect the elastic force of work tool components;

[0047] A material sensor, mounted on the work tool assembly or the support, is used to identify the material of the work surface;

[0048] The controller, dirt sensor, pressure sensor, and material sensor are all connected to the controller. The controller calculates the pressure value between the working surface and the tool assembly based on the elasticity, and determines whether to adjust the pressure between the working surface and the tool assembly based on the material information, dirt level, and pressure value identified by the material sensor.

[0049] The controller can determine whether to adjust the pressure between the work surface and the tool components based on the material, level of dirt, and pressure of the work surface. For example, different work surfaces have multiple preset dirt value ranges, and each preset dirt value range corresponds to a preset pressure value. The controller can determine whether the pressure between the current work surface and the tool components is equal to the preset pressure value based on the preset dirt value range corresponding to the current dirt value of the work surface. If they are not equal, the current pressure value can be adjusted to be equal to the preset pressure value; otherwise, the current pressure value between the work surface and the tool components can be maintained.

[0050] In some embodiments of the present invention, the robot further includes an obstacle recognition device communicatively connected to the controller. The obstacle recognition device is used to identify obstacles in the direction of the robot's travel, and the controller is also used to control the working tool assembly to lift upwards based on the obstacles on the working surface.

[0051] The obstacle recognition device can identify whether there are obstacles on the working surface. When there are obstacles on the working surface, the controller controls the working tool assembly to lift up, which can prevent the working tool assembly from being stuck by the obstacle.

[0052] A third aspect of the present invention provides a method for controlling a robot, the method controlling the robot of the first aspect, the method comprising:

[0053] Obtain material information of the working surface, dirt level of the working surface, and pressure value between the working surface and the tool components;

[0054] The decision to adjust the pressure between the work surface and the tool components is based on material information, dirt level, and pressure value.

[0055] By adjusting the pressure between the work surface and the tool components based on material information, dirt level, and pressure value, different preset pressure values ​​can be set according to the material and degree of dirtiness. Adjusting the pressure between the work surface and the tool components to the preset pressure value achieves better cleaning results for work surfaces of different materials.

[0056] In some embodiments of the present invention, determining whether to adjust the pressure between the working surface and the tool assembly based on material information, dirt level, and pressure value includes:

[0057] Obtain the preset dirt value range corresponding to different material information, and the preset pressure value corresponding to the preset dirt value range;

[0058] Based on the dirt value being within the preset dirt value range and the pressure value being equal to the preset pressure value, maintain the pressure value between the working surface and the working tool components;

[0059] If the dirt level is within the preset dirt level range and the pressure value is not equal to the preset pressure value, adjust the pressure value between the working surface and the working tool components to the preset pressure value.

[0060] Since different materials require different surface pressures for the same level of dirt, different materials have corresponding preset dirt value ranges, and preset dirt value ranges have corresponding preset pressure values. By adjusting the pressure between the work surface and the tool components according to the preset pressure values, better cleaning results can be achieved for work surfaces of different materials.

[0061] In some embodiments of the present invention, multiple preset dirt value ranges are set, and a preset pressure value is set for each preset dirt value range.

[0062] The pressure between the working surface and the tool components can be adjusted to match the preset pressure value based on the dirt level, thus achieving a better cleaning effect on the working surface according to the degree of dirt.

[0063] In some embodiments of the present invention, the control method further includes:

[0064] Detect whether there are obstacles in the direction the robot is traveling;

[0065] Based on the presence of obstacles on the work surface, determine whether the robot can cross the obstacles;

[0066] The robot is capable of crossing the obstacles.

[0067] Control the work tool assembly to move upwards and above the height of the obstacle.

[0068] Based on the obstacles in front of the robot, it can be determined whether the robot can cross them. If the robot can cross the obstacles, the working tool component can be lifted to allow the robot to enter the next work scene for cleaning. If the robot cannot cross the obstacles, it can go around them by turning the robot. Attached Figure Description

[0069] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0070] Figure 1 An isometric view schematically illustrating the connection between the floating device and the robot body of some embodiments of the present invention;

[0071] Figure 2 An exploded view schematically illustrates a floating device according to some embodiments of the present invention;

[0072] Figure 3 A partial cross-sectional view of a floating device according to some embodiments of the present invention is shown schematically;

[0073] Figure 4 A partial cross-sectional view schematically illustrating the connection between the drive mechanism and the loading frame in some embodiments of the present invention is shown.

[0074] Figure 5 A partial cross-sectional view schematically illustrating the connection between the drive mechanism and the loading frame in some embodiments of the present invention is shown.

[0075] Figure 6 A side view of a robot according to some embodiments of the present invention is shown schematically;

[0076] Figure 7 for Figure 6 A magnified view of a portion of point I;

[0077] Figure 8 The diagram schematically illustrates the structural block diagram of the connection of various sensors, controllers and drive mechanisms of a robot according to some embodiments of the present invention;

[0078] Figure 9 A flowchart illustrating a robot control method according to some embodiments of the present invention is shown schematically;

[0079] Figure 10 A flowchart illustrating a robot control method according to some embodiments of the present invention is shown schematically;

[0080] Figure 11 A flowchart illustrating a robot control method according to some embodiments of the present invention is shown schematically.

