CN-116269103-B - Sweeping robot and anti-collision method

CN116269103BCN 116269103 BCN116269103 BCN 116269103BCN-116269103-B

Abstract

The invention relates to the related field of floor sweeping robots and discloses a floor sweeping robot and an anti-collision method, wherein the floor sweeping robot comprises a body, a control unit and a power unit, wherein the control unit and the power unit are arranged in the body, the anti-collision detection unit is used for monitoring the state of the floor sweeping robot and arranged at the front edge of the body, the walking unit and the cleaning unit are arranged at the bottom of the body, the control unit is respectively connected with the anti-collision detection unit, the walking unit and the cleaning unit, and is responsible for controlling the robot body to execute corresponding different working modes according to the state of the robot.

Inventors

LI JIAN
ZHAO ZHIXING
ZHAN HAIFENG
HU XIANQUAN
ZHANG FAN
LIU HAIBO
WANG JINSHI
GUO ANBO

Assignees

湖南炬神电子有限公司

Dates

Publication Date: 20260508
Application Date: 20230419

Claims (7)

1. The utility model provides a robot sweeps floor, includes the body and sets up control unit and power unit in the body, its characterized in that still includes: An anti-collision detection unit for monitoring the state of the sweeping robot, wherein the state comprises normal state, deceleration state, obstacle state and blocking state, the anti-collision detection unit is arranged at the front end edge of the body, and A walking unit and a cleaning unit positioned at the bottom of the body; the control unit is respectively connected with the anti-collision detection unit, the walking unit and the cleaning unit and is used for controlling the robot body to execute corresponding different working modes according to the different states of the robot; the anti-collision detection unit comprises infrared signal sensors at three positions of the front end and the left and right ends of the advancing direction of the robot body, wherein the infrared signal sensors comprise infrared emission devices and infrared receiving devices which are arranged in pairs; A method of an anti-collision detection unit detecting that the robot is in a different state, the method comprising: the infrared transmitting device transmits an infrared signal perpendicular to the ground, the infrared receiving device receives the infrared signal reflected by the ground, and when the received signal of the infrared receiving device suddenly disappears or changes greatly, the received signal data of the three infrared receiving devices are transmitted to the control unit; The control unit judges that the robot is in a normal, decelerating, obstacle and blocking state according to the received signal data of the three infrared receiving devices, and the control unit comprises: When the signal data of the three infrared receiving devices simultaneously keep the same waveform change, judging that the robot machine is in a normal state; when the signal data of the three infrared signal sensors are simultaneously at the maximum, judging that the robot machine is in a deceleration state; When the signal data of the infrared receiving device is always larger than the sum of the other two signal data within the set time and the signal data of the infrared receiving device reaches the maximum value, judging that the robot is in a collision state at the front side of the infrared receiving device; when the signal data of the infrared receiving device is always larger than the sum of other two signal numbers within the set time, and the signal data of the infrared receiving device has a certain fluctuation range, judging that the robot is in a collision state at the front side of the infrared receiving device; The anti-collision detection unit detects that the robot is in different states and also switches the wall material state and the corner state; When the wall surface material state is switched, the darker ground receives weaker infrared signals, and the stronger the infrared signals are on the contrary; when the signal data of the third infrared signal sensor changes and the change time is smaller than a set minimum value, judging that one side of the third infrared signal sensor is in a corner state; the walking unit and the cleaning unit drive the robot to execute corresponding working modes according to the different control information, and the robot comprises: when judging that the robot is in a normal state and in a state of passing through the side wall, the robot executes a normal mode, the walking unit walks normally, and the cleaning unit cleans normally; When the robot is in a stuck state, the robot starts an alarm program to send an alarm signal, the walking unit stops walking, and the cleaning unit stops cleaning; When judging that one side of the robot is in a collision state, the robot starts an automatic turning mode, the walking unit turns to walk, and the cleaning unit cleans normally; when judging that one side of the robot is in a collision state, the robot starts a retreating mode, the walking unit walks in the opposite direction for a period of time and then turns to walk, and the cleaning unit stops cleaning and normally cleans after turning to walk; when judging that the robot is in a ground switching state, the robot executes a switching cleaning mode, the walking unit walks normally, the cleaning unit switches the cleaning mode, and the floor is switched to a floor tile to be in a powerful cleaning mode.
2. The robot cleaner of claim 1, wherein the power unit provides energy for operation of the intelligent sweeper body; the power unit provides energy which is the electric energy of a rechargeable battery.
3. The robot cleaner according to claim 1, wherein the collision preventing detecting unit comprises three sets of infrared signal sensors respectively provided at the front end and the left and right ends of the forward direction of the body; The three groups of infrared signal sensors comprise an infrared signal transmitting device and a corresponding infrared signal receiving device.
4. The robot of claim 1, wherein the walking unit comprises a balancing unit and two driving wheels.
5. The robot cleaner of claim 4, wherein the balancing unit includes a balance wheel; The balance wheel is a universal wheel.
6. The robot of claim 1, wherein the cleaning unit comprises a cleaning brush, and a cleaning roller brush; the cleaning brushes are symmetrically arranged on two sides of the bottom of the body.
7. A method for preventing collision of a sweeping robot, which is applied to the sweeping robot according to any one of claims 1 to 6, and comprises the steps of: the method comprises the following steps that firstly, an anti-collision detection unit detects that the robot is in different states including normal, deceleration, obstacle and blocking states; the control unit receives the information of the robot in different states detected by the anti-collision detection unit, generates corresponding different control information and sends the corresponding different control information to the walking unit and the cleaning unit; and thirdly, the walking unit and the cleaning unit drive the robot to execute corresponding working modes according to the different control information.

