A robot control method, chip and robot of double-fan

Abstract

This application discloses a robot control method, chip, and robot with dual fans. The method includes: detecting the suction force of the dual fans during robot movement in a vertical plane to determine if there is any air leakage; if air leakage is found, controlling the folding device to adjust the folding angle between the left and right robot bodies to keep the suction force of the dual fans within a preset suction range. This application employs a dual-fan structure, providing dual suction force to ensure the robot has double adsorption protection in a vertical plane. Simultaneously, by continuously monitoring for air leakage during robot movement, it ensures timely robot response to leakage problems when encountering boundary areas, curved surfaces, or other scenarios that could lead to unstable fan adsorption. This guarantees the stability of the robot's dual-fan adsorption, reducing the risk of detachment during vertical movement, enhancing safety, and optimizing the user experience.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a robot control method, chip, and robot with dual fans. Background Technology

[0002] Currently, robots that use fan suction to move in vertical planes, such as walls and windows, typically rely on a negative pressure chamber created by a cavity connecting the fan and the robot's bottom to achieve suction and movement. However, if air leaks into this cavity, the robot cannot remain firmly attached to the vertical plane, posing a safety hazard of detachment and negatively impacting the user experience. Chinese invention patent application number CN202311012628.9, entitled "Air Leakage Detection Method for a Fan-Based Window Cleaning Robot," discloses an air leakage detection method for window cleaning robots. However, this method only detects leaks during the robot's movement and does not provide corresponding optimizations for addressing actual leaks. Summary of the Invention

[0003] This application provides a robot control method with two fans. The robot includes two fans, four wheels, and a folding device. Each fan independently controls two wheels. The robot body is divided into a foldable left body and a right body. The folding device is used to control and adjust the folding angle between the left and right bodies. A cavity connecting the two fans and the bottom of the robot forms a negative pressure chamber, allowing the robot to move in a vertical plane. The robot control method with two fans specifically includes: detecting the suction force of the two fans during the robot's movement in the vertical plane to determine if there is any fan leakage; if there is fan leakage, controlling the folding device to adjust the folding angle between the left and right bodies so that the suction force of the two fans is maintained within a preset suction force range.

[0004] Furthermore, the robot control method for the dual fans also includes: when there is air leakage from the fans, determining whether the folding device can adjust the folding angle of the left and right parts of the robot body; if the folding device can adjust the folding angle between the left and right parts of the robot body, controlling the folding device to adjust the folding angle between the left and right parts of the robot body so that the suction force of the dual fans is maintained within a preset suction force range; if the folding device cannot adjust the folding angle of the left and right parts of the robot body, confirming that the robot has moved to the edge area, and controlling the robot to execute the fan control process in the edge area.

[0005] Furthermore, the control robot executes the fan control process in the border area, specifically including: the control robot determining the leaking fan side and the non-leaking fan side among the two fans; and controlling the moving wheel on the non-leaking fan side to rotate in a high-speed mode.

[0006] Furthermore, the robot control method for the dual fans also includes: if air leakage is detected in the fans and the folding device can adjust the folding angle between the left and right bodies, the robot's moving wheels are controlled to rotate in a high-speed mode; if no air leakage is detected in the fans, the robot's moving wheels are controlled to rotate in a low-speed mode.

[0007] Furthermore, the method for determining whether the folding device can adjust the folding angle between the left and right bodies specifically includes: controlling the folding device to drive the folding control motor to rotate to adjust the folding angle between the left and right bodies, and detecting the corresponding current value of the folding control motor in the folding device; if the corresponding current value of the folding control motor exceeds the rotational current threshold, it is determined that the folding device cannot adjust the folding angle between the left and right bodies, and the folding device is controlled to stop driving the folding control motor to rotate; if the corresponding current value of the folding control motor does not exceed the rotational current threshold, it is determined that the folding device can adjust the folding angle between the left and right bodies.