[0081] The attached figures are labeled as follows:

[0082] Connecting shaft 101, bearing 102, machine body 103, controller 104;

[0083] Bracket 10, mounting hole 11, bearing end cap 12, guide structure 20, guide rod 21, sliding member 22, first connector 23, working tool assembly 30, loading frame 31, tool 32, second connector 33, connecting hole 311, first limiting surface 311a, drive mechanism 40, drive connection part 41, first connection part 411, second connection part 412, second limiting surface 411a, elastic member 50, pressure sensor 60, damping member 70, obstacle recognition device 80, material sensor 90, dirt sensor 110. Detailed Implementation

[0084] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0085] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0086] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0087] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0088] The floating device of this application can be applied to robots, specifically, but not limited to, cleaning robots, sweeping robots, wall painting robots, disinfection robots, lawn mowing robots, sanding robots, etc.

[0089] Please refer to Figure 1 and Figure 2 According to an embodiment of the present invention, a floating device for a robot is provided, comprising a support 10, a guide structure 20, and a working tool assembly 30. The support 10 is rotatably connected to the robot's body 103; the guide structure 20 is disposed on the support 10; the working tool assembly 30 includes a loading frame 31 and a working tool 32 disposed on the loading frame 31, the loading frame 31 being slidably connected to the guide structure 20 in a vertical direction; the working tool assembly 30 is configured to move relative to the working surface when working on the working surface; and when the working surface is uneven, the working tool assembly 30 is configured to move up and down relative to the guide structure 20 and / or rotate about the rotation axis between the support 10 and the robot body 103.

[0090] The number of guide structures 20 is at least one, but no specific limit is set here. It can be reasonably set according to actual needs. For example, two guide structures 20 can be set, on both sides of the rotation axis between the support 10 and the body 103, specifically on the left and right sides of the robot.

[0091] Tool 32 can be any of, but is not limited to, a roller, a squeegee, a wiping cloth, or a lawnmower. This allows for applications of the floating device in multiple scenarios. For example, a roller can be used in a wall-painting robot, a squeegee in a disinfection or cleaning robot, a wiping cloth in a cleaning robot, and a lawnmower in a weeding robot.

[0092] The loading frame 31 and the guide structure 20 can slide vertically, as can be seen from...Figure 1 A direction shown.

[0093] The loading frame 31 and the guide structure 20 can slide vertically, meaning that the loading frame 31 and the guide structure 20 can move relative to each other along the height direction of the robot. It can be understood that the vertical direction can be roughly vertical. However, due to the undulations of the working surface, the relative movement of the loading frame 31 and the guide structure 20 may deviate from the vertical direction by a certain angle, or it may coincide with the vertical direction.

[0094] For ease of understanding, let's take a cleaning robot as an example. The tool is a roller, with a brush or a cloth covering its outer surface. The working surface is tile. When cleaning the surface, the brush or cloth contacts the tile. When there is an unevenness between the robot's chassis and the brush or cloth, the weight of the tool assembly 30 will cause the brush or cloth to deform and adhere to the tile. The tool assembly 30 moves up and down relative to the support 10 to accommodate changes in the height difference between the chassis and the brush or cloth. When the brush or cloth is on a slope, the tool assembly 30 can rotate relative to the robot's body 103 to adapt to the slope, ensuring even contact between the brush or cloth and the tile for effective cleaning.

[0095] For example, when the robot is a wall painting robot, it can achieve uniform application of paint; when the robot is a sanding robot, it can achieve uniform sanding of the workpiece. The principle is similar to that of the cleaning robot mentioned above, so it will not be elaborated here.

[0096] Therefore, the working tool assembly 30 can move up and down relative to the support 10, and the support 10 can rotate relative to the robot body 103. When the working surface is uneven, the working tool assembly 30 can keep in contact with the working surface and can adapt to the unevenness of the working surface, so as to achieve a better processing effect of the working tool assembly 30 on the working surface.

[0097] In some embodiments, the rotatable connection between the support 10 and the robot's body 103 can be as follows: Please refer to... Figure 6 and Figure 7A connecting shaft 101 is fixedly mounted on the robot's body 103, and a bearing 102 is mounted on the connecting shaft 101. A bearing hole 11 is provided on the bracket 10, and the bearing 102 is installed within the bearing hole 11. A bearing end cap 12 is provided at the end of the bearing hole 11, and the bearing end cap 12 is fixedly connected to the bracket 10 by fasteners to secure the bearing 102 within the bearing hole 11. Alternatively, the bracket 10 can be rotatably connected to the robot's body 103 by having a rotating shaft rotatably mounted on the robot's body 103, and the rotating shaft being fixedly connected to the bracket 10. Another possible rotatable connection is that the rotating shaft is rotatably mounted on both the bracket 10 and the body 103. The rotatable connection between the bracket 10 and the robot's body 103 can be chosen reasonably according to actual needs and is not specifically limited here.

[0098] In some embodiments, please refer to Figure 1 and Figure 2 The floating device also includes a drive mechanism 40, which is mounted on the support 10. The drive mechanism 40 has a drive connection part 41, which is connected to the loading frame 31. The drive mechanism 40 is used to drive the working tool assembly 30 to move up and down.

[0099] For example, the drive mechanism 40 may include any one of an electric actuator, an electric cylinder, an electro-hydraulic actuator, or a linear module. For instance, the drive mechanism 40 may include an electric actuator, wherein the movable end of the electric actuator serves as a drive connection 41, which can be connected to the loading frame 31 to drive the working tool assembly 30 to move up and down. Alternatively, the drive mechanism 40 may include a linear module, on which a connecting rod can be mounted on the slider of the linear module, and the connecting rod is connected to the loading frame 31.

[0100] The drive connection part 41 and the loading frame 31 can be fixedly connected (the two are relatively fixed and cannot move relative to each other), or they can be movably connected and have relative mobility space. The travel of the drive connection part 41 is greater than the relative mobility space. The specific choice between fixed connection and movable connection can be made according to the usage requirements.

