Cleaning robot

Abstract

The invention discloses a cleaning robot. The cleaning robot comprises a cleaning assembly, a stepping motor, a speed reducer and a transmission control assembly. The stepping motor is connected with the speed reducer, the speed reducer is connected with the transmission control assembly, and the transmission control assembly is connected with the cleaning assembly. Under the condition that the stepping motor rotates, the stepping motor drives the speed reducer to rotate; under the condition that the speed reducer rotates, the speed reducer drives the transmission control assembly to rotate; the transmission control assembly drives the cleaning assembly to move so as to control the distance between the cleaning assembly and the to-be-cleaned face. According to the cleaning robot, the stepping motor drives the speed reducer to rotate, the speed reducer drives the transmission control assembly to rotate, the transmission control assembly controls the cleaning assembly to move so as to change the distance between the cleaning assembly and the to-be-cleaned face, and precise control over the cleaning assembly is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and more specifically, to a cleaning robot. Background Art

[0002] The cleaning robot needs to control the distance between the cleaning components such as the roller brush and the surface to be cleaned through the lifting motor, so that the cleaning components are raised when not in the cleaning state to reduce the wear of the cleaning components. In the cleaning state, the cleaning components are brought into contact with the surface to be cleaned and the pressure of the cleaning components on the surface to be cleaned is adjusted. In the related technology, it is difficult to achieve precise control of the cleaning components. Summary of the invention

[0003] An embodiment of the present invention provides a cleaning robot.

[0004] An embodiment of the present invention provides a cleaning robot, which includes a cleaning component, a stepper motor, a reducer and a transmission control component; the stepper motor is connected to the reducer, the reducer is connected to the transmission control component, and the transmission control component is connected to the cleaning component; when the stepper motor rotates, the stepper motor drives the reducer to rotate; when the reducer rotates, the reducer drives the transmission control component to rotate; the transmission control component drives the cleaning component to move to control the distance between the cleaning component and the surface to be cleaned.

[0005] In this way, the stepper motor drives the reducer to rotate, the reducer drives the transmission control component to rotate, and the transmission control component controls the movement of the cleaning component to change the distance between the cleaning component and the surface to be cleaned. The precision error of the stepper motor will not accumulate, and then the precision amplification control of the step angle can be achieved by cooperating with the reducer, thereby achieving precise control of the cleaning component.

[0006] In some embodiments, the reducer includes a reduction gear box, which is used to connect the stepper motor and the transmission control component, and the rotation speed output by the reduction gear box is lower than the rotation speed of the stepper motor.

[0007] In this way, by connecting the reduction gear box, the stepping angle of the stepper motor can be changed to achieve precise control of the cleaning component, and the torque output of the stepper motor can be increased, so that a stepper motor smaller than the preset size can be used to drive the cleaning component, saving volume space.

[0008] In some embodiments, the transmission control component includes a cam, which is used to connect the reducer and the cleaning component. When the reducer rotates, the reducer drives the cam to rotate; when the cam rotates at different angles, the distance between the cleaning component and the surface to be cleaned changes.

[0009] In this way, the reducer rotates and drives the cam to rotate. When the cam rotates, the cam controls the movement of the cleaning component to change the distance between the cleaning component and the surface to be cleaned, and when the cam rotates at a preset angle, the distance the cleaning component moves is different. The force direction is transmitted through the cam to avoid affecting the installation height of the robot due to the high size of the motor. In addition, by using the cam in conjunction with the stepper motor, various transmission speed settings can be dynamically realized. For example, in the critical stage from the cleaning component to the surface to be cleaned, a small reduction ratio can be achieved through the cam to achieve small torque and high speed to reach the surface to be cleaned; when the cleaning component begins to squeeze and interfere with the surface to be cleaned, a large reduction ratio is achieved through the cam, thereby achieving large torque and low speed control, and smooth and precise control of pressure can be achieved.

[0010] In some embodiments, the cleaning robot also includes a braking component and a control component; the braking component is connected to the stepper motor, and the control component is respectively connected to the stepper motor and the braking component; the control component is used to output a first control signal to control the rotation of the stepper motor so that the cleaning component moves, and after the cleaning component reaches the target position, output a second control signal to control the braking component to brake the stepper motor so that the cleaning component is fixed at the target position.

[0011] Thus, under the control of the control component, when the cleaning component reaches the target position, the brake component works to control the stepper motor to stop working, so that the cleaning component is fixed at the target position, thereby achieving precise control of the cleaning component.

[0012] In some embodiments, the cleaning robot also includes a delay module; the delay module is connected to the control component; the delay module is used to make the stepper motor stop working after the braking component works when the control component outputs the second control signal; the delay module includes a delay capacitor, one end of the delay capacitor is connected to the control component and the stepper motor through a delay resistor, and the other end of the delay capacitor is grounded; when the control component outputs the second control signal, the second control signal is used to control the delay capacitor to discharge, so that the stepper motor can maintain the working state within a preset time length.

