Cleaning robot gravity center control method and device and cleaning robot

Abstract

The invention provides a cleaning robot gravity center control method and device and a cleaning robot. The method comprises the steps that current posture data of the cleaning robot are acquired; judging whether the cleaning robot needs to adjust the positions of the first box body and the second box body or not according to the posture data; and if adjustment is needed, calculating the machine stress at the current preset positions corresponding to the first box body and the second box body through a preset algorithm based on the first liquid level of the first box body and the second liquid level of the second box body, and calculating the machine stress corresponding to other preset positions at the same time. Then selecting a preset position with the minimum stress of the machine as a target position, wherein the first liquid level is not equal to the second liquid level; and controlling the first box body and the second box body to rotate to the target position so as to change the gravity center position of the cleaning robot. The stability and safety of the cleaning robot in different working states can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to a cleaning robot gravity center control method, device and cleaning robot. Background Art

[0002] Cleaning robots are used to automate floor cleaning tasks. They can autonomously sense the environment, plan paths and clean the floor to reduce manual labor and improve cleaning efficiency.

[0003] However, there are some problems with the box structure of the cleaning robot. First, when the cleaning robot is driving on a sloped ground, the center of gravity of the cleaning robot will change due to the change in the liquid level of the water tank in the cleaning robot, resulting in an unstable state, which will cause the cleaning robot to tilt or overturn, thus affecting its stability and normal operation. Secondly, during the operation of the cleaning robot, for example, the consumption of clean water and sewage will cause the weight of the box to change. Especially during the acceleration and deceleration process, the change in the weight of the box will cause the center of gravity of the cleaning robot to change, making the posture of the cleaning robot more difficult to control, which will increase the risk of the cleaning robot tipping over or becoming unstable. Summary of the invention

[0004] The present invention provides a cleaning robot gravity center control method, device and cleaning robot, which are used to solve the problem of how to control the unstable gravity center of the cleaning robot.

[0005] In a first aspect, the present invention provides a method for controlling the center of gravity of a cleaning robot, which is applied to a cleaning robot, wherein the cleaning robot comprises at least one rotatable box and a positioning device for fixing the box at any preset position, each positioning device corresponding to a preset position, and the at least one rotatable box comprises a first box and a second box. The method for controlling the center of gravity of the cleaning robot comprises:

[0006] Acquiring current posture data of the cleaning robot;

[0007] Determining whether the positions of the first box and the second box need to be adjusted according to the posture data;

[0008] If adjustment is required, the machine forces at the current preset positions corresponding to the first box and the second box are calculated by a preset algorithm based on the first weight of the first box and the second weight of the second box, and the machine forces corresponding to other preset positions are calculated, and the preset position with the smallest machine force is used as the target position, wherein the first weight is not equal to the second weight;

[0009] The first box body and the second box body are controlled to rotate to the target position to change the center of gravity position of the cleaning robot.

[0010] In an embodiment of the present application, determining whether the positions of the first box and the second box need to be adjusted according to the posture data includes:

[0011] Determining the operating state of the cleaning robot according to the posture data;

[0012] If it is detected that the inclination angle of the cleaning robot is greater than a first threshold, determining that the motion state of the cleaning robot is on a slope;

[0013] If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is greater than the second threshold value, it is determined that the motion state of the cleaning robot is an acceleration operation;

[0014] If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is less than the second threshold value, it is determined that the motion state of the cleaning robot is a deceleration operation;

[0015] If it is detected that the cleaning robot receives a rotation operation instruction, it is determined that the motion state of the cleaning robot is a rotation operation.

[0016] In an embodiment of the present application, judging whether it is necessary to adjust the positions of the first box and the second box according to the posture data further includes:

[0017] If the operating state of the cleaning robot is on a slope, accelerating, decelerating, or rotating, and the absolute value of the difference between the first weight and the second weight is greater than a third threshold, it is determined that the positions of the first box and the second box need to be adjusted.

[0018] In an embodiment of the present application, the calculating of the machine forces at the current preset positions corresponding to the first box and the second box by a preset algorithm based on the first weight of the first box and the second weight of the second box, and the calculating of the machine forces corresponding to other preset positions, and taking the preset position with the smallest machine force as the target position includes:

[0019] Acquire a first liquid level of the first tank and a second liquid level of the second tank;

[0020] calculating the first weight according to the first liquid level and calculating the second weight according to the second liquid level;

[0021] If it is determined that the motion state of the cleaning robot is on a slope, then calculating the machine forces at the current preset positions corresponding to the first box and the second box and calculating the machine forces corresponding to other preset positions;

[0022] The calculation formula of the machine force at the current preset position is as follows:

[0023]

[0024] f1 represents the force on the machine at the current preset position, m1 represents the first weight, m2 represents the second weight, g represents the acceleration of gravity, θ represents the slope angle, Δμ1 represents the change in gravitational potential energy of the first weight at the current preset position, and Δμ2 represents the change in gravitational potential energy of the second weight at the current preset position.

[0025] In one embodiment of the present application, controlling the first box and the second box to rotate to the target position includes:

[0026] Calculating a difference between the current preset position and the target position;

[0027] Calculate the control amount according to the difference to obtain the control parameter;

[0028] According to the control parameters, the motors associated with the first box and the second box are controlled to operate, so as to control the first box and the second box to rotate to the target position through the motors.

[0029] In an embodiment of the present application, the control amount is calculated according to the difference to obtain the control parameter, which includes:

[0030] Calculate the control amount according to the difference and a preset proportional-integral-differential algorithm to obtain the control parameter;

[0031] Wherein, the calculation formula of the control parameter is:

[0032]

[0033] u(t) represents the control parameter output by the controller, K p represents the proportionality constant, T t represents the integration time constant, T D represents the differential time constant, e(t) represents the difference between the target position and the current position, represents the derivative of e(t) with respect to time t.