[0101] Taking a lawnmower robot as an example, the working tool assembly 30 is equipped with a mowing tool and wheels. When the lawnmower robot moves the working tool assembly 30, the wheels move on the bottom surface. The mowing tool is positioned at a distance from the ground. The distance between the working tool assembly 30 and the ground can be adjusted according to the height of the mowing tool, keeping the distance constant. This allows the lawnmower robot to achieve a relatively clean cut surface. The height of the working tool assembly 30 can also be adjusted to change the length of the cut grass. When not mowing, the drive mechanism 40 can drive the working tool assembly 30 upwards, lifting it up.

[0102] In the cleaning robot, the working tool component 30 can be lifted and lowered to switch between working and non-working modes.

[0103] In robots from other technological fields, the lifting and lowering of the work tool component 30 can also be achieved.

[0104] As can be seen from the above examples, when the working tool component 30 is not working, the drive mechanism 40 lifts the working tool component 30, and when the working tool component 30 is working, the drive mechanism 40 moves the working tool component 30 downward. The working mode and non-working mode of the working tool component 30 can be switched through the drive mechanism 40. When the floating device is applied to the lawn mowing robot, it can also achieve a neater cut surface.

[0105] In some embodiments, please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 The drive connection part 41 is movably connected to the loading frame 31, and the loading frame 31 has a movable space for the drive connection part 41 to move up and down.

[0106] The loading frame 31 has a movable space for the drive connection part 41 to move up and down, that is, the drive connection part 41 can move up and down relative to the loading frame 31 within the movable space.

[0107] When the drive connection 41 moves upward to the maximum position of the active space, the drive mechanism 40 provides an upward force to the working tool assembly 30 to reduce the pressure between the working tool assembly 30 and the working surface. When the drive connection 41 moves upward to the maximum position of the active space and continues to move upward, the drive mechanism 40 lifts the working tool assembly 30 upward. If applied in a cleaning robot, such as when the tool 32 is a soft roller brush or cloth structure, the drive mechanism 40 lifts the working tool assembly 30 without removing the tool 32 from the working surface. The drive mechanism 40 can adjust the contact force between the roller brush and the working surface. After lifting the working tool assembly 30, the drive mechanism 40 removes the tool 32 from the working surface. If applied in other robots, the drive mechanism can directly lift the working tool assembly to remove the tool from the working surface. When the drive connection 41 moves downward to the maximum position of the active space, the drive mechanism 40 provides a downward force to the working tool assembly 30 to increase the pressure between the working tool assembly 30 and the working surface.

[0108] The upward force exerted by the drive mechanism 40 on the working tool assembly 30 is F1, the downward force exerted by the drive mechanism 40 on the working tool assembly 30 is F2, and the weight of the working tool assembly 30 itself is G.

[0109] When the driving connection part 41 moves upward to the maximum position within the activity space, if F1 < G, the pressure of the working tool assembly 30 on the working surface is F, and F = G - F1. By increasing the acting force of the driving mechanism 40 on the working tool assembly 30, the force F can be reduced. When F1 > G, the working tool assembly 30 is lifted by the driving mechanism 40. Exemplarily, taking a cleaning robot as an example, after the working tool assembly 30 is lifted, the tool 32 may or may not be separated from the working surface. When it is separated from the working surface, the working tool assembly 30 is in a non - working state. When it is not separated from the working surface, the working tool assembly 30 is in a working state. After the working tool assembly 30 is lifted by a certain distance, the contact force with the working surface becomes smaller. When the working surface is not very dirty, this mode can be adopted for work.

[0110] When the driving connection part 41 moves downward to the maximum position within the activity space, F = G + F2. By increasing the acting force of the driving mechanism 40 on the working tool assembly 30, the force F can be increased.

[0111] When the driving connection part 41 does not move upward and downward to the maximum position within the activity space, the working tool assembly 30 adapts to the unevenness of the working surface and processes the working surface under the action of its own weight. For example, in a cleaning robot, the working tool assembly 30 can clean the working surface under its own weight. For example, in a disinfection robot, the tool of the working tool assembly 30 is a disinfection roller, and the working tool assembly 30 can disinfect the working surface under its own weight.

[0112] It can be seen from this that the driving connection part 41 of the driving mechanism 40 has an activity space on the loading rack 31. When the driving connection part 41 moves upward or downward to the maximum position within the activity space, the pressure adjustment between the working tool assembly 30 and the working surface can be achieved. And the driving connection part 41 is movably connected to the loading rack 31. When the driving connection part 41 does not move to the maximum position within the activity space, the working tool assembly 30 can rotate and move up and down relative to the robot body 103 according to the height of the working surface to adapt to the unevenness of the working surface. Compared with the working tool assembly 30 being directly fixed to the robot body 103, the contact area between the working tool 32 and the working surface can be increased.

[0113] In some embodiments, please refer to Figure 4 and Figure 5The loading frame 31 is provided with a connection hole 311, which forms an active space. The drive connection part 41 is inserted into the active space of the connection hole 311. Two opposing first limiting surfaces 311a are provided on the upper and lower sides of the active space. The drive connection part 41 is provided with two back-to-back and spaced-apart second limiting surfaces 411a. Each first limiting surface 311a is opposite to each second limiting surface 411a, and the distance between the two first limiting surfaces 311a is greater than the distance between the two second limiting surfaces 411a.

[0114] The opening of the connecting hole 311 can face upwards or towards a first direction. The first direction can be any direction perpendicular to the vertical direction, but is not limited to it.