[0013] In this way, the delay capacitor of the delay module is charged when receiving the second control signal, so that the stepper motor can maintain the working state within the preset time after the control component outputs the second control signal, so that the stepper motor stops working after the braking component works, avoiding the stepper motor from sliding by itself, so as to ensure that the cleaning component can be fixed at the target position and realize precise control of the cleaning component.

[0014] In some embodiments, the cleaning robot also includes: a braking drive component; the braking drive component is arranged between the control component and the braking component, and is respectively connected to the control component and the braking component; the braking drive component is used to drive the braking component to fix the cleaning component when the control component outputs the second control signal; the braking drive component includes a braking drive switch, and the braking drive switch is used to drive the braking component according to the second control signal output by the control component.

[0015] In this way, the brake drive switch of the brake drive component is controlled under the control of the first control signal and the second control signal to control the operation of the brake component, so that the brake component brakes the stepper motor, thereby achieving precise control of the cleaning component.

[0016] In some embodiments, the brake drive switch includes a first transistor and a second transistor, the gate of the first transistor is connected to the control component, the source of the first transistor is grounded, the drain of the first transistor is connected to the gate of the second transistor and a preset voltage source, the source of the second transistor is connected to the preset voltage source, and the drain of the second transistor is connected to the brake component; when the control component outputs a first control signal, the first transistor is disconnected, and the second transistor is disconnected, so that the brake component does not brake the stepper motor; when the control component outputs a second control signal, the first transistor is turned on to ground the preset voltage source, and the second transistor is turned on, so that the preset voltage source supplies power to the brake component, and the brake component brakes the stepper motor.

[0017] In this way, the brake component is driven to work through the brake drive component, for example, a brake drive switch is used to control the output of a preset voltage source to the brake component, so that the brake component does not work when the control component outputs a first control signal, and the brake component works when the control component outputs a second control signal, thereby achieving precise control of the cleaning component.

[0018] In certain embodiments, the brake assembly includes: an electromagnetic holding brake and / or a first phase line short-circuiting circuit.

[0019] In this way, the control component outputs a first control signal to control the stepper motor to work, thereby moving the cleaning component; the control component outputs a second control signal to control the brake component to work, so that the stepper motor stops working, thereby fixing the cleaning component at the target position, and realizing precise control of the cleaning component. In addition, the first control signal and the second control signal are control signals output by the same output port of the control component to control the stepper motor or the brake component to work. When the output port outputs the first control signal, the stepper motor is controlled to work and the brake component is controlled to stop working; when the output port outputs the second control signal, the stepper motor is controlled to stop working and the brake component is controlled to work, thereby preventing the brake component and the stepper motor from affecting each other's normal work.

[0020] In some embodiments, the cleaning robot also includes: a stepper motor driver; the stepper motor driver is connected to the control component and the stepper motor, and the stepper motor driver is used to drive the stepper motor to rotate when the control component outputs a first control signal; the stepper motor driver includes a driver chip, the driver chip includes an integrated two-way H-bridge, the driver chip includes a control port and an enable port, the power interface of the driver chip is connected to a preset voltage source, the control port is connected to the control component, and receives the first control signal or the second control signal output by the control component, the enable port is connected to the stepper motor, and when the driver chip receives the first control signal, the enable port outputs a drive signal to control the rotation of the stepper motor.

[0021] In this way, the stepper motor is driven to rotate by the driving chip of the stepper motor, thereby moving the cleaning component. The algorithm is easy to implement and the cost is low.

[0022] In some embodiments, the stepper motor includes multiple phase lines, and the cleaning robot also includes a second phase line short-circuit circuit; the second phase line short-circuit circuit is connected to the stepper motor; when the cleaning robot loses power, the second phase line short-circuit circuit brakes the stepper motor to fix the cleaning component; the cleaning robot includes a driving power supply and a driving power supply connection end, the driving power supply supplies power to the stepper motor through the driving power supply connection end, the driving power supply connection end includes a phase line connection end, and the phase line connection end is used to connect to the phase line; the second phase line short-circuit circuit includes a relay, the relay is connected to the phase line connection ends of multiple phase lines of the stepper motor, the relay includes a coil, the first end of the coil is connected to the power supply voltage of the driving power supply, and the second end of the coil is grounded; when the driving power supply loses power, the stepper motor loses power, the coil does not generate a current, so that the relay is closed and the phase line connection ends are short-circuited with each other.

[0023] In this way, the phase line of the stepper motor is short-circuited through the second phase line short-circuiting circuit to generate a reverse electromotive force, which prevents the stepper motor from continuing to rotate, thereby fixing the position of the cleaning component and preventing the cleaning component from being damaged due to unexpected movement.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 is a schematic diagram of a cleaning robot according to an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of a cleaning robot according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of a reducer, a stepper motor and a brake assembly of a cleaning robot according to an embodiment of the present invention;

[0029] Figure 4 is a partial circuit diagram of a cleaning robot according to an embodiment of the present invention;