[0034] In an embodiment of the present application, controlling the first box and the second box to rotate to the target position further includes:

[0035] If the center of gravity of the cleaning robot is biased toward the side with a high liquid level, the first box body and the second box body are controlled to rotate away from the side with a high liquid level to change the center of gravity of the cleaning robot.

[0036] In one embodiment of the present application, controlling the first box and the second box to rotate to the target position includes:

[0037] If the cleaning robot is on a slope, the box with a higher liquid level in the first box and the second box is controlled to rotate to a first position and the box with a lower liquid level is controlled to rotate to a second position, so as to change the center of gravity position of the cleaning robot, wherein the first position is higher than the second position along the slope direction.

[0038] In one embodiment of the present application, controlling the first box and the second box to rotate to the target position includes:

[0039] If the cleaning robot rotates to the left and the box with a higher liquid level in the first box and the second box is located on the right side of the box with a lower liquid level, the box with a higher liquid level is controlled to rotate to the left side of the box with a lower liquid level to change the center of gravity position of the cleaning robot;

[0040] If the cleaning robot rotates right and the box with higher liquid level in the first box and the second box is located to the left of the box with lower liquid level, the box with higher liquid level is controlled to rotate to the right of the box with lower liquid level to change the center of gravity position of the cleaning robot.

[0041] In a second aspect, the present application further provides a cleaning robot center of gravity control device, the device comprising:

[0042] An acquisition module, used to acquire current posture data of the cleaning robot;

[0043] A judgment module, used for judging whether the positions of the first box and the second box need to be adjusted according to the posture data;

[0044] a calculation module, configured to calculate, if adjustment is required, based on a first weight of the first box and a second weight of the second box, the machine forces at current preset positions corresponding to the first box and the second box by a preset algorithm and the machine forces at other preset positions, and to take the preset position at which the machine forces are the smallest as the target position, wherein the first weight is not equal to the second weight;

[0045] A control module is used to control the first box body and the second box body to rotate to the target position to change the center of gravity position of the cleaning robot.

[0046] In a third aspect, the present application further provides a cleaning robot, which is used to execute the cleaning robot center of gravity control method as described in any one of the first aspects.

[0047] In one embodiment of the present application, the cleaning robot includes a base and a first box and a second box configured on the base, the first box and the second box are both independent boxes and are integrally enclosed to form a cylindrical shape.

[0048] In one embodiment of the present application, the base is also configured with a motor and at least one positioning device, and the first box and the second box open the positioning device under the action of the motor, and then control the positioning device to close when rotating to the target position to lock the first box and the second box.

[0049] In one embodiment of the present application, a cross-sectional shape of the baffle between the first box body and the second box body is S-shaped or straight-shaped.

[0050] In one embodiment of the present application, the positioning device is a movable buckle.

[0051] The present invention provides a method, device and cleaning robot for controlling the center of gravity of a cleaning robot. The method first obtains the current posture data of the cleaning robot, and determines whether the positions of the first box and the second box need to be adjusted according to the posture data; if adjustment is required, the machine forces at the current preset positions corresponding to the first box and the second box are calculated by a preset algorithm, and the machine forces corresponding to other preset positions are calculated at the same time. Then, the preset position with the smallest machine force is selected as the target position. Finally, the first box and the second box are controlled to rotate so that they reach the target position, thereby changing the center of gravity position of the cleaning robot.

[0052] Therefore, the present application is used to solve the problem that the cleaning robot may lose balance due to the offset of the center of gravity during work, resulting in reduced work efficiency or overturning of the robot. By dynamically adjusting the position of the box to change the center of gravity position, the robot's stable state can be maintained in real time, thereby improving the working efficiency and safety of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 is a flow chart of the cleaning robot center of gravity control method provided by the present invention;

[0055] Figure 2 is a flow chart of a method for controlling the center of gravity of a cleaning robot provided by an embodiment of the present invention;

[0056] Figure 3 is a front view of the box structure provided by an embodiment of the present invention;

[0057] Figure 4 is a top view of the box structure provided by an embodiment of the present invention;

[0058] Figure 5 is a cross-sectional view of a box structure provided by an embodiment of the present invention;

[0059] Figure 6 It is a structural schematic diagram of the cleaning robot center of gravity control method provided by the present invention. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0062] During the operation of the cleaning robot, the change of the liquid level in the box will affect the center of gravity of the robot, which may cause the cleaning robot to be unstable.

[0063] In order to solve the problem of how to control the unstable center of gravity of a cleaning robot, the present invention provides a method, device and cleaning robot for controlling the center of gravity of a cleaning robot. The method first obtains the current posture data of the cleaning robot, and determines whether the cleaning robot needs to adjust the position of the first box and the second box according to the posture data. If adjustment is required, based on the liquid level of the first box and the liquid level of the second box, a preset algorithm is used to calculate the machine force corresponding to the current position and the position corresponding to the minimum force to determine the target position. Finally, the center of gravity position of the cleaning robot is changed by controlling the first box and the second box to rotate to the target position.

[0064] Therefore, the present application can control the center of gravity position of the cleaning robot by sensing and adjusting the position of the box in real time and by calculating and controlling the rotation of the box, thereby improving the stability and safety of the cleaning robot in different working conditions.

[0065] Combine the following Figure 1-Figure 6 The present invention describes a cleaning robot gravity center control method, device and cleaning robot.

[0066] Please refer to Figure 1 , Figure 1The flowchart of the center-of-gravity control method of the cleaning robot provided by the present invention. A method for controlling the center-of-gravity of a cleaning robot is applied to a cleaning robot, wherein the cleaning robot comprises at least one rotatable box and a positioning device for fixing the box at any preset position, each positioning device corresponds to a preset position, the at least one rotatable box comprises a first box and a second box, and the method for controlling the center-of-gravity of the cleaning robot comprises:

[0067] Step 101, obtaining the current posture data of the cleaning robot.

