Cleaning robot with linear movement steering function

Abstract

The cleaning robot with the linear movement steering function comprises a vehicle body, wheels, a handle and a control assembly, the wheels are arranged at the bottom of the vehicle body, the handle is arranged at the top of the vehicle body, the arrangement position of the handle is opposite to the advancing direction of the vehicle body, and the control assembly is arranged on the vehicle body. The control assembly is arranged in the handle, the control assembly is connected to the vehicle body, the control assembly comprises two control buttons and a mode button, and the control assembly controls the wheels through the vehicle body.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a cleaning robot with a linear movement and steering function. Background Art

[0002] Most cleaning robots in the existing technology are equipped with two modes: manual operation and automatic operation. When avoiding obstacles or changing the working environment in manual mode, most of them are pushed manually, or walk in a straight line or make a single turn. The functions are relatively simple and more manpower-consuming. Utility Model Content

[0003] One purpose of the present utility model is to provide a cleaning robot with a linear movement and steering function, so that the cleaning robot can smoothly turn linearly and adjust the steering and driving speeds respectively, thereby improving the user experience and saving labor costs.

[0004] Other advantages and features of the present invention are fully reflected in the following detailed description and can be achieved through the combination of means and devices particularly pointed out in the appended claims.

[0005] According to one aspect of the present invention, a cleaning robot with a linear movement and steering function that can achieve the aforementioned objectives and other objectives and advantages includes:

[0006] vehicle body;

[0007] wheels, the wheels being arranged at the bottom of the vehicle body;

[0008] A handle, the handle being provided on the top of the vehicle body, the arrangement position of the handle being opposite to the direction of travel of the vehicle body;

[0009] A control assembly is disposed inside the handle and connected to the vehicle body. The control assembly includes two control buttons and a mode button. The control assembly controls the wheels through the vehicle body.

[0010] According to one embodiment of the present invention, the two control buttons respectively include an encoder gear plate, a linear gear pressure shaft and an encoder, the encoder gear plate is arranged at one end of the linear gear pressure shaft, the encoder is communicatively connected to the encoder gear plate, the linear gear pressure shaft receives different external forces and transmits corresponding signals to the encoder through the encoder gear plate, and the encoder issues instructions to the vehicle body.

[0011] According to an embodiment of the present invention, the two control buttons further include a compression spring, and the compression spring is arranged around the linear gear compression shaft.

[0012] According to one embodiment of the present invention, the two control buttons further include a button housing respectively, the linear gear pressure shaft extends outward from the center of the button housing, and one end of the linear gear pressure shaft is arranged at the center of the button housing.

[0013] According to one embodiment of the present invention, the two control buttons respectively include a micro switch and a button linear pressing shaft, and the micro switch is provided at one end of the button linear pressing shaft.

[0014] According to an embodiment of the present invention, the two control buttons further include a button spring respectively, and the button spring is arranged around the button linear pressing axis.

[0015] According to one embodiment of the present invention, the two control buttons further include a button housing respectively, the button linear pressing axis extends outward from the center of the button housing, and one end of the button linear pressing axis is arranged at the center of the button housing.

[0016] The beneficial effects of the utility model are: assisting the cleaning robot in walking in manual mode, providing a more convenient and labor-saving walking and turning method, reducing labor costs, improving user experience, and enhancing market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional schematic diagram of a cleaning robot with linear movement and steering function according to an embodiment of the present invention.

[0018] Figure 2 This is a partial detail diagram of the cleaning robot with linear movement and steering function according to the above embodiment of the present invention.

[0019] Figure 3 This is a partial detail view of a cleaning robot with linear movement and steering function according to another embodiment of the present invention.

[0020] Figure 4 This is a block diagram of a method for generating coded speed and steering data of a cleaning robot with linear movement and steering function according to the above embodiment of the present invention.

[0021] Figure 5 This is a block diagram of a method for generating switch-type speed and steering data for a cleaning robot with a linear movement and steering function according to the above embodiment of the present invention.

[0022] Figure 6 Schematic diagram of the differential steering output mode of the cleaning robot with linear motion steering function according to the above embodiment of the present invention.