[0030] Figure 5 Schematic diagram of a driving chip of a cleaning robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The embodiments of the present invention are described in detail below, and the embodiments of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] The cleaning robot needs to control the distance between the cleaning components such as the roller brush and the surface to be cleaned through the lifting motor, so that the cleaning component is lifted when not in the cleaning state to reduce the loss of the cleaning component. In the cleaning state, the cleaning component is in contact with the surface to be cleaned and the pressure of the cleaning component on the surface to be cleaned is adjusted. For example, the cleaning component is a roller brush, and the surface to be cleaned is the ground. When the cleaning robot is walking in the non-cleaning state, the roller brush needs to be raised to a certain height from the ground to avoid the loss caused by the friction between the roller brush and the ground; different roller brushes are required to clean different grounds, and different roller brushes have different requirements for the pressure on the ground, which requires adjusting the height of the roller brush to the ground; after the bristles of the roller brush are worn, the roller brush pressure will become smaller, and the roller brush pressure needs to be adjusted, and the control of the roller brush height involves the complexity, accuracy, power consumption, and cost of control. Since the pressure of the cleaning component on the surface to be cleaned is closely related to the height of the cleaning component, in order to achieve precise control of the pressure of the cleaning component on the surface to be cleaned, it is necessary to improve the control accuracy of the height of the cleaning component. In the related art, it is difficult to achieve precise control of the cleaning component.

[0033] See also Figures 1 to 3 An embodiment of the present invention provides a cleaning robot 100, which includes a cleaning component 10, a stepper motor 20, a reducer 30 and a transmission control component 40; the stepper motor 20 is connected to the reducer 30, the reducer 30 is connected to the transmission control component 40, and the transmission control component 40 is connected to the cleaning component 10; when the stepper motor 20 rotates, the stepper motor 20 drives the reducer 30 to rotate; when the reducer 30 rotates, the reducer 30 drives the transmission control component 40 to rotate; the transmission control component 40 drives the cleaning component 10 to move to control the distance between the cleaning component 10 and the surface to be cleaned.

[0034] Specifically, in the related art, a DC push rod motor or a servo motor is used as the lifting motor of the cleaning component, but due to the low control accuracy of the DC push rod motor, it is easy to cause the pressure of the cleaning component to change too much, so that the motor resistance of the cleaning component is too large and the motor is blocked. At the same time, the PID control algorithm of the DC push rod motor has not reached the required pressure value after multiple oscillations; and the control of the servo motor is relatively complex, requiring a special driver and FOC algorithm, which is costly, large in size, and occupies more space in the cleaning robot. The embodiment of the present invention uses a stepper motor 20 as the lifting motor of the cleaning component 10. Since the step angle of the stepper motor 20 is fixed and the control accuracy is high, the pressure of the cleaning component 10 on the surface to be cleaned can be more accurately controlled by using the stepper motor 20 to control the movement of the cleaning component 10. The step angle of the stepper motor 20 can be 1.8 degrees or 0.9 degrees. The embodiment of the present invention is described with the step angle of the stepper motor 20 being 1.8 degrees. The stepping control of the stepper motor 20 can be achieved through different PWM signal control, and the precision error of the step angle will not accumulate, which is convenient for high-precision control of the cleaning component 10. The cleaning component 10 includes a roller brush, a mop, a side brush, etc. In the embodiment of the present invention, the cleaning component 10 is described as a roller brush. The surface to be cleaned is the surface to be cleaned when the cleaning robot 100 is working, such as the ground, the window plane, the wall, etc. The cleaning robot 100 can be a sweeping robot, a window cleaning robot, etc. The reducer 30 is connected to the stepper motor 20 and rotates with the stepper motor 20. The precision of the step angle of the stepper motor 20 can be amplified by the reducer 30, and then the transmission control component 40 is driven to rotate by the reducer 30 to drive the cleaning component 10 to move, thereby controlling the lifting and lowering of the cleaning component 10, changing the distance between the cleaning component 10 and the surface to be cleaned, and changing the pressure of the cleaning component 10 on the surface to be cleaned.

[0035] Also, see Figure 2 The cleaning robot 100 also includes a transmission assembly 50, which is used to connect the transmission control assembly 40 and the cleaning assembly 10. The transmission assembly 50 conflicts with the outline of the transmission control assembly 40. When the transmission control assembly 40 rotates, the transmission assembly 50 is used to control the movement of the cleaning assembly 10. The transmission assembly 50 is used to convert the rotation of the transmission control assembly 40 into a linear movement in a fixed direction. The transmission assembly 50 includes a connecting rod and two connecting columns. The first point of the connecting rod conflicts with the end of the transmission control assembly 40 away from the cleaning assembly 10. The end points of the connecting rod distributed on both sides of the first point are fixedly connected to the first ends of the two connecting columns respectively. The other ends of the two connecting columns are fixedly connected to the shell of the cleaning assembly 10, and the cleaning assembly 10 is arranged in the shell. When the transmission control assembly 40 drives the transmission assembly 50 to move, the shell of the cleaning assembly 10 moves synchronously with the transmission assembly 50.

[0036] In this way, the stepper motor 20 drives the reducer 30 to rotate, the reducer 30 drives the transmission control component 40 to rotate, and the transmission control component 40 controls the movement of the cleaning component 10 to change the distance between the cleaning component 10 and the surface to be cleaned. The precision error of the stepper motor 20 will not accumulate, and then the precision amplification control of the step angle can be achieved by cooperating with the reducer 30, thereby achieving precise control of the cleaning component 10.