[0068] Exemplarily, the posture data may be acquired through a posture sensor of the cleaning robot, and the posture data may include any one or a partial / all combination of the following data:

[0069] Position: represents the coordinate position of the cleaning robot in space.

[0070] Posture: Indicates the direction and angle of the cleaning robot in space.

[0071] Acceleration: Indicates the acceleration of the cleaning robot on each axis, which can be used to determine the motion state and posture changes of the cleaning robot.

[0072] Speed: Indicates the speed of the cleaning robot on each axis, which can be used to analyze the motion trajectory and speed of the cleaning robot.

[0073] Angular velocity: It indicates the rotation speed of the cleaning robot on each axis and is used to describe the rotational motion of the cleaning robot.

[0074] Posture stability: By calculating data such as position, acceleration and angular velocity, the posture stability of the cleaning robot is evaluated to determine whether the center of gravity needs to be adjusted.

[0075] For example, the cleaning robot can obtain these posture data through sensors, gyroscopes, accelerometers and other devices, and perform center of gravity control based on these data.

[0076] Step 102: determine whether the positions of the first box and the second box need to be adjusted according to the posture data.

[0077] In this step, it is determined whether the position of the box needs to be adjusted in order to achieve the center of gravity control of the cleaning robot. The adjustment of the center of gravity position is very important for the stability and operation ability of the cleaning robot. By judging the current posture data, for example, analyzing whether the tilt of the cleaning robot is at risk of tipping over. If the center of gravity of the robot is found to be unstable or biased to one side, corresponding measures need to be taken to adjust the position of the box to change the center of gravity position.

[0078] It should be noted that the first tank body may be a clean water tank body, and the second tank body may be a sewage tank body, and vice versa. Therefore, the present application does not limit the functions of the first tank body and the second tank body.

[0079] Step 103, if adjustment is required, the machine forces at the current preset positions corresponding to the first box and the second box are calculated through a preset algorithm based on the first weight of the first box and the second weight of the second box, and the machine forces corresponding to other preset positions are calculated, and the preset position with the smallest machine force is used as the target position, wherein the first weight is not equal to the second weight.

[0080] Specifically, by obtaining the first liquid level of the first tank and the second liquid level of the second tank, the liquid level difference between the two tanks can be obtained. Then, based on the preset position of the current cleaning robot, the machine force corresponding to the preset position and the machine forces corresponding to other preset positions are calculated using a preset algorithm, and the preset position with the smallest machine force is used as the target position.

[0081] It should be noted that each preset position corresponds to a positioning device, and the target position is also one of the preset positions. The positioning device can be used to fix the box at the target position.

[0082] Through this step, the optimal target position can be calculated according to the preset algorithm, so as to guide the box to rotate to the target position to achieve the adjustment and control of the center of gravity position of the cleaning robot, which helps to improve the stability of the cleaning robot, reduce the risk of tipping, and enable the cleaning robot to better adapt to different working environments and terrains.

[0083] Exemplarily, the preset algorithm is a predetermined and set calculation method for performing corresponding calculation and decision-making processes according to specific input data and requirements. Specifically, the preset algorithm is used to calculate the machine force corresponding to the current position and the position corresponding to the minimum force. The preset algorithm will vary depending on the design and requirements of the cleaning robot.

[0084] The following is an example of one of the preset algorithms:

[0085] First, the liquid level difference between the two tanks is calculated according to the first liquid level of the first tank and the second liquid level of the second tank.

[0086] Then, based on the current position and the liquid level difference, the force applied to the machine at that position is calculated through mathematical models or mechanical principles, which may include gravity, inertia, etc.

[0087] For example, based on the posture data of the current position (such as pitch, roll, and yaw), the gravity exerted on the cleaning robot is calculated.

[0088] Next, the preset algorithm will calculate the preset position that minimizes the force on the cleaning robot based on these force data as the target position. The preset position can make the center of gravity of the cleaning robot as stable as possible and reduce the risk of tipping over or instability.

[0089] For example, the total force on the cleaning robot at the current preset position and other preset positions can be calculated by comprehensively considering the effects of all machine forces, and the preset position with the least force can be found as the target position through numerical calculation or optimization algorithm.

[0090] Finally, the first box body and the second box body are controlled to rotate and adjust to the target position to change the center of gravity position of the cleaning robot.

[0091] The above is only an example of one of the preset algorithms. The algorithm in actual application may be more complex and depends on the specific design and requirements of the cleaning robot. This application does not specifically limit the preset algorithm. The goal of the preset algorithm is to achieve center of gravity control and stability improvement of the cleaning robot through calculation and decision-making, and it can automatically update and adapt according to different input data and working environment to meet the movement and operation requirements of the cleaning robot.

[0092] It should be noted that the first liquid level and the second liquid level are not equal, which means that the liquid levels in the two boxes need to be different in order to effectively control the center of gravity position of the cleaning robot.

[0093] Step 104 , controlling the first box body and the second box body to rotate to the target position to change the center of gravity position of the cleaning robot.

[0094] Specifically, the first box and the second box are controlled to rotate so as to move to the target position obtained above. In this process, the rotation of the box can change the center of gravity position of the bottom of the cleaning robot, thereby adjusting the center of gravity position. This process can be achieved by controlling the motor in the cleaning robot. For example, after the controller of the cleaning robot calculates the control parameters, it can send instructions to the motor according to the control parameters to control the rotation of the box, thereby changing the center of gravity position of the cleaning robot.

[0095] In summary, the present application can realize the center of gravity control of the cleaning robot under different working conditions, so as to improve the stability, balance and operational ability of the cleaning robot, and ensure that it can complete the task safely and efficiently during the working process.

[0096] The above steps 101 to 104 are described in detail below.

[0097] In some embodiments of the present application, in the above step 102, judging whether the positions of the first box and the second box need to be adjusted according to the posture data includes:

[0098] Step 1021: Determine the operating status of the cleaning robot according to the posture data.