[0008] Furthermore, the step of detecting the suction force of the dual fans to determine whether there is a fan leak specifically includes: collecting the inner and outer air pressures corresponding to the dual fans respectively; calculating the pressure difference between the inner and outer sides of the dual fans respectively; determining whether the inner and outer pressure differences of the dual fans meet the fan leak value range; if the inner and outer pressure differences of one of the dual fans meet the fan leak value range, then it is determined that there is a fan leak; if neither of the inner and outer pressure differences of the dual fans meets the fan leak value range, then it is determined that there is no fan leak.

[0009] This application also discloses a chip that stores a computer program internally. When the computer program stored internally in the chip is driven by a processor, it executes the robot control method for dual fans as described in any of the preceding claims.

[0010] This application also discloses a robot with dual fans, specifically comprising: a body divided into two parts, including a left body and a right body; two sets of fans, including a first fan and a second fan, the first fan being disposed on the left body and the second fan being disposed on the right body, a cavity connecting the first fan and the bottom of the left body of the robot forming a first negative pressure chamber, and a cavity connecting the second fan and the bottom of the right body of the robot forming a second negative pressure chamber; four sets of wheels, wherein two sets of wheels are disposed on the bottom of the left body and controlled by the first fan, and the other two sets of wheels are disposed on the bottom of the right body and controlled by the second fan; a folding device connecting the left body and the right body for adjusting the folding angle between the left body and the right body; and a leakage detection device, including two sets of leakage detection units disposed on the bottom of the left body and the bottom of the right body respectively, for detecting whether there is leakage in the first fan and the second fan.

[0011] Furthermore, the four sets of wheels are four sets of wheeled cleaning components used to enable the robot to perform cleaning functions during movement.

[0012] Furthermore, the folding device includes: a folding control motor and two sets of hinge rotation structures; wherein, the folding control motor is used to provide driving force for the rotation of the two sets of hinge rotation structures; the two sets of hinge rotation structures are assembled on the same axis between the left and right bodies of the robot, and the folding angle of the left and right parts of the robot body is adjusted by rotating under the driving force provided by the folding control motor.

[0013] The robot control method, chip, and robot with dual fans described in this application employ a dual-fan structure. Based on the dual suction provided by the dual-fan structure, the robot can have dual adsorption protection in a vertical plane. At the same time, by continuously monitoring the air leakage of the dual fans during the robot's movement, the robot can respond in a timely manner to the leakage problem when it encounters boundary areas, curved surfaces, or other scenarios that may cause unstable fan adsorption and air leakage. This ensures the stability of the robot's dual-fan adsorption, reduces the risk of falling off the robot when moving in a vertical plane, makes it safer, and optimizes the user experience. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a robot with dual fans according to one embodiment of this application.

[0015] The numbers in the diagram are explained as follows: 1-Left body; 11-First wheel group; 12-Second wheel group; 2-Right body; 21-Third wheel group; 22-Fourth wheel group; 31-First group of hinged rotating structure; 32-Second group of hinged rotating structure. Detailed Implementation

[0016] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0017] Currently, robots that use fan suction to move on vertical planes, such as walls and windows, typically rely on a negative pressure chamber formed by a cavity connecting the fan and the bottom of the robot to achieve adsorption and movement on the vertical plane. When air leaks into the cavity connecting the fan and the bottom of the robot, the robot will not be able to adhere stably to the vertical plane, posing a safety hazard of falling off and affecting the user experience.

[0018] To optimize the stability and safety of a robot moving in a vertical plane, this application provides a robot control method with dual fans, such as... Figure 1As shown, the robot includes two fans, four wheels, and a folding device. The robot body is divided into two foldable parts: a left body and a right body. The two fans are respectively located on the two parts of the robot body. Each fan independently controls two wheels. The folding device is used to control the folding angle of the left and right parts of the robot body. The cavity connecting the two fans and the bottom of the robot forms a negative pressure cavity, which allows the robot to move in a vertical plane.