[0037] In some embodiments, the reducer 30 includes a reduction gear box, which is used to connect the stepper motor 20 and the transmission control assembly 40 , and the rotation speed output by the reduction gear box is lower than the rotation speed of the stepper motor 20 .

[0038] Specifically, the reduction ratio of the reduction gearbox can be 1:10. In one embodiment, the step angle of the stepper motor 20 is 1.8 degrees. Then, for every 1.8 degree rotation of the stepper motor 20, the rotation angle output by the reduction gearbox with a reduction ratio of 1:10 is 0.18 degrees, so that the moving distance of the cleaning component 10 can be more finely controlled, thereby realizing PID closed-loop control of the pressure of the cleaning component 10. Moving the cleaning component 10 requires the stepper motor 20 to output a large torque, and the stepper motor 20 that can output a large torque is large in size. By connecting the stepper motor 20 with a reduction gearbox, the torque output of the stepper motor 20 can be increased, so that a smaller stepper motor 20 can be used to drive the cleaning component 10, thereby saving volume space.

[0039] In this way, by connecting the reduction gear box, the stepping angle of the stepper motor 20 can be changed to achieve precise control of the cleaning component 10, and the torque output of the stepper motor 20 can be increased, so that a stepper motor 20 smaller than the preset size can be used to drive the cleaning component 10, saving volume space.

[0040] In some embodiments, the transmission control component 40 includes a cam, which is used to connect the reducer 30 and the cleaning component 10. When the reducer 30 rotates, the reducer 30 drives the cam to rotate; the cam rotates at different angles to change the distance between the cleaning component 10 and the surface to be cleaned.

[0041] Specifically, the stepper motor 20 rotates and drives the reduction gearbox to rotate, and the rotation speed of the reduction gearbox is 0.1 times the rotation speed of the stepper motor 20. The reduction gearbox rotates and drives the cam to rotate, and the cam rotates at the same speed as the reduction gearbox, and drives the cleaning component 10 to move, so as to change the distance between the cleaning component 10 and the surface to be cleaned. For example: after the cleaning component 10 contacts the surface to be cleaned, when the downward pressure distance of the cleaning component 10 gradually increases from 1mm to 2mm, the pressure will increase from 0kg to 5kg. When the cleaning component 10 does not contact the surface to be cleaned, the cam can use a smaller torque to drive the cleaning component 10 to descend quickly, so that the cleaning component 10 contacts the surface to be cleaned; when the cleaning component 10 contacts and squeezes the surface to be cleaned, the cam can use a larger torque to control the cleaning component 10 to press down slowly, so as to achieve smooth control of the pressure of the cleaning component 10. In one embodiment, the cleaning component 10 is a cleaning component 10. When the cleaning component 10 is 6 mm away from the surface to be cleaned, the position of the cam is the origin, the cam rotates 5 degrees, and the cleaning component 10 moves a distance of 0.89 mm; when the cleaning component 10 contacts the surface to be cleaned and presses down 3 mm, the cam rotates 5 degrees, and the cleaning component 10 moves a distance of 0.35 mm.

[0042] In this way, the reducer 30 rotates and drives the cam to rotate. When the cam rotates, the cam controls the movement of the cleaning component 10 to change the distance between the cleaning component 10 and the surface to be cleaned, and when the cam rotates a preset angle, the distance moved by the cleaning component 10 is different. The force direction is transmitted by the cam, so as to avoid affecting the installation height of the robot due to the high size of the motor. And by using the cam in conjunction with the stepper motor 20, various transmission speed settings can be dynamically realized. For example, at the critical stage from the cleaning component 10 to the surface to be cleaned, a small reduction ratio can be achieved through the cam to achieve small torque and high speed to reach the surface to be cleaned; when the cleaning component 10 begins to squeeze and interfere with the surface to be cleaned, a large reduction ratio is achieved through the cam, thereby achieving large torque and low speed control, and smooth and precise control of pressure can be achieved.

[0043] See also Figure 4 In some embodiments, the cleaning robot 100 also includes a braking component 60 and a control component 70; the braking component 60 is connected to the stepper motor 20, and the control component 70 is respectively connected to the stepper motor 20 and the braking component 60; the control component 70 is used to output a first control signal to control the stepper motor 20 to rotate, so that the cleaning component 10 moves, and after the cleaning component 10 reaches the target position, the second control signal is output to control the braking component 60 to brake the stepper motor 20, so that the cleaning component 10 is fixed at the target position.