[0099] Exemplarily, the operating state may include any one of being on a slope, accelerating operation, decelerating operation, and rotating operation.

[0100] Exemplarily, on a slope refers to the state when the cleaning robot moves on an inclined or steep ground. In this case, the cleaning robot needs to take into account the influence of the slope of the ground on its center of gravity and take corresponding measures to maintain stable movement.

[0101] Exemplarily, the acceleration operation refers to an operation in which the cleaning robot increases its speed during normal operation. In the acceleration operation, the cleaning robot needs to adapt to higher speed and mechanical movement by adjusting the center of gravity.

[0102] Exemplarily, the deceleration operation refers to an operation in which the cleaning robot reduces its speed during normal operation. In the deceleration operation, the cleaning robot also needs to adjust its center of gravity to ensure stability and balance during the deceleration process.

[0103] Exemplarily, the rotation operation refers to the operation of the cleaning robot turning, such as changing direction or turning. In the rotation operation, the cleaning robot also needs to adjust the center of gravity to ensure that it can maintain balance and stability during the turning process.

[0104] These different operating states require the cleaning robot to have corresponding control and stability performance to cope with various working scenarios and environmental requirements. By properly adjusting the center of gravity, the cleaning robot can achieve stable operation on slopes, acceleration operation, deceleration operation and rotation operation, and effectively complete the cleaning task.

[0105] Step 1022: If it is detected that the inclination angle of the cleaning robot is greater than a first threshold, it is determined that the movement state of the cleaning robot is on a slope.

[0106] It should be noted that if an acceleration operation, a deceleration operation or a rotation operation is performed simultaneously on a slope, it can be determined that the movement state of the cleaning robot is on a slope.

[0107] Step 1023: If it is detected that the inclination angle of the cleaning robot is less than the first threshold value and the wheel speed change is greater than the second threshold value, it is determined that the motion state of the cleaning robot is an acceleration operation.

[0108] Step 1024: if it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is less than the second threshold value, it is determined that the motion state of the cleaning robot is a deceleration operation.

[0109] Step 1025: If it is detected that the cleaning robot receives a rotation operation instruction, it is determined that the motion state of the cleaning robot is a rotation operation.

[0110] By detecting the different parameter values ​​in the above steps 1022 to 1025, and comparing and judging in combination with the preset thresholds, the current motion state of the cleaning robot can be determined, including on a slope, accelerating operation, decelerating operation or rotating operation, etc. This helps to control and optimize the movement and behavior of the robot to adapt to different work scenarios and task requirements.

[0111] It should be noted that in addition to determining the motion state by detecting the current posture data of the cleaning robot, the current motion state of the cleaning robot can also be determined directly by the type of control instruction received. For example, if the cleaning robot receives an instruction to go up a slope, the motion state of the cleaning robot is determined to be going up a slope.

[0112] In some embodiments of the present application, in the above step 102, judging whether the cleaning robot needs to adjust the positions of the first box and the second box according to the posture data further includes:

[0113] Step 1026, if the operating state of the cleaning robot is on a slope, accelerating operation, decelerating operation, and rotating operation, and the absolute value of the difference between the first weight and the second weight is greater than the third threshold, it is determined that the cleaning robot needs to adjust the position of the first box and the second box.

[0114] It should be noted that the first weight refers to the weight of the liquid in the first tank, and the second weight refers to the weight of the liquid in the second tank. For example, if the first tank contains clean water and the second tank contains sewage, the first weight refers to the weight of the clean water and the second weight refers to the weight of the sewage.

[0115] Specifically, the cleaning robot may be driving on a slope, accelerating or decelerating forward, or performing a rotation operation. These operating states indicate that the cleaning robot is working in different motion modes. By monitoring the liquid level difference between the first box and the second box, if the absolute value of the difference exceeds a preset third threshold value, indicating that the liquid level difference between the two boxes is large, it is determined that the robot needs to adjust the position of the first box and the second box. Adjusting the box position can help change the center of gravity of the cleaning robot, thereby improving its stability and balance in various working states.

[0116] In some embodiments of the present application, in the above step 103, based on the first liquid level of the first tank and the second liquid level of the second tank, the machine forces at the current preset positions corresponding to the first tank and the second tank are calculated by a preset algorithm, and the machine forces corresponding to other preset positions are calculated, and the preset position with the smallest machine force is used as the target position, including:

[0117] Step 1031, obtaining a first liquid level and a second liquid level, and calculating a first weight of the first tank body according to the first liquid level and calculating a second weight of the second tank body according to the second liquid level.

[0118] For example, the liquid level information of the first box can be obtained by a liquid level sensor configured in the first box, and the liquid level information of the second box can be obtained by a liquid level sensor configured in the second box. Then, the weights of the two boxes, namely the first weight and the second weight, can be calculated according to a preset algorithm.

[0119] Step 1032: If it is determined that the motion state of the cleaning robot is on a slope, the machine forces at the current preset positions corresponding to the first box and the second box are calculated, and the machine forces corresponding to other preset positions are calculated.

[0120] The calculation formula of the machine force at the current preset position is as follows:

[0121]

[0122] f1 represents the force on the machine at the current preset position, m1 represents the first weight, m2 represents the second weight, g represents the acceleration of gravity, θ represents the slope angle, Δμ1 represents the change in gravitational potential energy of the first weight at the current preset position, and Δμ2 represents the change in gravitational potential energy of the second weight at the current preset position.

[0123] It should be noted that when moving on a slope, the effect of the slope inclination angle θ on the force on the machine needs to be considered. In order to calculate the force on the machine at the current preset position, it is necessary to decompose the gravity into a component parallel to the slope and a component perpendicular to the slope, and then consider the change in gravitational potential energy caused by the weight and position changes of the first water tank and the second water tank. The change in gravitational potential energy refers to the difference in gravitational potential energy caused by the change in height between different positions of an object. The change in gravitational potential energy can be calculated using the preset gravitational potential energy formula.