[0019] Specifically, the robot control method for the dual-fan system includes: detecting the suction force of the dual fans during the robot's movement in a vertical plane to determine if there is any air leakage; if air leakage is detected, controlling the folding device to adjust the folding angles of the left and right bodies of the robot to maintain the suction force of the dual fans within a preset suction range. The dual-fan robot used in this application refers to a robot that moves on a vertical or inclined plane based on the suction force provided by the fans, such as a robot that moves by adhering to windows or walls. The preset suction range is a pre-set range of suction values ​​used to determine the stability of the fans' adsorption, and its specific setting is based on a comprehensive consideration of various factors such as the suction force of the fans and the robot's body size and weight.

[0020] Compared to conventional single-fan adsorption robots in existing technologies, the robot in this application adopts a dual-fan structure. The dual suction provided by the dual-fan structure enables the robot to have dual adsorption protection in the vertical plane. At the same time, by continuously monitoring the air leakage of the dual fans during the robot's movement, the robot can respond in a timely manner to the leakage problem when it encounters boundary areas, curved surfaces, or other scenarios that may cause unstable adsorption by the fans. This ensures the stability of the robot's dual-fan adsorption, reduces the risk of falling off when the robot moves in the vertical plane, makes it safer, and optimizes the user experience.

[0021] As a preferred embodiment of this application, the robot control method for dual fans further includes: when there is air leakage from the fans, determining whether the folding device can adjust the folding angles of the left and right parts of the robot body; if the folding device can adjust the folding angles of the left and right parts of the robot body, controlling the folding device to adjust the folding angles of the left and right parts of the robot body so that the suction force of the dual fans is maintained within a preset suction force range; if the folding device cannot adjust the folding angles of the left and right parts of the robot body, confirming that the robot has moved to the edge area, and controlling the robot to execute the fan control process in the edge area.

[0022] Specifically, the way to determine whether the folding device can adjust the folding angle of the left and right bodies of the robot can be, but is not limited to, directly controlling the folding device to adjust the left and right bodies of the robot to make small folds to test the foldability between the left and right bodies of the robot, or using sensing devices such as Hall sensors to detect the foldability of the folding device.

[0023] When the fan leaks air, it may occur when the robot encounters a border area or a curved surface, causing the fan to be unable to adhere stably to the flat surface. To further investigate the cause of the air leak, when the robot encounters a border area, it is limited by the vertical plane and the border, and the folding device cannot adjust the left and right sides of the robot. Therefore, this embodiment determines the specific air leak scenario by judging the foldability of the folding device.

[0024] When the robot encounters curved surfaces that cause air leakage from the fan, the folding angle between the left and right bodies of the robot can be adjusted using a folding device. This allows the curvature of the left and right bodies at the point of contact with the curved surface to better conform to the vertical plane, resulting in stronger adhesion of the cavity formed between the fan and the bottom of the robot body. The robot can then specifically conform to the curved surface. This implementation method effectively addresses the potential air leakage problem in vertical planes, providing a corresponding solution and ensuring the adhesion safety of the dual-fan robot.

[0025] In a preferred embodiment of this application, the control robot executes the fan control process in the border area, specifically including: controlling the robot to determine the leaking fan side and the non-leaking fan side among the dual fans; and controlling the moving wheel on the non-leaking fan side to rotate in a high-speed mode. The high-speed mode refers to a working mode that limits the rotation speed of the moving wheel to a preset high speed, which is a pre-set high-speed value for limiting the robot's moving wheel speed, meaning a higher speed than the normal speed. Specifically, because the robot in this application uses a dual-fan structure, when an air leak occurs in the border area, the robot cannot resolve the leak by adjusting the left and right body planes of the robot using a folding device. The rotational speed of the robot's wheels is related to the robot's adsorption strength in the vertical plane. When there is an air leakage problem in the robot's dual fans, in order to ensure the robot's stable adsorption in the vertical plane, it is necessary to further determine the leaking fan side of the dual fans, and adjust the rotational speed of the robot's wheels for the specific leaking fan side. This will allow the wheels on the non-leaking fan side to rotate at a high speed, so that the non-leaking fan side can bear more of the robot's adsorption responsibility and balance the adsorption force required for the robot to move in the vertical plane.