[0023] Figure 7Schematic diagram of the directional wheel steering output mode of the cleaning robot with linear motion steering function according to the above embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following description is intended to disclose the present invention and enable those skilled in the art to implement the present invention. The preferred embodiments described below are provided for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention as defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0025] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms cannot be understood as limiting the present invention.

[0026] It is understood that the term "a" should be understood as "at least one" or "one or more." That is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "a" should not be understood as limiting the number. In addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0028] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example 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. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0029] like Figures 1 to 7 As shown, a cleaning robot with a linear movement and steering function is disclosed as an embodiment of the present invention. The cleaning robot with a linear movement and steering function can make the cleaning robot turn linearly and adjust the steering and driving speeds respectively, thereby improving the user experience.

[0030] like Figure 1 As shown, it is a schematic diagram of the application scenario of the cleaning robot with linear movement and steering function of the above embodiment of the present utility model, the cleaning robot includes a body 10, a handle 20, a wheel 30, and a control component 40, the wheel 30 is arranged at the bottom of the body 10, the wheel 30 can receive the instruction of the control component 40 to realize differential rotation in different directions and different speeds, the wheel 30 supports the body 10 to realize linear steering walking in different directions and different speeds, the handle 20 is arranged at the top of the body 10, the setting position of the handle 20 is opposite to the direction of travel of the body 10, the handle 20 is for the user to hold and use, the control component 40 is arranged inside the handle 20, the control component 40 is connected to the body 10, so that the user can easily operate the control component 40 when holding the handle 20, thereby controlling the speed change and steering walking of the cleaning robot.

[0031] Furthermore, the control component 40 includes two control buttons 41 and a mode button 42. The two control buttons 41 are a left control button 411 and a right control button 412. The left control button 411 is for the user to press with the left hand, and the right control button 412 is for the user to press with the right hand. The left control button 411 and the right control button 412 maintain an appropriate distance between them, so that the user can easily press them simultaneously or unilaterally.

[0032] Furthermore, the mode button 42 enables switching between the manual operation mode and the automatic operation mode of the cleaning robot.

[0033] like Figure 2 The figure is a partial detail view of the control component 40 of the cleaning robot of the above embodiment of the present invention. The control component 40 is implemented as an input sensor of the left control button 411 and the right control button 412 through a dual incremental encoder. The left control button 411 includes an encoder gear plate 4111, a linear gear pressure shaft 4112, a pressure shaft spring 4113, a button housing 4114 and an encoder 4115. The linear gear pressure shaft 4112 extends outward from the center of the button housing 4114, and one end of the linear gear pressure shaft 4112 is arranged at the center of the button housing 4114. The pressure shaft spring 4113 surrounds the linear gear pressure shaft 4112. The encoder gear disc 4111 is arranged at the other end of the linear gear pressure shaft 4112, and the encoder 4115 is communicatively connected to the encoder gear disc 4111. The user presses the button housing 4114. Due to the setting of the pressure shaft spring 4113, the linear gear pressure shaft 4112 can be extended and retracted within a certain range. The user applies a force to the button housing 4114, and the force is transmitted to the encoder gear disc 4111 through the linear gear pressure shaft 4112, so that the encoder 4115 is input with a corresponding signal, and the encoder 4115 issues an instruction to control the wheel 30 to achieve driving and steering in different directions and at different speeds.

[0034] It can be understood that the principle of the right control button 412 is consistent with that of the left control button 411. The right control button 412 includes an encoder gear plate 4121, a linear gear pressure shaft 4122, a pressure shaft spring 4123, a button housing 4124 and an encoder 4125. The linear gear pressure shaft 4122 extends outward from the center of the button housing 4124. The pressure shaft spring 4123 is arranged around the linear gear pressure shaft 4122. The encoder gear plate 4121 is arranged on the linear gear pressure shaft 4122. The encoder 4115A is connected to the The encoder gear plate 4111A is communicatively connected. The user presses the button housing 4124. Due to the setting of the compression spring 4123, the linear gear compression shaft 4122 can be extended and retracted within a certain range. The user applies force to the button housing 4124, and the force is transmitted to the encoder gear plate 4121 through the linear gear compression shaft 4122, so that the encoder 4125 is input with a corresponding signal, and the encoder 4125 issues an instruction to control the wheel 30 to achieve driving and steering in different directions and at different speeds.