[0115] The shape of the connecting hole 311 can be, but is not limited to, circular, square, or polygonal.

[0116] For example, the opening of the connecting hole 311 is arranged facing upwards. The driving connecting part 41 includes a first connecting part 411 and a second connecting part 412 connected to the first connecting part 411. The connection position of the first connecting part 411 and the second connecting part 412 forms a second limiting surface 411a. Along the direction perpendicular to the movement direction of the driving connecting part 41, the cross-sectional area of ​​the first connecting part 411 is larger than the cross-sectional area of ​​the second connecting part 412. The end of the first connecting part 411 serves as another limiting surface. The structure of the connecting hole 311 with its opening facing the first direction is similar to that of the structure with its opening facing upwards. The difference is that when the connecting hole 311 is arranged facing upwards, the driving connecting part 41 is inserted into the connecting hole 311 from the top. When the opening of the connecting hole 311 faces the first direction, the driving connecting part 41 is inserted into the connecting hole 311 from the first direction.

[0117] It is understood that the drive connection part 41 can be the drive end of the aforementioned electric actuator, electric cylinder, or electro-hydraulic actuator, or it can be a separate component of the drive mechanism 40 and fixedly connected to the drive end of the aforementioned electric actuator, electric cylinder, or electro-hydraulic actuator. No specific limitation is made here.

[0118] The first limiting surface 311a and the second limiting surface 411a can be, but are not limited to, a plane, a conical surface or a curved surface, and no specific limitation is made here.

[0119] The connecting hole 311 has two first limiting surfaces 311a within its movable space, and the drive connecting part 41 has two second limiting surfaces 411a. The distance between the two first limiting surfaces 311a is greater than the distance between the two second limiting surfaces 411a. When the drive connecting part 41 moves upward, when one of the second limiting surfaces 411a contacts one of the first limiting surfaces 311a, the drive mechanism 40 can provide an upward pulling force, causing the second limiting surface 411a to act on the first limiting surface 311a, thus subjecting the working tool assembly 30 to an upward pulling force. This can reduce the contact between the working tool assembly 30 and the first limiting surface 311a. The pressure on the working surface; similarly, when the drive connection part 41 moves downward, the second limiting surface 411a acts on the first limiting surface 311a, and the drive mechanism 40 can provide downward pressure to the working tool assembly 30, increasing the pressure between the working tool assembly 30 and the working surface; when neither of the two second limiting surfaces 411a is in contact with the two first limiting surfaces 311a, the working tool assembly 30 can adapt to the unevenness of the working surface, which can increase the contact area between the working tool assembly 30 and the working surface compared to the working tool assembly 30 being directly fixed to the robot body 103.

[0120] In some embodiments, please refer to Figure 3 The floating device also includes a first connector 23, a second connector 33, and an elastic element 50. The first connector 23 is disposed on the support 10, the second connector 33 is disposed on the loading frame 31, and the elastic element 50 is compressed between the first connector 23 and the second connector 33, and the compression direction of the elastic element 50 is the same as the vertical direction.

[0121] The elastic element 50 can be, but is not limited to, a cylindrical compression spring, a conical compression spring, etc.

[0122] For example, if the robot is a cleaning robot, the tools in the working tool assembly 30 can be a roller brush or a wiping cloth, and the elastic element 50 can increase the pressure of the roller brush or wiping cloth, thereby achieving a better cleaning effect on the ground.

[0123] For example, if the robot is a wall painting robot, it can maintain a predetermined pressure between the roller brush and the wall without setting an elastic element 50. If the contact force between the roller brush and the wall is too small, it may cause the roller brush to contact the wall in a localized area, resulting in uneven paint application.

[0124] The downward elastic force of the elastic member 50 acting on the working tool assembly 30 is S. When the driving connection portion 41 moves upward to the maximum position within the active space, if F1 < G + S, the pressure of the working tool assembly 30 on the working surface is F, and F = G + S - F1. By increasing the acting force of the driving mechanism 40 on the working tool assembly 30, the force F can be reduced. When F1 > G + S, the working tool assembly 30 is lifted by the driving mechanism 40. During the process of the acting tool assembly 30 being lifted upward, since the elastic force S gradually increases, at this time, the acting force of the driving mechanism 40 on the working tool assembly 30 also increases, so that the working tool assembly 30 can be lifted to a predetermined position.

[0125] When the driving connection portion 41 moves downward to the maximum position within the active space, F = G + S + F2. By increasing the acting force of the driving mechanism 40 on the working tool assembly 30, the force F can be increased.

[0126] Through the setting of the elastic member 50, the pressure between the working tool assembly 30 and the working surface can be increased, so as to increase the pressure between the working tool assembly 30 and the working surface, make the tools of the working tool assembly 30 fully contact with the working surface, so that when the driving connection portion 41 does not move upward and downward to the maximum position within the active space, there is sufficient pressure to adapt to the unevenness of the working surface, make the tools fully contact with the working surface, and enable the working tool assembly 30 to have a better processing effect on the working surface.

[0127] In some embodiments, please refer to Figure 3 , the guiding structure 20 includes a guide rod 21 and a sliding member 22: Among them, the guide rod 21 is vertically arranged on the bracket 10, an elastic member 50 is sleeved on the guide rod 21, and the first connecting member 23 is located at one end of the guide rod 21 far from the working tool assembly 30; the sliding member 22 is slidably arranged on the guide rod 21 in the vertical direction, the sliding member 22 is connected to the second connecting member 33 on the loading rack 31, and the elastic force of the elastic member 50 acts on the bracket 10 and the second connecting member 33.

[0128] It can be understood that the vertical direction is the same as the length direction of the guide rail.