[0044] Specifically, after the cleaning component 10 reaches the target position, it needs to be maintained at the target position, especially when the power is off or the robot is turned off, the position of the cleaning component 10 needs to remain unchanged, so the lifting motor of the cleaning component 10 should be able to lock the fixed height unchanged. A brake component 60 is set so that after the cleaning component 10 reaches the target position, the brake component 60 can fix the position of the stepper motor 20, thereby fixing the cleaning component 10 at the target position. The control component 70 can be an MCU, and the MCU can be a general-purpose single-chip microcomputer STM32F030F4P6 of STMicroelectronics ST. The MCU load controls the drive of the stepper motor 20 and the operation of the brake component 60. The MCU is powered by an external 3.3V power supply, and the crystal oscillator X1 can be a passive 12M crystal oscillator. The first control signal and the second control signal are control signals (SLEEP) output from the same output port (port 17) of the control component 70. When the MCU outputs the first control signal, the stepper motor 20 rotates, driving the reducer 30 and the cam to rotate to move the cleaning component 10; after the cleaning component 10 moves to the target position, the MCU outputs the second control signal to control the brake component 60 to brake the stepper motor so that the cleaning component 10 can be fixed at the target position.

[0045] Thus, under the control of the control component 70 , when the cleaning component 10 reaches the target position, the brake component 60 works to control the stepper motor 20 to stop working, so that the cleaning component 10 is fixed at the target position to achieve precise control of the cleaning component 10 .

[0046] See also Figure 4 In some embodiments, the cleaning robot 100 also includes a delay module 80; the delay module 80 is connected to the control component 70; the delay module 80 is used to make the stepper motor 20 stop working after the brake component 60 works when the control component 70 outputs a second control signal; the delay module 80 includes a delay capacitor, one end of the delay capacitor is connected to the control component 70 and the stepper motor 20 through a delay resistor, and the other end of the delay capacitor is grounded; when the control component 70 outputs a second control signal, the second control signal is used to control the delay capacitor to discharge, so that the stepper motor 20 can maintain the working state within a preset time length.

[0047] Specifically, the delay module 80 also includes a delay diode and a delay resistor, one end of the delay capacitor is connected to one end of the delay diode, one end of the delay resistor and the stepper motor 20, the other end of the delay capacitor is grounded, and the other end of the delay diode and the other end of the delay resistor are connected to the output port (17 port) of the MCU for outputting the first control signal and the second control signal. The first control signal can be a high level, and the second control signal can be a low level. When the control component 70 outputs the first control signal, that is, when the output port of the MCU outputs a high level, the stepper motor driver 110 drives the stepper motor 20 to rotate to drive the cam to rotate, so that the transmission component 50 drives the cleaning component 10 to move; when the cleaning component 10 moves to the target position, the control component 70 outputs the second control signal, that is, the output port of the MCU outputs a low level, the delay module 80 works, and the delay capacitor is discharged, so that the stepper motor 20 can maintain a working state within a preset time length, and at this time, the brake component 60 works to brake the stepper motor 20. The delay module controls the stepper motor 20 to stop working after a preset time, so as to prevent the stepper motor 20 from sliding by itself, thereby ensuring that the cleaning component 10 of the cleaning robot 100 can stably stop at the target position.

[0048] In this way, the delay capacitor of the delay module 80 is charged when receiving the second control signal, so that the stepper motor 20 can maintain the working state within the preset time length after the control component 70 outputs the second control signal, so that the stepper motor 20 stops working after the braking component 60 works, thereby preventing the stepper motor 20 from sliding by itself, thereby ensuring that the cleaning component 10 can be fixed at the target position, thereby achieving precise control of the cleaning component 10.

[0049] See also Figure 4 In some embodiments, the cleaning robot 100 also includes: a braking drive component 90; the braking drive component 90 is arranged between the control component 70 and the braking component 60, and is respectively connected to the control component 70 and the braking component 60; the braking drive component 90 is used to drive the braking component 60 to fix the cleaning component 10 when the control component 70 outputs a second control signal; the braking drive component 90 includes a braking drive switch, and the braking drive switch is used to drive the braking component 60 according to the second control signal output by the control component 70.

[0050] Specifically, one end of the brake drive switch is connected to a preset voltage source, and the other end of the brake drive switch is connected to the brake assembly 60. The brake assembly 60 does not affect the rotation of the stepper motor 20 when the preset voltage source is powered, and controls the stepper motor 20 to stop rotating when the preset voltage source stops supplying power. When the MCU outputs a first control signal, that is, when the SLEEP signal output by port 17 of the MCU is at a high level, the brake drive switch is closed, so that the preset voltage source can supply power to the brake assembly 60, so that the brake assembly 60 does not affect the rotation of the stepper motor 20; when the cleaning assembly 10 reaches the target position, the MCU outputs a second control signal, and the brake drive switch is disconnected to disconnect the preset voltage source from supplying power to the brake assembly 60, so that the brake assembly 60 controls the stepper motor 20 to stop rotating, so as to fix the position of the stepper motor 20, so that the cleaning assembly 10 is fixed at the target position.

[0051] In this way, the brake drive switch of the brake drive assembly 90 is controlled under the control of the first control signal and the second control signal to control the brake assembly 60 to brake the stepper motor 20, thereby achieving precise control of the cleaning assembly 10.