[0124] In the above steps 1031 to 1032, the machine force at the current preset position and the machine force at other preset positions are calculated to determine the preset position corresponding to the minimum force, and the preset position corresponding to the minimum force is used as the target position, so that the positions of the first box body and the second box body can be further adjusted according to the target position, so as to realize the adjustment and control of the center of gravity position of the cleaning robot and improve the stability and balance of the cleaning robot on the slope.

[0125] In addition, for acceleration operation, deceleration operation and rotation operation, the following steps can be used to compare the machine force at the current preset position and the machine force at other preset positions to determine the preset position corresponding to the minimum force:

[0126] Step 1033, obtaining a first liquid level and a second liquid level, and calculating a first weight of the first box body according to the first liquid level, and calculating a second weight of the second box body according to the second liquid level.

[0127] Step 1034, perform different calculations according to the motion state:

[0128] Acceleration operation: Assume that the cleaning robot needs to be accelerated. In this case, the acceleration will generate an additional force. In addition to the inertial force, the additional acceleration force needs to be considered. For example, the overall weight of the cleaning robot can be calculated based on the weight of the first box and the second box, and then multiplied by the acceleration to calculate the total force on the cleaning robot.

[0129] Deceleration operation: However, during the deceleration operation, the deceleration will generate an additional force. Similarly, for example, the overall weight of the cleaning robot can be calculated based on the weight of the first box and the second box, and then multiplied by the deceleration to calculate the total force on the cleaning robot.

[0130] Rotation operation: Rotation operation involves turning or rotating the cleaning robot. In this case, the rotation torque and rotation force of the cleaning robot need to be considered. For example, the overall weight of the cleaning robot can be calculated based on the weight of the first box and the second box, and then the total force on the cleaning robot during rotation can be calculated based on the specific rotation situation.

[0131] Step 1035, based on the calculated total force of the cleaning robot at each preset position, numerical calculation or optimization algorithm can be used to determine the preset position with the minimum force as the target position.

[0132] This step involves finding the appropriate rotation angle or position to determine the target position with the least force. According to the preset algorithm, the difference between the target position and the current preset position can also be calculated, and adjustments can be made accordingly to achieve a balanced and stable motion state.

[0133] It should be noted that in actual applications, the specific calculation method and algorithm will vary depending on the specific design type and system requirements of the cleaning robot. In order to accurately calculate the machine force at the current position and the position corresponding to the minimum force, it is necessary to combine the physical model, sensor data and control algorithm for comprehensive analysis and calculation. Therefore, this application does not limit the preset algorithm.

[0134] In some embodiments of the present application, in the above step 104, controlling the first box and the second box to rotate to the target position includes:

[0135] Step 1041, calculating the difference between the current preset position and the target position.

[0136] Specifically, by comparing the current preset position and the target position, the difference between them is calculated. This difference may include a difference in position coordinates or an angle, depending on the design and motion mode of the cleaning robot.

[0137] Step 1042, calculate the control amount according to the difference to obtain the control parameter.

[0138] Specifically, the difference is input into the controller of the cleaning robot to calculate corresponding control parameters. These control parameters may include current, voltage or other forms of control signals for adjusting the motors driving the first box and the second box.

[0139] Exemplarily, the control amount can be calculated according to the difference and a preset proportional integral differential algorithm to obtain the control parameter. For example, the control parameter output by the controller can be calculated using the following calculation formula:

[0140]

[0141] u(t) represents the control parameter output by the controller, K p represents the proportionality constant, T t represents the integration time constant, T D represents the differential time constant, e(t) represents the difference between the target position and the current position, represents the derivative of e(t) with respect to time t.

[0142] Step 1042: Control the operation of the motor associated with the first box and the second box according to the control parameters, so as to control the first box and the second box to rotate to the target position through the motor.

[0143] Specifically, the calculated control parameters are transmitted to the motor configured for the cleaning robot, and by adjusting the output signal of the motor, the rotation of the first box and the second box can be controlled so that they gradually approach and reach the target position to achieve stable and precise position control.

[0144] In some embodiments of the present application, the cleaning robot center of gravity control method of the present invention further includes: if the first weight of the first box is equal to the second weight of the second box, there is no need to adjust the positions of the first box and the second box.

[0145] That is to say, if the first weight of the first box is equal to the second weight of the second box, the position of the center of gravity thereof will not change no matter how the positions of the first box and the second box are adjusted.

[0146] An embodiment is provided below to illustrate the process of the above cleaning robot gravity center control method. This embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. The same parts and beneficial effects of this embodiment as those of the above method embodiment will not be described in detail here.

[0147] Please refer to Figure 2 , Figure 2 1 is a flow chart of a method for controlling the center of gravity of a cleaning robot provided by an embodiment of the present invention. A method for controlling the center of gravity of a cleaning robot comprises:

[0148] Step 201, obtaining the current posture data of the cleaning robot.

[0149] Step 202: determine whether the positions of the first box and the second box need to be adjusted according to the posture data.

[0150] If necessary, execute step 203; otherwise, end the operation.

[0151] Step 203: Acquire a first liquid level of the first tank and a second liquid level of the second tank.

[0152] Step 204 , determining whether the absolute value of the difference between the first liquid level and the second liquid level is greater than a third threshold.

[0153] If yes, execute step 205; otherwise, end the operation.

[0154] Step 205, using a preset algorithm, calculate the machine forces at the current preset positions corresponding to the first box and the second box, and calculate the machine forces corresponding to other preset positions, and use the preset position with the smallest machine force as the target position.

[0155] Step 206: Control the first box and the second box to rotate to a target position through a motor to change the center of gravity position of the cleaning robot.