[0026] As a preferred embodiment of this application, the robot control method for the dual fans further includes: if air leakage is detected in the fans and the folding device can adjust the folding angle between the left and right bodies, then the robot's moving wheels are controlled to rotate in a high-speed mode; if no air leakage is detected in the fans, then the robot's moving wheels are controlled to rotate in a low-speed mode.

[0027] When there is a problem with air leakage in the robot's dual fans, and it is confirmed that the folding device can adjust the folding angle between the left and right bodies, it is assumed that the robot is located in a curved area. In order to optimize the robot's adsorption force in the curved area, the robot's moving wheels are controlled to rotate at high speed. This ensures that while the folding device is adjusting the folding angle between the left and right bodies, the high-speed rotation of the moving wheels allows the fans to still provide sufficient adsorption force for the robot to adjust its position on the curved area. This allows for timely control of the robot to adjust in the vertical plane according to the curved area, ensuring the robot's operational safety.

[0028] In a preferred embodiment of this application, the method for determining whether the folding device can adjust the folding angle between the left and right bodies specifically includes: controlling the folding device to drive the folding control motor to rotate to adjust the folding angle between the left and right bodies, and detecting the corresponding current value of the folding control motor in the folding device; if the corresponding current value of the folding control motor exceeds the rotational current threshold, it is determined that the folding device cannot adjust the folding angle between the left and right bodies, and the folding device is controlled to stop driving the folding control motor to rotate; if the corresponding current value of the folding control motor does not exceed the rotational current threshold, it is determined that the folding device can adjust the folding angle between the left and right bodies. The rotational current threshold is a comparison threshold set during the robot testing phase based on the current value of the folding control motor during folding in different scenarios, used as a comparison value to determine whether the robot's folding control motor has an abnormal current value. This embodiment detects the current value corresponding to the folding control motor and compares it with the rotational current threshold to determine the folding feasibility of the robot's folding device in adjusting the folding angle between the left and right robot bodies. When the current value corresponding to the folding control motor exceeds the rotational current threshold, it indicates that the folding control motor cannot smoothly adjust the folding angle between the left and right robot bodies. Therefore, it is necessary to control the folding device to stop driving the folding control motor to rotate.

[0029] In a preferred embodiment of this application, the step of detecting the suction force of the dual fans to determine whether there is a fan leak specifically includes: collecting the inner and outer air pressures corresponding to the dual fans respectively; calculating the pressure difference between the inner and outer sides of the two fans respectively; determining whether the inner and outer side differences of the dual fans meet the fan leak value range; if the inner and outer side differences of one of the dual fans meet the fan leak value range, then it is determined that there is a fan leak; if neither of the inner and outer side differences of the dual fans meets the fan leak value range, then it is determined that there is no fan leak. Specifically, the inner and outer air pressures corresponding to the dual fans can be collected by barometers respectively installed on the inner and outer sides of the two fans. The fan leak value range is set based on a comprehensive consideration of various factors such as the fan specifications used by the robot, the robot size, and the robot weight, to ensure the safe adsorption of the robot in a vertical plane. This implementation method detects air leakage in the fan by collecting the internal and external air pressure difference value through a barometer. This ensures the stability and safety of the robot's adsorption based on the fan during vertical plane movement, determines the adsorption stability in real time, and promptly identifies the possibility of safety risks to the robot due to air leakage in the fan.

[0030] One embodiment of this application provides a chip containing a computer program. When driven by a processor, the computer program executes the dual-fan robot control method described in any of the preceding embodiments. This embodiment, by recording the dual-fan robot control method in the chip's internal computer program, allows the dual-fan robot control method of this application to be mounted on different dual-fan robots, expanding its application scenarios and scope.