[0129] The connection between the sliding member 22 and the second connecting member 33 on the loading rack 31 means that they are relatively fixed and cannot move relative to each other. Exemplarily, the sliding member 22 and the second connecting member 33 can be detachably connected, or can be welded, etc., and no specific limitation is made here.

[0130] The elastic force of the elastic member 50 acting on the bracket 10 and the sliding member 22 can be realized through various structures.

[0131] Exemplarily, a boss is provided at one end of the guide rod 21 far from the working tool assembly 30, and both ends of the elastic member 50 abut against the boss of the guide rod 21 and the sliding member 22.

[0132] For example, the elastic force of the elastic element 50 can act on the bracket 10 and the sliding element 22, or the two ends of the elastic element 50 can abut against the boss of the guide rod 21 and the second connecting member 33.

[0133] For example, the guide rod 21 can be a smooth rod, with both ends of the guide rod 21 fixed to the bracket 10. Both ends of the elastic member 50 can be connected to the bracket 10 and the sliding member 22. Both ends of the elastic member 50 can also be connected to the bracket 10 and the aforementioned connecting plate.

[0134] The elastic force of the elastic element 50 can be applied to the bracket 10 and the sliding element 22 in different ways. Different structures can be reasonably changed according to actual needs, and no specific limitation is made here.

[0135] The elastic element 50 is sleeved on the guide rod 21, which not only enables the working tool assembly 30 to move up and down relative to the bracket 10, but also provides downward elastic force for the working tool assembly 30. At the same time, it avoids the trouble of installing the elastic element 50 separately, making the structure simpler and more compact.

[0136] By replacing the guide rod 21 with a guide rail, and the slider 22 with a slider, and the elastic element 50 can be connected to the slider and the slider 22 or the connecting plate, another structure of the guide structure 20 can be obtained.

[0137] In some embodiments, please refer to Figure 2 and Figure 3 The floating device also includes a pressure sensor 60, which is disposed at the end of the elastic member 50 away from the working tool assembly 30. The end of the elastic member 50 away from the working tool assembly 30 is abutted against the pressure detection end of the pressure sensor 60.

[0138] The pressure sensor 60 can detect the elastic force of the elastic element 50. Combined with the weight of the working tool assembly 30, the pressure between the working tool assembly 30 and the working surface can be calculated. Based on the real-time feedback of the pressure, the pressure between the working tool assembly 30 and the working surface can be adjusted.

[0139] In some embodiments, please refer to Figure 2 and Figure 3 The floating device also includes a damping element 70, which is mounted on the guide rod 21 and located at the end of the elastic element 50 near the working tool assembly 30. The end of the elastic element 50 near the working tool assembly 30 is abutted against the damping element 70.

[0140] The damping element 70 can be, but is not limited to, a rubber pad, a polyurethane pad, an airbag, or a liquid-filled bladder.

[0141] The damping element 70 can be a ring structure, which can be, but is not limited to, a circular ring, a square ring, a polygonal ring, etc., and is not specifically limited here.

[0142] When the working surface is uneven, the damping component 70 can absorb elastic potential energy, which can make the working tool assembly 30 work more smoothly, avoid the elastic potential energy being released too quickly, and benefit the vibration of the floating device in the activity space.

[0143] In some embodiments, please refer to Figure 1 and Figure 2 The guide structure 20 also includes a connector 23, through which the guide rod 21 is connected to the bracket 10.

[0144] The shape of connector 23 is not specifically limited here and can be reasonably set according to actual usage requirements.

[0145] The connector 23 can connect the guide rod 21 to the bracket 10, which facilitates the assembly and disassembly of the guide rod 21 on the bracket 10.

[0146] In some embodiments, please refer to Figure 1 The floating device also includes an obstacle recognition device 80, which is mounted on the working tool assembly 30 or the support 10 and is used to identify obstacles in the direction of the robot's movement.

[0147] The obstacle recognition device 80 can monitor the robot's working status in real time, and can overcome obstacles when they appear in front of the robot.

[0148] The obstacle recognition device 80 can be, but is not limited to, obstacle avoidance radar, visual sensors, etc.

[0149] In some embodiments, the floating device further includes a material sensor 90, which is disposed on the working tool assembly 30 or the support 10, for identifying the material of the working surface.

[0150] The material sensor 90 can detect the material of the working surface. When applied to a cleaning robot, it can adjust the pressure between the working surface and the tool assembly 30 according to the material. For example, when the working surface is detected as carpet, and the roller brush cannot clean it, the drive mechanism 40 can lift the tool assembly. In a lawnmower robot, the material sensor 90 can identify the lawn and adjust the height of the tool assembly 30 off the ground. If the lawn is not detected, it means that the lawnmower robot has moved out of the lawn, and the drive mechanism 40 can lift the mowing tool.

[0151] In some embodiments, please refer to Figure 1 The floating device also includes a dirt sensor 110, which is mounted on the work tool assembly 30 or the bracket 10, for detecting the degree of dirt on the work surface.

[0152] The dirt sensor 110 can detect the degree of dirt on the working surface. When applied to a cleaning robot, it can clean the working surface according to the degree of dirt.