[0156] Based on the above cleaning robot gravity center control method, the following application scenarios are provided. These application scenarios describe the impact of different box arrangements and position inclinations on the overall force of the cleaning robot:

[0157] Application scenario 1:

[0158] If the first box and the second box are arranged in a left-right manner, and the corresponding first liquid level and second liquid level are not equal, the cleaning robot will be biased toward the side with a higher liquid level. This is because the gravity of the liquid will cause the box on the side with a higher liquid level to produce a greater gravity, so that the overall force is biased toward that side. Therefore, the first box and the second box can be controlled to rotate away from the side with a higher liquid level to change the center of gravity of the cleaning robot.

[0159] At this time, if the cleaning robot is walking upwards to clean the inclined ground, the motor can be controlled to rotate according to the liquid levels of the first box and the second box, and the box on the side with the higher liquid level can be rotated to the front side. Correspondingly, the box on the side with the lower liquid level can be rotated to the back side. In this way, the center of gravity of the cleaning robot can be shifted forward, thereby reducing the force on the rear part and reducing the risk of tipping over, so that the cleaning robot remains stable.

[0160] Application scenario 2:

[0161] If the first box and the second box are arranged in a front-to-back manner, and the corresponding first liquid level and second liquid level are not equal, the cleaning robot will lean toward the side with a higher liquid level. This is because the gravity of the liquid will cause the box on the side with a higher liquid level to generate a greater gravity, so that the overall force is biased toward that side. The first box and the second box can also be controlled to rotate away from the side with a higher liquid level to change the center of gravity of the cleaning robot.

[0162] At this time, if the cleaning robot is located on a slope, the tilt of the tank liquid level will cause a heavier force to be applied to the rear. In this case, placing the heavier tank (i.e., the tank with a higher liquid level between the first and second liquid levels) at the front side can shift the center of gravity of the cleaning robot forward, thereby reducing the force applied to the rear and the risk of tipping, thereby keeping the cleaning robot stable.

[0163] Application scenario three:

[0164] The first box and the second box of the cleaning robot are arranged in a left-right manner, and the first liquid level corresponding to the first box is higher than the second liquid level corresponding to the second box. Therefore, the first box is heavier than the second box. If the cleaning robot rotates to the right at this time, since the first box is heavier than the second box, if it rotates directly, the cleaning robot will be subjected to a large centrifugal force and will tip over. Therefore, before the rotation, the center of gravity control method of the present application is used to control the motor to rotate and drive the first box to rotate to the right side of the second box, and then the cleaning robot rotates to the right again, which will reduce the centrifugal force and ensure the stability of the cleaning robot.

[0165] Application scenario 4:

[0166] The first box and the second box of the cleaning robot are arranged in a left-right manner, and the second liquid level corresponding to the second box is higher than the first liquid level corresponding to the first box. Therefore, the second box is heavier than the first box. If the cleaning robot rotates to the left at this time, since the second box is heavier than the first box, if it rotates directly, the cleaning robot will be subjected to a large centrifugal force and will tip over. Therefore, before rotating, the center of gravity control method of the present application is used to control the motor to rotate and drive the second box to rotate to the left side of the first box, and then the cleaning robot rotates to the left again, which will reduce the centrifugal force and ensure the stability of the cleaning robot.

[0167] In summary, the force applied to the cleaning robot can be affected by adjusting the position and center of gravity of the box, so that the cleaning robot has better balance and stability. Choosing a suitable box arrangement and adjusting the position and center of gravity of the box according to the specific situation can reduce the risk of the cleaning robot tipping over, reduce its overall force, and improve stability during rotation.

[0168] In some embodiments of the present application, the present application also provides a cleaning robot, which is used to execute the cleaning robot center of gravity control method described in any of the above embodiments.

[0169] For example, please refer to Figure 3 , Figure 4 as well as Figure 5 , Figure 3 is a front view of the box structure provided by an embodiment of the present invention, Figure 4 is a top view of the box structure provided by an embodiment of the present invention, Figure 5 2 is a cross-sectional view of a box structure provided by an embodiment of the present invention. The cleaning robot comprises a base 30 and a box 40 disposed on the base 30. The box 40 comprises a first box 401 and a second box 402, and the first box 401 and the second box 402 are both independent boxes and are enclosed as a whole to form a cylindrical shape.

[0170] For example, Figure 4 As shown, the cross-sectional shape of the baffle 403 between the first box 401 and the second box 402 is a straight line, and such a design can make the volume of the first box 401 equal to the volume of the second box 402. However, the present application can also set it to an S-shape or other shapes so that the volume of the first box 401 and the volume of the second box 402 are not equal.

[0171] For example, the base is provided with a motor 50 and at least one positioning device 60, the number of which can be set according to actual needs, and the present application does not limit this. The positioning device 60 is used to reduce the force on the motor and enhance the relative stability of the box.

[0172] Exemplarily, the positioning device 60 may be a movable buckle, or other limiting component that can be opened and closed.

[0173] Exemplarily, the first box body 401 and the second box body 402 open the positioning device 60 under the action of the motor 50 , and then when the positioning device 60 is rotated to the target position, it is controlled to close to lock the first box body 401 and the second box body 402 .

[0174] That is to say, after the motor 50 is powered on, it can control the rotation of the first box body 401 and the second box body 402. First, the positioning device 60 is controlled to leave the current position, and then rotate to the positioning device 60 corresponding to the target position, and then the positioning device 60 corresponding to the target position is used to lock the first box body 401 and the second box body 402, and finally the power supply of the motor 50 is turned off.

[0175] It should be noted that the connection between the first box body 401 and the second box body 402 is a hard connection, so the first box body 401 and the second box body 402 can be locked at the same time by a positioning device 60 to prevent the first box body 401 and the second box body 402 from rotating.

[0176] The cleaning robot gravity center control device provided by the present invention is described below. The cleaning robot gravity center control device described below and the cleaning robot gravity center control method described above can be referenced to each other.