[0035] In actual application scenarios, such as Figure 4As shown, when the cleaning robot is switched to manual mode, the encoder gear plate 4111 and the encoder gear plate 4121 are automatically zeroed in a pop-up state each time the power is turned on. When either the encoder gear plate 4111 or the encoder gear plate 4121 is pressed, the controller obtains the current offset pulse amount and offset speed relative to the zero point, that is, the pulse equivalent / time. The filtered data is filtered and compared with the preset range to remove interference and error data. The speed increment is calculated based on the left and right pulse increments. The speed curve is calculated by periodically slicing, interpolating, and smoothly increasing the offset speed increment. For example, when the button is pressed from light to heavy, the last stroke point is pressed, that is, the offset pulse amount, which is calculated as the target speed. The time process of pressing to reach the target position, that is, the speed of pressing, is smoothed by interpolation transition and then increased, that is, it is determined according to the pressed speed and the power response lag coefficient. At the same time, the reference speed and limit are preset to calculate the acceleration curve in the process of reaching the target speed. When the left and right velocities are equal, the linear velocity is calculated using a common-mode increment. This means that if the absolute difference in the left and right velocity increments is within the error range, the increments are considered identical. The angular velocity is calculated from the absolute difference in the left and right velocity increments, which is the differential-mode increment. If the adaptive inertial control algorithm is superimposed during large-scale state transitions and outputs linear and angular velocities, the motion controller can use these to calculate forward velocity, steering velocity, or both.

[0036] Among them, the working logic of the encoder gear plate 4111 and the encoder gear plate 4121 is as follows: in the manual working mode, the encoder gear plate 4111 and the encoder gear plate 4121 are pressed respectively, and the force applied to the encoder gear plate 4111 is greater than the force applied to the encoder gear plate 4121, and the output is a left turn within the speed mapped by the force and the limited speed. The force is the absolute value of the left and right difference. At the same time, if there is a common incremental value for the left and right, that is, the speed mapped by the common modulus when the left and right are pressed simultaneously relative to the empty space, the speed is mapped forward within the limited speed; in the manual working mode, the encoder gear plate 4111 and the encoder gear plate 4121 are pressed respectively, and the force applied to the encoder gear plate 4111 is less than the force applied to the encoder gear plate 4121, and the output is a right turn within the speed mapped by the force and the limited speed. The force is the absolute value of the left and right difference. At the same time, if there is a common incremental value for the left and right, That is, relative to the speed of the common mode mapping when the left and right buttons are pressed simultaneously, the speed is mapped within the limited speed; in the manual working mode, the encoder gear plate 4111 and the encoder gear plate 4121 are pressed respectively, and the force applied to the encoder gear plate 4111 is equal to or approximately equal to the force applied to the encoder gear plate 4121, and the output is that the left and right difference is approximately 0 and there is no steering. If there is a common left and right incremental value, that is, relative to the speed of the common mode mapping when the left and right buttons are pressed simultaneously, the speed is mapped within the limited speed; in the manual working mode, let go and reset the encoder gear plate 4111 and the encoder gear plate 4121, the encoder gear plate 4111 and the encoder gear plate 4121 are not applied with force or the residual applied force is approximately equal, and the output is stop. The encoder reset point is self-calibrated each time the power is turned on. This step is anti-interference processing; in the non-manual working mode, pressing is an invalid action and the output is an invalid state.

[0037] In actual application scenarios, when the user needs to push the cleaning robot straight, they only need to press the encoder gear plate 4111 and the encoder gear plate 4121 at the same time. The speed of the cleaning robot depends on the force with which the user presses, and the time curve of the speed change depends on how fast the user presses. If the user needs to make a single left turn, that is, turning in place, they only need to press the encoder gear plate 4111. The speed and acceleration depend on the amplitude and speed of the user pressing the button. If the user needs to move forward and turn left, that is, turn with a large radius, the forward speed depends on the force with which the user presses the encoder gear plate 4111 and the encoder gear plate 4121 at the same time. The turning direction or radius and speed depend on the difference in force between the user pressing the encoder gear plate 4111 and the encoder gear plate 4121. If the encoder gear plate 4111 is pressed with great force, the cleaning robot moves forward and turns left. The harder the press, the faster the turn and the smaller the radius. Conversely, the right side is similar. The cleaning robot with linear movement steering function of the present utility model can flexibly follow the user's pressing action during power-assisted movement, so that the cleaning robot can achieve smooth linear movement and steering.