[0153] For example, the material sensor 90, dirt sensor 110, obstacle recognition device 80, and pressure sensor 60 are all communicatively connected to the robot's controller 104. The robot's controller 104 is electrically connected to the aforementioned drive mechanism 40. Taking an electric push rod as an example, the controller 104 can be electrically connected to the electrodes of the electric push rod. The controller 104 can adjust the pressure between the working tool assembly 30 and the working surface based on the material of the working surface detected by the material sensor 90, the degree of dirtiness of the working surface detected by the dirt sensor 110, and the pressure detected by the pressure sensor 60. Multiple preset dirt value preset ranges can be set for different materials of the working surface. Each dirt value preset range corresponds to a preset pressure value. The controller 104 can calculate the pressure value between the working tool assembly 30 and the working surface based on the elasticity value detected by the pressure sensor 60, and determine whether the preset pressure value corresponding to the dirt value is equal to the pressure value. When they are not equal, the controller 104 can drive the drive mechanism 40 to move up and down to adjust the pressure value to the preset pressure value corresponding to the dirt value.

[0154] According to an embodiment of the present invention, a robot is provided, including the above-described floating device.

[0155] Since the robot includes the features of the first aspect of the floating device, the effect is the same as described above, and will not be repeated here.

[0156] In some embodiments, the robot is a cleaning robot, which includes a body 103, a support 10 rotatably connected to the body 103, and the rotation axes of the two are the same as the walking direction of the body 103.

[0157] Specifically, the body 103 may include a chassis, and the bracket 10 may be rotatably connected to the chassis. A shell may be installed on the chassis, and the bracket 10 may also be rotatably connected to the shell. The connection position between the bracket 10 and the body 103 can be reasonably set according to actual needs, and is not specifically limited here.

[0158] The robot is a cleaning robot that cleans the work surface (the surface of the object to be cleaned). The first aspect of the floating device can adjust the pressure between the working tool component 30 and the work surface to ensure a better cleaning effect for uneven work surfaces and different levels of dirt.

[0159] In some embodiments, please refer to Figure 8The robot also includes a dirt sensor 110, a material sensor 90, and a controller 104. The dirt sensor 110 is mounted on the working tool assembly 30 or the support 10 and is used to detect the degree of dirt on the working surface. The pressure sensor 60 is used to collect the elasticity of the working tool assembly 30. The material sensor 90 is mounted on the working tool assembly 30 or the support 10 and is used to identify the material of the working surface. The dirt sensor 110, the pressure sensor 60, and the material sensor 90 are all communicatively connected to the controller 104. The controller 104 calculates the pressure value between the working surface and the working tool assembly 30 based on the elasticity and determines whether to adjust the pressure between the working surface and the working tool assembly 30 based on the material information, the dirt value, and the pressure value.

[0160] The controller 104 is electrically connected to the drive mechanism 40 and is used to control the up and down movement of the drive connection part 41 of the drive mechanism 40 and to control the magnitude of the driving force of the drive connection part 41.

[0161] The pressure sensor 60 can calculate the pressure value between the working surface and the working tool assembly 30 based on the elastic force detected by the pressure sensor 60, the weight of the working tool assembly 30, and the force exerted by the drive mechanism 40 on the working tool assembly 30. For example, the force exerted by the drive mechanism 40 on the working tool assembly 30 can be determined based on the magnitude of the driving force output by the drive mechanism 40. Taking an electric actuator as an example, the motor of the electric actuator can be a servo motor, which can control the output torque, and thus control the magnitude of the output driving force. A torque sensor can also be added to the motor of the electric actuator, and the output force of the electric actuator can be calculated through conversion. The output force of the drive mechanism 40 can be achieved in various ways, and no specific limitation is made here.

[0162] The controller 104 can determine whether to adjust the pressure between the working surface and the working tool assembly 30 based on the material, degree of dirtiness, and pressure of the working surface. For example, different materials of the working surface are provided with multiple preset dirtiness value preset ranges, and each preset dirtiness value preset range is provided with a preset pressure value. Based on the preset dirtiness value preset range corresponding to the current dirtiness value of the working surface, the controller can determine whether the pressure value between the current working surface and the working tool assembly 30 is equal to the preset pressure value. If the two are not equal, the current pressure value can be adjusted to be equal to the preset pressure value. If the two are not equal, the current pressure value between the working surface and the working tool assembly 30 can be maintained.

[0163] In some embodiments of the present invention, please refer to Figure 8 The robot also includes an obstacle recognition device 80 that is communicatively connected to the controller 104. The obstacle recognition device 80 is used to identify obstacles in the direction of the robot's travel. The controller 104 is also used to control the working tool assembly 30 to lift upwards based on the obstacles on the working surface.

[0164] The robot's direction of travel can be referenced. Figure 6 The direction shown is B.

[0165] The obstacle recognition device 80 may be, but is not limited to, a camera, a visual sensor, or an obstacle avoidance radar.

[0166] Specifically, the controller 104 can control the drive mechanism 40 to lift the working tool assembly 30 upwards if there are obstacles on the working surface, such as in front of the cleaning robot, so that the height of the working tool assembly 30 is higher than the height of the obstacle. For example, the height to which the working tool assembly 30 is raised is the limit position of the upward movement of the drive connection part 41 of the drive mechanism 40, or a preset height value can be set for the drive connection part 41 to control the height of the upward movement of the working tool assembly 30.

[0167] The obstacle recognition device 80 can identify whether there are obstacles on the working surface. When there are obstacles on the working surface, such as thresholds, the controller 104 controls the working tool assembly 30 to lift upwards, which can prevent the working tool assembly 30 from being stuck by the obstacle.

[0168] Please refer to Figure 9 According to an embodiment of the present invention, a robot control method is proposed, which controls the robot as described above. The control method includes:

[0169] Obtain material information of the working surface, dirt level of the working surface, and pressure value between the working surface and the working tool assembly 30;

[0170] The decision to adjust the pressure between the working surface and the tool assembly 30 is based on material information, dirt level, and pressure value.