[0177] Please refer to Figure 6 , Figure 6 600 is a structural diagram of a cleaning robot gravity center control device provided by the present invention. The cleaning robot gravity center control device 600 includes an acquisition module 601, a judgment module 602, a calculation module 603 and a control module 604.

[0178] Exemplarily, the acquisition module 601 is used for:

[0179] Acquire the current posture data of the cleaning robot.

[0180] Exemplarily, the determination module 602 is used to:

[0181] Determine whether the positions of the first box and the second box need to be adjusted according to the posture data.

[0182] Exemplarily, the calculation module 603 is used for:

[0183] If adjustment is required, the machine forces at the current preset positions corresponding to the first box and the second box are calculated based on the first weight of the first box and the second weight of the second box through a preset algorithm, as well as the machine forces corresponding to other preset positions, and the preset position with the smallest machine force is used as the target position, wherein the first weight is not equal to the second weight.

[0184] Exemplarily, the control module 604 is used to:

[0185] The first box body and the second box body are controlled to rotate to the target position to change the center of gravity position of the cleaning robot.

[0186] Exemplarily, the determination module 602 is further configured to:

[0187] Determining the operating state of the cleaning robot according to the posture data;

[0188] If it is detected that the inclination angle of the cleaning robot is greater than a first threshold, determining that the motion state of the cleaning robot is on a slope;

[0189] If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is greater than the second threshold value, it is determined that the motion state of the cleaning robot is an acceleration operation;

[0190] If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is less than the second threshold value, it is determined that the motion state of the cleaning robot is a deceleration operation;

[0191] If it is detected that the cleaning robot receives a rotation operation instruction, it is determined that the motion state of the cleaning robot is a rotation operation.

[0192] Exemplarily, the determination module 602 is further configured to:

[0193] If the operating state of the cleaning robot is on a slope, accelerating, decelerating, or rotating, and the absolute value of the difference between the first weight and the second weight is greater than a third threshold, it is determined that the positions of the first box and the second box need to be adjusted.

[0194] Exemplarily, the calculation module 603 is further used for:

[0195] Acquire a first liquid level of the first tank and a second liquid level of the second tank;

[0196] calculating the first weight according to the first liquid level and calculating the second weight according to the second liquid level;

[0197] If it is determined that the motion state of the cleaning robot is on a slope, then calculating the machine forces at the current preset positions corresponding to the first box and the second box and calculating the machine forces corresponding to other preset positions;

[0198] The calculation formula of the machine force at the current preset position is as follows:

[0199]

[0200] f1 represents the force on the machine at the current preset position, m1 represents the first weight, m2 represents the second weight, g represents the acceleration of gravity, θ represents the slope angle, Δμ1 represents the change in gravitational potential energy of the first weight at the current preset position, and Δμ2 represents the change in gravitational potential energy of the second weight at the current preset position.

[0201] Exemplarily, the control module 604 is further configured to:

[0202] Calculating a difference between the current preset position and the target position;

[0203] Calculate the control amount according to the difference to obtain the control parameter;

[0204] According to the control parameters, the motors associated with the first box and the second box are controlled to operate, so as to control the first box and the second box to rotate to the target position through the motors.

[0205] Exemplarily, the control module 604 is further configured to:

[0206] Calculate the control amount according to the difference and a preset proportional-integral-differential algorithm to obtain the control parameter;

[0207] Wherein, the calculation formula of the control parameter is:

[0208]

[0209] u(t) represents the control parameter output by the controller, K p represents the proportionality constant, T t represents the integration time constant, T D represents the differential time constant, e(t) represents the difference between the target position and the current position, represents the derivative of e(t) with respect to time t.

[0210] Exemplarily, the control module 604 is further configured to:

[0211] If the center of gravity of the cleaning robot is biased toward the side with a high liquid level, the first box body and the second box body are controlled to rotate away from the side with a high liquid level to change the center of gravity of the cleaning robot.

[0212] Exemplarily, the control module 604 is further configured to:

[0213] If the cleaning robot is on a slope, the box with a higher liquid level in the first box and the second box is controlled to rotate to a first position and the box with a lower liquid level is controlled to rotate to a second position, so as to change the center of gravity position of the cleaning robot, wherein the first position is higher than the second position along the slope direction.

[0214] Exemplarily, the control module 604 is further configured to:

[0215] If the cleaning robot rotates to the left and the box with a higher liquid level in the first box and the second box is located on the right side of the box with a lower liquid level, the box with a higher liquid level is controlled to rotate to the left side of the box with a lower liquid level to change the center of gravity position of the cleaning robot;

[0216] If the cleaning robot rotates right and the box with higher liquid level in the first box and the second box is located to the left of the box with lower liquid level, the box with higher liquid level is controlled to rotate to the right of the box with lower liquid level to change the center of gravity position of the cleaning robot.

[0217] It should be noted here that the above-mentioned cleaning robot center of gravity control device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0218] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the center of gravity of a cleaning robot, characterized in that: Applied to a cleaning robot, the cleaning robot comprises at least one rotatable box and a positioning device for fixing the box at any preset position, each positioning device corresponds to a preset position, the at least one rotatable box comprises a first box and a second box, and the center of gravity control method of the cleaning robot comprises: Acquiring current posture data of the cleaning robot; Determining whether the positions of the first box and the second box need to be adjusted according to the posture data; If adjustment is required, the machine forces at the current preset positions corresponding to the first box and the second box are calculated by a preset algorithm based on the first weight of the first box and the second weight of the second box, and the machine forces corresponding to other preset positions are calculated, and the preset position with the smallest machine force is used as the target position, wherein the first weight is not equal to the second weight; The first box body and the second box body are controlled to rotate to the target position to change the center of gravity position of the cleaning robot.