[0038] like Figure 3 As shown, it is a partial detail view of the control component 40 of the cleaning robot of another embodiment of the present invention, the control component 40 is implemented as the input sensor of the left control button 411 and the right control button 412 through a double switch, the left control button 411 includes a micro switch 4111A, a button linear pressing shaft 4112A, a button spring 4113A, and a button housing 4114A, the button linear pressing shaft 4112A extends outward from the center of the button housing 4114A, one end of the button linear pressing shaft 4112A is set at the center of the button housing 4114A, and the button spring 4113A surrounds the button linear pressing shaft 4112A. A linear pressing shaft 4112A is provided, and the micro switch 4111A is provided at the other end of the button linear pressing shaft 4112A. The user presses the button housing 4114A. Due to the setting of the button spring 4113A, the button linear pressing shaft 4112A can be extended and retracted within a certain range. The user applies a force to the button housing 4114A, and the force is transmitted to the micro switch 4111A through the button linear pressing shaft 4112A, so that the micro switch 4111A is input with a response signal, and the micro switch 4111A issues an instruction to control the wheel 30 to achieve driving steering in different directions and at different speeds.

[0039] It can be understood that the principle of the right control button 412 is consistent with that of the left control button 411. The right control button 412 includes a micro switch 4111B, a button linear pressing shaft 4112B, a button spring 4113B, and a button housing 4114B. The button linear pressing shaft 4112B extends outward from the center of the button housing 4114B, one end of the button linear pressing shaft 4112B is located at the center of the button housing 4114B, the button spring 4113B is arranged around the button linear pressing shaft 4112B, and the micro switch 4111B is arranged At the other end of the button linear pressing shaft 4112B, the user presses the button housing 4114B. Due to the setting of the button spring 4113B, the button linear pressing shaft 4112B can be extended and retracted within a certain range. The user applies force to the button housing 4114B, and the force is transmitted to the micro switch 4111B through the button linear pressing shaft 4112B, so that the micro switch 4111B is input with a response signal, and the micro switch 4111B issues an instruction to control the wheel 30 to achieve driving steering in different directions and at different speeds.

[0040] It is worth noting that in the above two embodiments and other modified embodiments of the present invention, different forces can be applied to the left control button 411 and the right control button 412, thereby achieving driving steering of different degrees and speeds, or either the left control button 411 or the right control button 412 can be applied with force, thereby achieving a large-angle steering function.

[0041] In actual application scenarios, such as Figure 5As shown, when the cleaning robot switches to manual mode, the micro switches 4111A and 4111B perform a self-check reset in a pop-up state each time the robot is powered on. When either of the micro switches 4111A and 4111B is pressed, the controller detects that the current switch is triggered, removes interference through anti-shake filtering, and controls the micro switches 4111A and 4111B according to the following principles based on the preset speed increment and transition curve algorithm, and calculates the linear speed and angular velocity based on the preset speed and limit. The chassis driver then executes actions such as forward movement, left turn, right turn, and stop. The transition curve algorithm includes, for example, a linear increase in speed from 0 to the preset speed; and seamless inertia transition during direction change. For example, when switching from left to straight or from left to right, when executing a new action, the previous action will have an inertia, that is, an inertia integral descending curve is used, which is superimposed to achieve a smooth transition, thereby reducing the sense of frustration during the transition. Among them, the working logic of the micro switch 4111A and the micro switch 4111B is as follows: in the manual working mode, the micro switch 4111A is pressed and the micro switch 4111B is not pressed, and the output is to turn left at the set speed; in the manual working mode, the micro switch 4111A is not pressed and the micro switch 4111B is pressed, and the output is to turn right at the set speed; in the manual working mode, the micro switch 4111A is pressed and the micro switch 4111B is pressed, and the output is to go straight at the set speed; in the manual working mode, the micro switch 4111A and the micro switch 4111B are not pressed, and the output is to stop moving; in the non-manual working mode, the micro switch 4111A and the micro switch 4111B cannot be operated, and the output is an invalid state.