[0052] In some embodiments, the braking drive switch includes a first transistor and a second transistor, the gate of the first transistor is connected to the control component 70, the source of the first transistor is grounded, the drain of the first transistor is connected to the gate of the second transistor and a preset voltage source, the source of the second transistor is connected to the preset voltage source, and the drain of the second transistor is connected to the braking component 60; when the control component 70 outputs a first control signal, the first transistor is disconnected, and the second transistor is disconnected, so that the braking component 60 does not brake the stepper motor 20; when the control component 70 outputs a second control signal, the first transistor is turned on to ground the preset voltage source, and the second transistor is turned on, so that the preset voltage source supplies power to the braking component 60, and the braking component 60 brakes the stepper motor 20.

[0053] See also Figure 4Specifically, the first transistor may be an NMOS tube, the second transistor may be a PMOS tube, the first MOS tube Q1 may represent the first transistor, and the second MOS tube Q2 may represent the second transistor. The brake assembly 60 may be an electromagnetic holding brake. When the MCU outputs the first control signal, that is, when the SLEEP signal output by the 17th port of the MCU is at a high level, the voltage input to the gate of the first MOS tube Q1 is at a high level, the source and drain of the first MOS tube Q1 are turned on, the voltage of the gate of the second MOS tube Q2 is pulled down, the source and drain of the second MOS tube Q2 are turned on, and the preset voltage source supplies power to the electromagnetic holding brake, so that the holding magnet is opened, which does not affect the rotation of the stepper motor 20; when the cleaning assembly 10 reaches the target position, the MCU The second control signal is output, that is, the SLEEP signal output by port 17 of the MCU is at a low level, the voltage input to the gate of the first MOS tube Q1 is at a low level, the first MOS tube Q1 is disconnected, and since the preset voltage source outputs a high level to the gate of the second MOS tube Q2, the second MOS tube Q2 is disconnected, the preset voltage source stops supplying power to the electromagnetic holding brake, and there is no current driving in the electromagnetic holding brake, so that the holding magnet is attracted, and the stepper motor 20 is controlled to stop rotating to fix the position of the stepper motor 20, so that the cleaning component 10 is fixed at the target position.

[0054] In this way, the brake component 60 is driven to work by the brake drive component 90, for example, a brake drive switch is used to control the output of a preset voltage source to the brake component 60, so that the brake component 60 does not work when the control component 70 outputs a first control signal, and works when the control component 70 outputs a second control signal, thereby achieving precise control of the cleaning component 10.

[0055] In certain embodiments, the brake assembly 60 includes: an electromagnetic holding brake and / or a first phase line short-circuiting circuit.

[0056] Specifically, in one embodiment, the brake assembly 60 is an electromagnetic brake, which includes a brake magnet and a brake shoe brake, wherein the brake magnet includes a core, an armature and a brake coil; the brake shoe brake includes a brake wheel, a brake shoe and a brake spring, etc., and the brake wheel and the stepper motor 20 are coaxially connected. When the MCU outputs the first control signal, the preset voltage source can supply power to the electromagnetic brake, and the brake coil is energized to generate magnetic force to attract the armature, overcome the tension of the brake spring to separate the brake shoe of the brake from the brake wheel, that is, the brake magnet is opened, so that the stepper motor 20 can rotate, thereby enabling the cleaning assembly 10 to move; when the preset voltage source stops supplying power to the electromagnetic brake, the electromagnetic brake has no current to drive the brake coil of the brake magnet, and the armature is separated from the iron core under the action of the brake spring tension, causing the brake magnet to attract, and the brake shoe locks the brake wheel, thereby fixing the stepper motor 20, thereby fixing the cleaning assembly 10. When the cleaning component 10 moves to the target position, the MCU outputs a second control signal to stop the preset voltage source from supplying power to the electromagnetic brake, so that the brake magnet of the electromagnetic brake is attracted to fix the position of the stepper motor 20, thereby fixing the cleaning component 10 at the target position.

[0057] In another embodiment, the brake assembly 60 is a first phase line short-circuit circuit, the first phase line short-circuit circuit includes a relay, and the relay includes a phase line coil. When the MCU outputs a first control signal, the preset voltage source can power the coil of the relay, and the coil generates a magnetic force to disconnect the relay, so that the phase lines of the stepper motor 20 are independent of each other; when the MCU outputs a second control signal, the coil of the first phase line short-circuit circuit does not generate a magnetic force, so that the relay is closed to short-circuit the phase line of the stepper motor 20, and the self-locking force and reverse electromotive force of the stepper motor 20 are used to stop the stepper motor 20 from rotating, thereby achieving the fixation of the cleaning assembly 10. When the cleaning assembly 10 reaches the target position, the MCU outputs a second control signal, and the first phase line short-circuit circuit short-circuits the phase line of the stepper motor 20, so that the stepper motor 20 self-locks to fix the position of the stepper motor 20, thereby fixing the cleaning assembly 10 at the target position.

[0058] In this way, the control component 70 outputs a first control signal to control the stepper motor 20 to work, thereby moving the cleaning component 10; the control component 70 outputs a second control signal to control the brake component 60 to work, so that the stepper motor 20 stops working, thereby fixing the cleaning component 10 at the target position, and realizing precise control of the cleaning component 10. In addition, the first control signal and the second control signal are control signals output from the same output port of the control component 70 to control the stepper motor 20 or the brake component 60 to work. When the output port outputs the first control signal, the stepper motor 20 is controlled to work and the brake component 60 is controlled to stop working; when the output port outputs the second control signal, the stepper motor 20 is controlled to stop working and the brake component 60 is controlled to work, thereby preventing the brake component 60 and the stepper motor 20 from affecting each other's normal work.