2. The method for controlling the center of gravity of a cleaning robot according to claim 1, characterized in that: The determining whether the positions of the first box and the second box need to be adjusted according to the posture data includes: Determining the operating state of the cleaning robot according to the posture data; If it is detected that the inclination angle of the cleaning robot is greater than a first threshold, determining that the motion state of the cleaning robot is on a slope; If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is greater than the second threshold value, it is determined that the motion state of the cleaning robot is an acceleration operation; If it is detected that the inclination angle of the cleaning robot is less than the first threshold value, and the wheel speed change is less than the second threshold value, it is determined that the motion state of the cleaning robot is a deceleration operation; If it is detected that the cleaning robot receives a rotation operation instruction, it is determined that the motion state of the cleaning robot is a rotation operation.

3. The method for controlling the center of gravity of a cleaning robot according to claim 2, characterized in that: Determining whether the positions of the first box and the second box need to be adjusted according to the posture data further includes: If the operating state of the cleaning robot is on a slope, accelerating, decelerating, or rotating, and the absolute value of the difference between the first weight and the second weight is greater than a third threshold, it is determined that the positions of the first box and the second box need to be adjusted.

4. The method for controlling the center of gravity of a cleaning robot according to claim 3, characterized in that: The step of calculating the machine forces at the current preset positions corresponding to the first box and the second box by a preset algorithm based on the first weight of the first box and the second weight of the second box, and calculating the machine forces corresponding to other preset positions, and taking the preset position with the smallest machine force as the target position includes: Acquire a first liquid level of the first tank and a second liquid level of the second tank; calculating the first weight according to the first liquid level and calculating the second weight according to the second liquid level; If it is determined that the motion state of the cleaning robot is on a slope, then calculating the machine forces at the current preset positions corresponding to the first box and the second box and calculating the machine forces corresponding to other preset positions; The calculation formula of the machine force at the current preset position is as follows: f1 represents the force on the machine at the current preset position, m1 represents the first weight, m2 represents the second weight, g represents the acceleration of gravity, θ represents the slope angle, Δμ1 represents the change in gravitational potential energy of the first weight at the current preset position, and Δμ2 represents the change in gravitational potential energy of the second weight at the current preset position.

5. The method for controlling the center of gravity of a cleaning robot according to claim 1, characterized in that: Controlling the first box and the second box to rotate to the target position includes: Calculating a difference between the current preset position and the target position; Calculate the control amount according to the difference to obtain the control parameter; According to the control parameters, the motors associated with the first box and the second box are controlled to operate, so as to control the first box and the second box to rotate to the target position through the motors.

6. The method for controlling the center of gravity of a cleaning robot according to claim 5, characterized in that: The control amount is calculated according to the difference to obtain the control parameter, which includes: Calculate the control amount according to the difference and a preset proportional-integral-differential algorithm to obtain the control parameter; Wherein, the calculation formula of the control parameter is: u(t) represents the control parameter output by the controller, K p represents the proportionality constant, T t represents the integration time constant, T D represents the differential time constant, e(t) represents the difference between the target position and the current position, represents the derivative of e(t) with respect to time t.

7. The method for controlling the center of gravity of a cleaning robot according to claim 1, characterized in that: The controlling the first box and the second box to rotate to the target position further comprises: If the center of gravity of the cleaning robot is biased toward the side with a high liquid level, the first box body and the second box body are controlled to rotate away from the side with a high liquid level to change the center of gravity of the cleaning robot.

8. The method for controlling the center of gravity of a cleaning robot according to claim 1, characterized in that: The controlling the first box and the second box to rotate to the target position comprises: If the cleaning robot is on a slope, the box with a higher liquid level in the first box and the second box is controlled to rotate to a first position and the box with a lower liquid level is controlled to rotate to a second position, so as to change the center of gravity position of the cleaning robot, wherein the first position is higher than the second position along the slope direction.

9. The method for controlling the center of gravity of a cleaning robot according to claim 1, characterized in that: The controlling the first box and the second box to rotate to the target position comprises: If the cleaning robot rotates to the left and the box with a higher liquid level in the first box and the second box is located on the right side of the box with a lower liquid level, the box with a higher liquid level is controlled to rotate to the left side of the box with a lower liquid level to change the center of gravity position of the cleaning robot; If the cleaning robot rotates right and the box with higher liquid level in the first box and the second box is located to the left of the box with lower liquid level, the box with higher liquid level is controlled to rotate to the right of the box with lower liquid level to change the center of gravity position of the cleaning robot.

10. A cleaning robot gravity center control device, characterized in that: The device comprises: An acquisition module, used to acquire current posture data of the cleaning robot; A judgment module, used for judging whether the positions of the first box and the second box need to be adjusted according to the posture data; a calculation module, configured to calculate, if adjustment is required, based on a first weight of the first box and a second weight of the second box, the machine forces at current preset positions corresponding to the first box and the second box by a preset algorithm and the machine forces at other preset positions, and to take the preset position at which the machine forces are the smallest as the target position, wherein the first weight is not equal to the second weight; A control module is used to control the first box body and the second box body to rotate to the target position to change the center of gravity position of the cleaning robot.

11. A cleaning robot, characterized in that: The cleaning robot is used to execute the cleaning robot center of gravity control method according to any one of claims 1 to 9.

12. The cleaning robot according to claim 11, characterized in that: The cleaning robot comprises a base and a first box body and a second box body arranged on the base. The first box body and the second box body are both independent boxes and are integrally enclosed to form a cylindrical shape.

13. The cleaning robot according to claim 12, characterized in that: The base is also provided with a motor and at least one positioning device. The first box body and the second box body open the positioning device under the action of the motor, and then control the positioning device to close to lock the first box body and the second box body when they are rotated to the target position.

14. The cleaning robot according to claim 12, characterized in that: The cross-sectional shape of the baffle between the first box body and the second box body is S-shaped or straight-shaped.

15. The cleaning robot according to claim 13, characterized in that: The positioning device is a movable buckle.

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