[0042] In actual application scenarios, when the user needs to push the cleaning robot to go straight, it is only necessary to press the micro switch 4111A and the micro switch 4111B at the same time. The speed of travel depends on the preset configuration value, and the time curve of the speed change depends on the preset configuration value. If the user needs a single left turn, that is, turning in place, it is only necessary to press the micro switch 4111A. The speed and acceleration depend on the preset configuration value. If the user needs to move forward and turn left, that is, a large radius turn, the forward speed depends on the preset configuration value, and the turning direction or radius and speed depend on the preset configuration value and the speed at the previous moment. If a large radius left turn is required, the micro switch 4111A and the micro switch 4111B can be pressed at the same time, and the right side can be pressed intermittently. The more intermittent presses on the right side or the longer the time, the larger the turning radius. If the left side is pressed longer and the turn is faster, the radius is smaller. Conversely, the right side is similar. Preferably, an inertial control algorithm is used when the action conversion transition occurs. The cleaning robot with the linear movement and steering function of the present utility model can flexibly follow the user's pressing action during power-assisted movement, so that the cleaning robot can achieve smooth linear movement and steering.

[0043] Preferably, the wheels 30 of the cleaning robots in the above two embodiments of the present invention can adopt a differential steering output mode, such as Figure 6 As shown, the left and right wheel speeds are calculated from the linear velocity and angular velocity, and a command is sent to the driver. The driver controls the rotation of the wheel 30 and obtains the actual speed through the wheel speed meter to perform the first-level PID closed-loop control. At the same time, the wheel speed meter speed is fed back to the motion controller for the second-level PID closed-loop control.

[0044] Preferably, the wheels 30 of the cleaning robots in the above two embodiments of the present invention can adopt a directional wheel steering output mode, such as Figure 7 As shown, the travel speed is calculated from the linear speed, and a command is sent to the travel driver. The driver controls the rotation of the wheel 30 and obtains the actual wheel speed through the wheel speed meter to perform primary PID closed-loop control. At the same time, the wheel speed meter speed is fed back to the motion controller for secondary PID closed-loop control. The steering angle is calculated from the angular velocity, and a command is sent to the driver to control the steering. The actual steering angle is obtained by the angle sensor and fed back to the motion controller for PID closed-loop control.

[0045] Preferably, the two control buttons 41 can also be implemented as dual potentiometers.

[0046] The cleaning robot with linear movement and steering function of the present utility model can collect the force exerted by the user's hand on the two buttons through sensors, convert it into a stroke and speed curve, and perform pressing force or switch quantity and combination decomposition, thereby realizing the smooth power-assisted movement following action of the cleaning robot.

Claims

1. A cleaning robot with linear movement and steering function, characterized in that: include: body; wheels, the wheels being arranged at the bottom of the vehicle body; A handle, the handle being provided on the top of the vehicle body, the arrangement position of the handle being opposite to the direction of travel of the vehicle body; A control assembly is disposed inside the handle and connected to the vehicle body. The control assembly includes two control buttons and a mode button. The control assembly controls the wheels through the vehicle body.

2. The cleaning robot according to claim 1, characterized in that: The two control buttons respectively include an encoder gear plate, a linear gear pressure shaft and an encoder. The encoder gear plate is arranged at one end of the linear gear pressure shaft. The encoder is communicatively connected to the encoder gear plate. The linear gear pressure shaft receives different external forces and transmits corresponding signals to the encoder through the encoder gear plate. The encoder issues instructions to the vehicle body.

3. The cleaning robot according to claim 2, characterized in that: The two control buttons further include a compression spring respectively, and the compression spring is arranged around the compression shaft of the linear gear.

4. The cleaning robot according to claim 3, characterized in that: The two control buttons further include a button housing respectively. The linear gear pressure shaft extends outward from the center of the button housing. One end of the linear gear pressure shaft is arranged at the center of the button housing.

5. The cleaning robot according to claim 1, characterized in that: The two control buttons respectively include a micro switch and a button linear pressing shaft, and the micro switch is arranged at one end of the button linear pressing shaft.

6. The cleaning robot according to claim 5, characterized in that: The two control buttons further include a button spring respectively, and the button spring is arranged around the button linear pressing axis.

7. The cleaning robot according to claim 6, characterized in that: The two control buttons further include a button housing respectively. The button linear pressing axis extends outward from the center of the button housing. One end of the button linear pressing axis is arranged at the center of the button housing.

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