[0031] As a preferred embodiment of this application, a robot with dual fans is provided, such as... Figure 1As shown, specifically including: the robot's body is divided into two parts, including a left body 1 and a right body 2; two sets of fans, including a first fan and a second fan, the first fan is located in the left body 1, and the second fan is located in the right body 2. The cavity connecting the first fan and the bottom of the robot's left body 1 forms a first negative pressure cavity, and the cavity connecting the second fan and the bottom of the robot's right body 2 forms a second negative pressure cavity; four sets of wheels, including: a first wheel set 11, a second wheel set 12, a third wheel set 21, and a fourth wheel set 22. The four-wheel assembly 22 includes a first wheel assembly 11 and a second wheel assembly 12 located at the bottom of the left body 1 and controlled by a first fan, and a third wheel assembly 21 and a fourth wheel assembly 22 located at the bottom of the right body 2 and controlled by a second fan; a folding device 3 connecting the left and right bodies for adjusting the folding angle between the left and right bodies; and a leakage detection device including two leakage detection units located at the bottom of the left body 1 and the bottom of the right body 2, respectively, for detecting whether the first and second fans are leaking. The dual-fan robot provided in this embodiment employs a dual-fan structure. The dual suction provided by the dual fans ensures double adhesion in a vertical plane. The robot body is divided into left and right sections, allowing for flexibility. By continuously monitoring for air leakage in the dual fans during robot movement, the robot can respond promptly to leakage issues in scenarios such as encountering boundary areas or curved surfaces that could cause unstable adhesion. The flexible structure allows for adjustment of the folding angle of the left and right sections, ensuring the stability of the dual-fan adhesion. This reduces the risk of detachment during vertical movement, enhancing safety and optimizing the user experience.

[0032] In a preferred embodiment of this application, the four sets of wheels are four sets of wheeled cleaning components used to enable the robot to perform cleaning functions during movement. This embodiment configures the wheels into a wheeled cleaning robot, allowing the robot to perform cleaning work using the cleaning components on the wheels while moving, thus enriching the robot's executable functions. Furthermore, the separate arrangement of the wheels allows the robot's wheeled cleaning components to rotate flexibly; even if one side of the robot body leaks air, it can still continue cleaning work using the two sets of wheeled cleaning components on the other side of the robot body.

[0033] As a preferred embodiment of this application, such as Figure 1As shown, the folding device includes a folding control motor and two sets of hinge rotation structures. The folding control motor provides driving force for the rotation of the two sets of hinge rotation structures. The two sets of hinge rotation structures are mounted on the same axis between the left and right bodies of the robot, and the folding angle of the left and right parts of the robot body is adjusted by rotating under the driving force provided by the folding control motor. In this embodiment, the folding control motor provides driving force for the hinge rotation structures. Therefore, by detecting the current value corresponding to the folding control motor, the rotation status of the hinge rotation structures can be analyzed, thereby determining whether the folding angle between the left and right bodies of the robot is adjustable.

[0034] Obviously, the above embodiments are only some embodiments of the present invention, not all embodiments, and the technical solutions of various embodiments can be combined with each other. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for controlling a robot with two fans, the robot comprising two fans, four wheels, and a folding device, each fan independently controlling two wheels, the robot body being divided into a foldable left body and a right body, the folding device being used to control the robot to adjust the folding angle between the left and right bodies, and a cavity connecting the two fans to the bottom of the robot forming a negative pressure chamber, enabling the robot to move in a vertical plane, characterized in that... The robot control method for the dual fans specifically includes: As the robot moves in a vertical plane, it detects the suction force of the dual fans to determine if there is any air leakage. When there is air leakage from the fan, the control folding device adjusts the folding angle between the left and right units to keep the suction power of the dual fans within the preset suction range.