[0171] For example, the controller 104 can obtain the pressure value calculated by the pressure sensor 60, the material information collected by the material sensor 90, and the dirt value collected by the dirt sensor 110. The controller 104 determines whether to adjust the pressure value between the working surface and the working tool assembly 30 based on the material information, dirt value and pressure value.

[0172] By adjusting the pressure between the working surface and the tool assembly 30 based on material information, dirt level, and pressure value, different preset pressure values ​​can be set according to the material and degree of dirtiness. Adjusting the pressure between the working surface and the tool assembly 30 to the preset pressure value achieves a better cleaning effect for working surfaces of different materials.

[0173] In some embodiments, please refer to Figure 10 Based on material information, dirt level, and pressure value, determine whether to adjust the pressure value between the working surface and the tool assembly 30, including:

[0174] Obtain a preset dirt value range corresponding to different material information, and a preset pressure value corresponding to the preset dirt value range;

[0175] When the dirt value is within the preset dirt value range and the pressure value is equal to the preset pressure value, maintain the pressure value between the working surface and the working tool assembly 30;

[0176] When the dirt value is within the preset dirt value range and the pressure value is not equal to the preset pressure value, adjust the pressure value between the working surface and the working tool assembly 30 to the preset pressure value.

[0177] Corresponding preset dirt value ranges are provided for different material information, and corresponding preset pressure values are provided for the preset dirt value ranges. It can be referred to Table 1 below. Table 1 shows the preset dirt substance range corresponding to a certain material information, and the preset pressure value corresponding to the preset dirt value range.

[0178] Table 1

[0179] preset dirt value interval preset pressure value [0，a] f1 (a, b] f2 (b, c] f3 (b, d] f4

[0180] In Table 1, 0 < a < b < c < d. One or more preset dirt value ranges can be set as needed. When there is only one preset dirt value range, the constant pressure operation of the cleaning robot is achieved, that is, the pressure between the working tool assembly 30 and the working surface remains constant. When there are multiple preset dirt value ranges, the pressure between the working tool assembly 30 and the working surface can be adjusted according to the preset pressure value corresponding to the preset dirt value range in Table 1 corresponding to the actually detected dirt value of the working surface until the pressure value between the working tool assembly 30 and the working surface is equal to the preset pressure value.

[0181] Since the pressure value may be within a fluctuating range when the cleaning robot is working, there may be a certain deviation from the preset pressure value when actually adjusting the pressure value. It can be understood that if the pressure value is equal to %p of the preset pressure value, where p is a positive number, then the pressure value F is considered equal to the preset pressure value f. It is also possible to set an upper deviation A1 and a lower deviation A2 of the preset pressure value. When the pressure value F is within the upper deviation A1 and the lower deviation A2 of the preset pressure value, both A1 and A2 are positive numbers greater than zero, and A2 < A1, then the pressure value is considered equal to the preset pressure value, that is, when f - A2 < F < f + A1, the pressure value is considered equal to the preset pressure value. The advantage of using this limitation is to avoid the driving mechanism 40 from repeatedly adjusting the working tool assembly 30.

[0182] Since different materials require different surface pressures for the same level of dirt, different materials have corresponding preset dirt value ranges, and preset dirt value ranges have corresponding preset pressure values. By adjusting the pressure between the working surface and the working tool assembly 30 according to the preset pressure value, better cleaning results can be achieved for working surfaces of different materials.

[0183] In some embodiments, please refer to Table 1 above to set multiple preset dirt value ranges, and set a preset pressure value for each preset dirt value range.

[0184] Multiple preset dirt levels allow for better and more efficient cleaning of the work surface. The dirt level can be categorized into four grades: very dirty, moderately dirty, medium dirty, and lightly dirty. Each grade corresponds to one of four preset dirt level ranges, with the preset pressure decreasing sequentially for each range. If the work surface is very dirty, higher pressure is required for cleaning. In this case, the cleaning robot can perform multiple cleaning cycles. Each cleaning cycle adjusts the preset pressure based on the detected dirt level. Different preset pressures allow for different walking speeds, thus improving cleaning efficiency. Alternatively, the same walking speed can be used with varying cleaning cycles; no specific limitation is made here.

[0185] The pressure between the working surface and the tool assembly 30 can be adjusted to match the preset pressure value based on the dirt level within a preset dirt value range. This allows for better cleaning effect and efficiency of the working surface based on the degree of dirt.

[0186] In some embodiments, please refer to Figure 11 The control methods also include:

[0187] Detect whether there are obstacles in the direction the robot is traveling;

[0188] Determine whether the robot can cross obstacles based on the presence of obstacles on the work surface;

[0189] Based on the robot's ability to overcome obstacles,

[0190] Control the work tool component 30 to move upwards and above the height of the obstacle.

[0191] The system detects whether there are obstacles in the robot's direction of travel. Specifically, visual sensors or cameras can be used to detect the area in front of the robot. When an obstacle is found, its size can be identified, such as with a 3D camera. Alternatively, the size of the obstacle can be calculated based on image recognition technology, which is existing technology and will not be elaborated on here.

[0192] Whether a robot can cross an obstacle can be determined by the height of the bottom of the robot's chassis from the working surface. If the height of the obstacle is less than the height of the bottom of the robot's chassis from the working surface, the robot can cross the obstacle. In this case, the working tool assembly 30 can be lifted upwards, specifically by controlling the drive mechanism 40 to lift the working tool assembly 30 upwards. If the height of the obstacle is greater than the height of the bottom of the robot's chassis from the working surface, the robot cannot cross the obstacle. In this case, the robot can be controlled to turn around the obstacle.