Description

Sweeping robot and anti-collision method Technical Field The invention belongs to the field of floor sweeping robots, and particularly relates to a floor sweeping robot and an anti-collision method. Background Along with the development of society and the progress of science and technology, intelligent machine of sweeping floor has got into ordinary family, in order to prevent that sweeping floor robot frequently from frequently bumping in the family environment and causing family furniture to scrape flowers or damage, generally adopt infrared sensing range finding, install a plurality of infrared sensing range finding sensors in keeping off before the machine, after transmitting infrared signal through the sensor, receive infrared signal, judge whether the machine is in collision state according to the change of received infrared signal, but this kind of detected mode just judges to collide after detecting that the signal takes place to change, this is the plastics area of meeting mirror or slightly, or light object all can judge as the barrier, the machine can carry out crashproof back and handle. The above-mentioned mode of discernment anticollision has caused some this situation that can normally run but has carried out anticollision processing, causes the frequent rollback and the turning to of machine, has reduced the work efficiency of robot of sweeping the floor greatly. Therefore, in view of the above situation, there is an urgent need to provide a sweeping robot and an anti-collision method to overcome the shortcomings in the current practical application. Disclosure of Invention Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the sweeping robot and the anti-collision method, which effectively solve the problems in the background art. In order to achieve the above purpose, the invention provides a sweeping robot, comprising: body and set up in the body a control unit and a power unit; An anti-collision detection unit for monitoring the state of the sweeping robot, wherein the state comprises normal state, deceleration state, obstacle state and blocking state, the anti-collision detection unit is arranged at the front end edge of the body, and A walking unit and a cleaning unit positioned at the bottom of the body; the control unit is respectively connected with the anti-collision detection unit, the walking unit and the cleaning unit, and is responsible for controlling the robot body to execute corresponding different working modes according to the different states of the robot. Preferably, the power unit provides energy for the operation of the intelligent sweeper body; the power unit provides energy which is the electric energy of a rechargeable battery. Preferably, the anti-collision detection unit comprises three groups of infrared signal sensors, and the three groups of infrared signal sensors are respectively arranged at the front end and the left and right ends of the body in the advancing direction of the body; The three groups of infrared signal sensors comprise an infrared signal transmitting device and a corresponding infrared signal receiving device. Preferably, the walking unit comprises a balancing unit and two driving wheels. Preferably, the balancing unit comprises a balance wheel; The balance wheel is a universal wheel. Preferably, the cleaning unit includes a cleaning brush, and a cleaning roller brush; the cleaning brushes are symmetrically arranged on two sides of the bottom of the body. A method of robot anti-collision for sweeping, the method comprising: the method comprises the following steps that firstly, an anti-collision detection unit detects that the robot is in different states including normal, deceleration, obstacle and blocking states; the control unit receives the information of the robot in different states detected by the anti-collision detection unit, generates corresponding different control information and sends the corresponding different control information to the walking unit and the cleaning unit; and thirdly, the walking unit and the cleaning unit drive the robot to execute corresponding working modes according to the different control information. Preferably, the anti-collision detection unit comprises infrared signal sensors at three positions of the front end and the left and right ends of the advancing direction of the robot body, wherein the infrared signal sensors comprise infrared emission devices and infrared receiving devices which are arranged in pairs; in step one, a method in which an anti-collision detection unit detects that the robot is in a different state, the method comprising: the infrared transmitting device transmits an infrared signal perpendicular to the ground, the infrared receiving device receives the infrared signal reflected by the ground, and when the received signal of the infrared receiving device suddenly disappears or changes greatly, the received signal data of the three