[0059] See also Figure 4 In some embodiments, the cleaning robot 100 also includes: a stepper motor driver 110; the stepper motor driver 110 is connected to the control component 70 and the stepper motor 20, and the stepper motor driver 110 is used to drive the stepper motor 20 to rotate when the control component 70 outputs a first control signal; the stepper motor driver 110 includes a driver chip, the driver chip includes an integrated two-way H-bridge, the driver chip includes a control port and an enable port, the power interface of the driver chip is connected to a preset voltage source, the control port is connected to the control component 70, and receives the first control signal or the second control signal output by the control component 70, the enable port is connected to the stepper motor 20, and when the driver chip receives the first control signal, the enable port outputs a drive signal to control the stepper motor 20 to rotate.

[0060] Specifically, the driving control of the lifting motor of the cleaning assembly 10 should be easy to implement. Selecting the driving chip of the stepper motor 20 to drive the stepper motor 20 simplifies the control and saves costs. Figure 5 , the preset voltage source is used to power the driver chip, and the stepper motor driver 110 integrates two H-bridges inside, which can control the two-phase four-wire stepper motor 20, and can output two-phase excitation drive power to the stepper motor 20. In other embodiments, the driver chip can also be a single H-bridge driver chip, and the single H-bridge driver chip includes an integrated H-bridge. The control port of the driver chip is port 5, and the enable port can be AOUT1, AOUT2, BOUT1 and BOUT2. When the MCU outputs the first control signal, that is, when the SLEEP signal output by port 17 of the MCU is at a high level, the voltage input to port 5 of the driver chip is at a high level, and the driver chip U1 outputs a two-phase excitation drive power to drive the stepper motor 20 to rotate, thereby moving the cleaning component 10.

[0061] In this way, the driving chip of the stepper motor 20 drives the stepper motor 20 to rotate, thereby moving the cleaning component 10. The algorithm is easy to implement and has low cost.

[0062] In some embodiments, the first control signal and the second control signal are control signals output from the same output port of the control component 70, the output port is used to output the first control signal to control the stepper motor 20 to work and control the brake component 60 to stop working, and the output port is used to output the second control signal to control the stepper motor 20 to stop working and control the brake component 60 to work.

[0063] In this way, it can be ensured that the control of the stepper motor driver 110 and the brake drive component 90 is time-sharing and mutually exclusive, ensuring that when the brake component 60 is working, the stepper motor driver 110 does not output a drive signal; when the brake component 60 is not working, the driver can drive the stepper motor 20 to rotate, so as to avoid conflicts between the braking function and the driving function.

[0064] In some embodiments, the stepper motor 20 includes multiple phase lines, and the cleaning robot 100 also includes a second phase line short-circuit circuit; the second phase line short-circuit circuit is connected to the stepper motor 20; when the cleaning robot 100 loses power, the second phase line short-circuit circuit brakes the stepper motor 20 to fix the cleaning component 10; the cleaning robot 100 includes a driving power supply and a driving power supply connection end, the driving power supply supplies power to the stepper motor 20 through the driving power supply connection end, the driving power supply connection end includes a phase line connection end, and the phase line connection end is used to connect to the phase line; the second phase line short-circuit circuit includes a relay, the relay is connected to the phase line connection ends of multiple phase lines of the stepper motor 20, the relay includes a coil, the first end of the coil is connected to the power supply voltage of the driving power supply, and the second end of the coil is grounded; when the driving power supply loses power, the stepper motor 20 loses power, the coil does not generate a current, so that the relay is closed and the phase line connection ends are short-circuited with each other.

[0065] Specifically, the number of phase line connection terminals is determined according to the number of phase lines of the stepper motor 20. For example, when a two-phase four-wire stepper motor 20 is connected, the number of phase line connection terminals can be four. When the cleaning robot 100 loses power, no current flows through the coil of the second phase line short-circuit circuit, so the coil does not generate magnetic force, causing the relay to close and short-circuit the phase line connection terminals to each other, thereby short-circuiting the phase lines of the stepper motor 20. When all phase line connection terminals are short-circuited, the power supply voltage output by the driving power supply can generate reverse electromotive force resistance to the connected stepper motor 20, preventing the stepper motor 20 from continuing to rotate, so that the stepper motor 20 is fixed, thereby fixing the position of the cleaning component 10 and preventing the cleaning component 10 from unexpected movement and damage.

[0066] In this way, the phase line of the stepper motor 20 is short-circuited through the second phase line short-circuiting circuit to generate a reverse electromotive force, which prevents the stepper motor 20 from continuing to rotate, thereby fixing the position of the cleaning component 10 and preventing the cleaning component 10 from being damaged due to unexpected movement.

[0067] See also Figure 1 In some embodiments, the cleaning robot 100 includes a spring 120, which is connected to the cleaning assembly 10. When the cleaning robot 100 encounters uneven road conditions, the spring 120 is used to act as a buffer.