[0193] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A floating device for a robot, characterized in that, include: A bracket for rotatably connecting to the robot's body; A guide structure is provided on the bracket; A work tool assembly includes a loading frame and a work tool disposed on the loading frame, the loading frame being slidably connected to the guide structure in a vertical direction, and the work tool assembly being configured to move relative to the work surface when working on the work surface; A drive mechanism is mounted on the bracket, and the drive mechanism has a drive connection portion; The working tool assembly is configured to be able to move up and down relative to the guide structure and / or rotate around the rotation axis between the bracket and the machine body when the working surface is uneven; The loading frame has an active space for the drive connection part to move up and down. The loading frame has a connection hole, which forms the active space. The drive connection part is inserted into the active space of the connection hole. Two opposing first limiting surfaces are spaced apart on the upper and lower sides of the active space. The drive connection part has two back-to-back and spaced second limiting surfaces. Each first limiting surface is opposite to each second limiting surface, and the distance between the two first limiting surfaces is greater than the distance between the two second limiting surfaces.

2. The floating device according to claim 1, characterized in that, The floating device also includes: The drive connection is movably connected to the loading frame, and the drive mechanism is used to drive the working tool assembly to move up and down.

3. The floating device according to claim 1, characterized in that, The drive mechanism includes any one of an electric actuator, an electric cylinder, an electro-hydraulic actuator, or a linear module.

4. The floating device according to any one of claims 1-3, characterized in that, The floating device also includes: A first connector is disposed on the bracket; A second connecting member is provided on the loading frame; An elastic element is compressed between the first connector and the second connector, and the compression direction of the elastic element is the same as the vertical direction.

5. The floating device according to claim 4, characterized in that, The guiding structure includes: A guide rod is vertically mounted on the bracket, and the elastic element is sleeved on the guide rod. The first connecting member is located on the guide rod at the end away from the working tool assembly. A sliding member is slidably disposed on the guide rod in a vertical direction. The sliding member is connected to the second connecting member on the loading frame. The elastic force of the elastic member acts on the bracket and the second connecting member.

6. The floating device according to claim 5, characterized in that, The floating device also includes a pressure sensor, which is disposed at the end of the elastic element away from the working tool assembly, and the end of the elastic element away from the working tool assembly is abutted against the pressure detection end of the pressure sensor.

7. The floating device according to claim 5, characterized in that, The floating device also includes: A damping element is inserted through the guide rod and located at the end of the elastic element near the working tool assembly. The end of the elastic element near the working tool assembly abuts against the damping element.

8. The floating device according to claim 1, characterized in that, The floating device also includes an obstacle recognition device, which is mounted on the working tool assembly or the support frame and is used to identify obstacles in the robot's direction of travel. And / or, the floating device further includes a material sensor, which is disposed on the working tool assembly or the support, for identifying the material of the working surface; And / or, the floating device further includes a dirt sensor, disposed on the work tool assembly or the support, for detecting the degree of dirt on the work surface.

9. A robot, characterized in that, Includes the floating device as described in any one of claims 1-5, 7 or 8.

10. A robot, characterized in that, Includes the floating device as described in claim 6.

11. The robot according to claim 10, wherein the robot is a cleaning robot, characterized in that, The cleaning robot also includes a body, and the bracket is rotatably connected to the body, with the rotation axis of both being in the same direction as the walking direction of the cleaning robot.

12. The robot according to claim 11, characterized in that, The robot also includes: A dirt sensor, mounted on the work tool assembly or the support, is used to detect the degree of dirt on the work surface; A material sensor, mounted on the work tool assembly or the support, is used to identify the material of the work surface; The controller is connected in communication with the dirt sensor, the pressure sensor and the material sensor respectively. The controller calculates the pressure value between the working surface and the working tool assembly based on the elasticity, and determines whether to adjust the pressure between the working surface and the working tool assembly based on the material information identified by the material sensor, the dirt value of the dirtiness and the pressure value.

13. The robot according to claim 12, characterized in that, The robot also includes an obstacle recognition device that is communicatively connected to the controller. The obstacle recognition device is used to identify obstacles in the direction of travel of the robot. The controller is also used to control the working tool assembly to lift upwards based on the obstacles on the working surface.

14. A method for controlling a robot, said method controlling the robot as described in claim 12 or 13, characterized in that, The control method includes: Obtain the material information of the working surface, the dirt level of the working surface, and the pressure value; Based on the material information, the dirt level, and the pressure value, determine whether to adjust the pressure value between the working surface and the working tool assembly.

15. The control method according to claim 14, characterized in that, The step of determining whether to adjust the pressure between the working surface and the tool assembly based on the material information, the dirt level, and the pressure level includes: Obtain a preset dirt value range corresponding to different material information, and a preset pressure value corresponding to the preset dirt value range; Based on the dirt value being within the preset dirt value range, and the pressure value being equal to the preset pressure value, the pressure value between the working surface and the working tool assembly is maintained. Based on the dirt value being within the preset dirt value range, and the pressure value not being equal to the preset pressure value, the pressure value between the working surface and the working tool assembly is adjusted to the preset pressure value.

16. The control method according to claim 15, characterized in that, Multiple preset dirt value ranges are set, and a preset pressure value is set for each preset dirt value range.

17. The control method according to claim 14, characterized in that, The control method further includes: Detect whether there are obstacles in the direction the robot is traveling; Based on the presence of obstacles on the work surface, determine whether the robot can cross the obstacles; The robot is capable of crossing the obstacles. Control the work tool assembly to move upwards and above the height of the obstacle.

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