2. The robot control method for dual fans according to claim 1, characterized in that, The robot control method for the dual fans also includes: If there is air leakage from the fan, determine whether the folding device can adjust the folding angle between the left and right units; If the folding device can adjust the folding angle of the left and right parts of the robot body, then control the folding device to adjust the folding angle of the left and right parts of the robot body so that the suction power of the dual fans is kept within the preset suction power range. If the folding device cannot adjust the folding angle of the left and right parts of the robot body, it is confirmed that the robot has moved to the edge area, and the robot is then controlled to execute the edge area fan control process.

3. The robot control method for dual fans according to claim 2, characterized in that, The control robot executes the fan control process in the border area, specifically including: the control robot determines the leaking fan side and the non-leaking fan side in the dual fans; and controls the moving wheel on the non-leaking fan side to rotate in a high-speed mode.

4. The robot control method for dual fans according to claim 2, characterized in that, The robot control method for the dual fans further includes: if air leakage is detected in the fans and the folding device can adjust the folding angle between the left and right bodies, the robot's moving wheels are controlled to rotate in a high-speed mode; if no air leakage is detected in the fans, the robot's moving wheels are controlled to rotate in a low-speed mode.

5. The robot control method for dual fans according to claim 2, characterized in that, The method for determining whether the folding device can adjust the folding angle between the left and right fuselage specifically includes: The folding device drives the folding control motor to rotate to adjust the folding angle between the left and right bodies, and detects the corresponding current value of the folding control motor in the folding device. If the current value of the folding control motor exceeds the rotational current threshold, it is determined that the folding device cannot adjust the folding angle between the left and right bodies, and the folding device is controlled to stop driving the folding control motor to rotate. If the current value of the folding control motor does not exceed the rotational current threshold, then the folding device is determined to be able to adjust the folding angle between the left and right bodies.

6. The robot control method for dual fans according to claim 1, characterized in that, The method of detecting the suction power of the dual fans to determine whether there is a fan leak specifically includes: The internal and external air pressures corresponding to the two fans were collected respectively; Calculate the pressure difference between the inner and outer sides of the air for each of the two fans; Determine whether the difference between the inner and outer sides of the two fans meets the range of fan leakage values. If the difference between the inner and outer sides of one of the two fans is within the range of fan leakage value, then it is determined that there is fan leakage. If the difference between the inner and outer sides of the two fans does not meet the range of fan leakage values, then it is determined that there is no fan leakage.

7. A chip internally storing a computer program, characterized in that, When the computer program stored inside the chip is driven by the processor, it executes the robot control method for dual fans as described in any one of claims 1 to 6.

8. A robot with dual fans, characterized in that, The robot with dual fans specifically includes: The mecha is divided into two parts, including the left mecha and the right mecha; Two sets of fans, including a first fan and a second fan, are provided. The first fan is located on the left body and the second fan is located on the right body. The cavity connecting the first fan and the bottom of the left body of the robot forms a first negative pressure cavity, and the cavity connecting the second fan and the bottom of the right body of the robot forms a second negative pressure cavity. Four sets of wheels, two of which are located at the bottom of the left body and controlled by the first fan, and the other two sets of wheels are located at the bottom of the right body and controlled by the second fan; The folding device connects the left and right fuselage units and is used to adjust the folding angle between the left and right fuselage units. The air leakage detection device includes two sets of air leakage detection units, which are respectively located at the bottom of the left and right units, and are used to detect whether there is air leakage in the first and second fans.

9. The robot with dual fans according to claim 8, characterized in that, The four sets of wheels are four sets of wheeled cleaning components used to enable the robot to perform cleaning functions while moving.

10. The robot with dual fans according to claim 8, characterized in that, The folding device includes: a folding control motor and two sets of hinge rotation structures; wherein... The folding control motor is used to provide driving force for the rotation of the two sets of folding rotating structures; Two sets of folding and rotating structures are assembled on the same axis between the left and right bodies of the robot. The folding angle of the left and right parts of the robot body is adjusted by rotating the folding control motor.

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