[0068] In this way, when the cleaning robot 100 encounters uneven road conditions, the spring 120 acts as a buffer for the cleaning component 10 to prevent the cleaning component 10 from colliding with other structures of the cleaning robot 100 and causing damage to the cleaning robot 100.

[0069] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0070] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0072] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0073] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: Cleaning components, stepper motors, reducers and transmission control components; The stepper motor is connected to the reducer, the reducer is connected to the transmission control component, and the transmission control component is connected to the cleaning component; When the stepper motor rotates, the stepper motor drives the reducer to rotate; When the reducer rotates, the reducer drives the transmission control assembly to rotate; The transmission control component drives the cleaning component to move so as to control the distance between the cleaning component and the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The reducer comprises a reduction gear box, and the reduction gear box is used to connect the stepping motor and the transmission control component, and the rotation speed output by the reduction gear box is lower than the rotation speed of the stepping motor.

3. The cleaning robot according to claim 1, characterized in that: The transmission control component includes a cam, which is used to connect the reducer and the cleaning component. When the reducer rotates, the reducer drives the cam to rotate; when the cam rotates at different angles, the distance between the cleaning component and the surface to be cleaned changes.

4. The cleaning robot according to claim 1, characterized in that: The cleaning robot also includes a braking component and a control component; The brake assembly is connected to the stepper motor, and the control assembly is connected to the stepper motor and the brake assembly respectively; The control component is used to output a first control signal to control the stepper motor to rotate so that the cleaning component moves. After the cleaning component reaches the target position, the control component outputs a second control signal to control the braking component to brake the stepper motor so that the cleaning component is fixed at the target position.

5. The cleaning robot according to claim 4, characterized in that: The cleaning robot further comprises a delay module; the delay module is connected to the control component; The delay module is used to make the stepper motor stop working after the brake component works when the control component outputs the second control signal; The delay module includes a delay capacitor, one end of which is connected to the control component and the stepper motor through a delay resistor, and the other end of the delay capacitor is grounded; when the control component outputs the second control signal, the second control signal is used to control the delay capacitor to discharge so that the stepper motor can maintain a working state within a preset time length.

6. The cleaning robot according to claim 4, characterized in that: The cleaning robot further comprises: a brake drive assembly; The brake drive assembly is arranged between the control assembly and the brake assembly, and is connected to the control assembly and the brake assembly respectively; The brake drive component is used to drive the brake component to fix the cleaning component when the control component outputs the second control signal; The brake drive component includes a brake drive switch, and the brake drive switch is used to drive the brake component according to the second control signal output by the control component.

7. The cleaning robot according to claim 6, characterized in that: The brake drive switch comprises a first transistor and a second transistor, the gate of the first transistor is connected to the control component, the source of the first transistor is grounded, the drain of the first transistor is connected to the gate of the second transistor and a preset voltage source, the source of the second transistor is connected to the preset voltage source, and the drain of the second transistor is connected to the brake component; When the control component outputs the first control signal, the first transistor is turned off, and the second transistor is turned off, so that the brake component does not brake the stepper motor; When the control component outputs the second control signal, the first transistor is turned on to ground the preset voltage source, and the second transistor is turned on so that the preset voltage source supplies power to the brake component, and the brake component brakes the stepper motor.

8. The cleaning robot according to claim 4, characterized in that: The brake assembly includes: an electromagnetic holding brake and / or a first phase line short-circuit circuit.

9. The cleaning robot according to claim 4, characterized in that: The cleaning robot further comprises: a stepper motor driver; The stepper motor driver is connected to the control component and the stepper motor, and is used to drive the stepper motor to rotate when the control component outputs a first control signal; The stepper motor driver includes a driver chip, which includes an integrated two-way H-bridge. The driver chip includes a control port and an enable port. The power interface of the driver chip is connected to a preset voltage source. The control port is connected to the control component and receives a first control signal or a second control signal output by the control component. The enable port is connected to the stepper motor. When the driver chip receives the first control signal, the enable port outputs a drive signal to control the rotation of the stepper motor.

10. The cleaning robot according to claim 1, characterized in that: The stepper motor includes a plurality of phase lines, and the cleaning robot further includes a second phase line short-circuit circuit; the second phase line short-circuit circuit is connected to the stepper motor; When the cleaning robot loses power, the second phase line short-circuit circuit brakes the stepper motor to fix the cleaning component; The cleaning robot comprises a driving power supply and a driving power supply connection end, the driving power supply supplies power to the stepping motor through the driving power supply connection end, the driving power supply connection end comprises a phase line connection end, and the phase line connection end is used to be connected to the phase line; The second phase line short-circuiting circuit includes a relay, which is connected to the phase line connection ends of multiple phase lines of the stepper motor. The relay includes a coil, a first end of the coil is connected to the power supply voltage of the driving power supply, and a second end of the coil is grounded; when the driving power supply is powered off, the stepper motor is powered off, and the coil does not generate a current, so that the relay is closed and the phase line connection ends are short-circuited with each other.

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