WO2015074557A1 - Method for controlling split sucker-type robot to avoid defect on walking surface - Google Patents

Abstract

A method for a split-type robot to avoid a defect on a walking surface. The robot comprises a front machine body (B) and a rear machine body (A) which are connected by a screw (C), wherein a front sucker and a rear sucker are respectively provided on the bottoms of the front machine body and the rear machine body; in a normal situation, the screw moves in a fully-extended or fully-retracted manner, such that the front machine body and the rear machine body are relatively separated or closed, achieving creeping of the robot; after the screw is fully extended, when the front sucker cannot be adsorbed to a walking surface (D), the adsorption position of the front sucker is adjusted by controlling local retraction of the screw; after the screw is fully retracted, when the rear sucker cannot be adsorbed to the walking surface, the adsorption position of the rear sucker is adjusted by controlling local extension of the screw, so as to avoid a defect on the walking surface. The method enables the robot to avoid or move from above a gap in a walking process, and is highly sensitive and highly practical.

Description

Method for controlling split suction type robot to avoid walking surface defects Technical field

The invention relates to a method for controlling a split suction type robot to avoid a defect of a walking surface, and belongs to the technical field of small household appliance manufacturing.

Background technique

Split-type suction-type robots are widely used for their flexibility of movement. The existing split-cup type robot generally includes a front body and a rear body which are relatively movable, and the driving mechanism drives the front body and the rear body to be relatively close or separated, thereby realizing the creeping walking of the traveling mechanism. However, when the existing split suction type robot is walking in the working area during work, if it encounters a running surface defect such as a gap, it will cause an obstacle in motion. If the gap width is small, for a robot with strong spanning ability, normal walking can be maintained; if the gap width is large, it is easy to cause malfunctions such as downtime, which affects work efficiency.

Summary of the invention

The technical problem to be solved by the present invention is to provide a method for controlling a split suction type robot to avoid a walking surface defect in view of the deficiencies of the prior art. The present invention combines the specific structure of a split suction type robot and its movement mode during walking. The process realizes the avoidance and leap of the gap, and has high sensitivity and practicability.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A method for controlling a split suction type robot to avoid a defect of a walking surface, the split suction type robot comprising a front body and a rear body connected to each other by a screw, and a front suction cup and a rear suction cup are respectively arranged on a bottom body of the front body and the rear body Under normal circumstances, the screw is fully extended or fully contracted, and the driving robot uses the front suction cup and the rear suction cup to alternately adsorb the walking surface, so that the front body and the rear body are relatively separated or closed, and the robot is peristaltic. Walking, when the screw is fully extended, when the front suction cup cannot absorb the walking surface, the adsorption position of the front suction cup is adjusted by controlling the local shrinkage of the screw to avoid the defect of the walking surface; and when the screw is fully shrunk After the rear suction cup cannot attract the walking surface, the suction position of the rear suction cup is adjusted by controlling the local extension of the screw to avoid the defect of the walking surface.

More specifically, after adjusting the suction position of the front suction cup by controlling the partial contraction of the screw, after the screw is fully extended again, when the front suction cup is still unable to adsorb the traveling surface, the front suction cup is retracted and the robot is turned.

After adjusting the suction position of the rear suction cup by controlling the partial extension of the screw, the screw is fully extended again, before When the suction cup still cannot hold the walking surface, the front suction cup is retracted and the robot is turned.

The method specifically includes: the full extension of the screw, the front suction cup is adsorbed on the walking surface, after the screw is fully retracted, the rear suction cup cannot absorb the walking surface, and the adsorption position of the rear suction cup is adjusted by controlling the local extension of the screw to Avoid the defects of the walking surface.

The method specifically includes: after the screw is fully extended, when the front suction cup cannot adsorb the walking surface, the adsorption position of the front suction cup is adjusted by controlling the local shrinkage of the screw to avoid the defect of the walking surface; after the screw is fully extended again, The front suction cup absorbs the walking surface.

The method specifically includes: after the screw is fully extended, when the front suction cup is unable to adsorb the walking surface, the adsorption position of the front suction cup is adjusted by controlling the local shrinkage of the screw to avoid the defect of the walking surface; and when the screw is After the full shrinkage, the rear suction cup can not absorb the walking surface, and the adsorption position of the rear suction cup is adjusted by controlling the local extension of the screw to avoid the defect of the walking surface; after the screw is fully extended, the front suction cup still cannot absorb the walking surface. The front suction cup is retracted and the robot is turned.

The method specifically includes: after the screw is fully extended, when the front suction cup is unable to adsorb the walking surface, the adsorption position of the front suction cup is adjusted by controlling the local shrinkage of the screw to avoid the defect of the walking surface; and when the screw is After the full shrinkage, when the rear suction cup cannot attract the walking surface, the suction position of the rear suction cup is adjusted by controlling the partial extension of the screw to avoid the defect of the walking surface; after the screw is fully extended again, the front suction cup absorbs the walking surface.

In summary, the present invention combines the specific structure and the movement mode of the split suction-type robot to realize the detection and span of the gap during the walking process, and has high sensitivity and strong practicability.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

1 is a schematic view showing a normal walking state of a split suction type robot according to the present invention;

2 is a schematic view showing the motion state of the first embodiment of the split suction type robot of the present invention;

3 is a schematic view showing the motion state of the second embodiment of the split suction type robot of the present invention;

4 is a schematic view showing the motion state of the third embodiment of the split suction type robot of the present invention;

FIG. 5 is a schematic diagram showing the motion state of the fourth embodiment of the split suction type robot of the present invention; FIG.

6 is a schematic view showing the motion state of the fifth embodiment of the split suction type robot of the present invention;

Figure 7 is a schematic view showing the motion state of the sixth embodiment of the split-cup type robot of the present invention;

Figure 8 is a schematic view showing the motion state of the seventh embodiment of the split suction type robot of the present invention;

FIG. 9 is a complete flow chart of a method for controlling a split suction type robot to avoid a defect on a walking surface according to the present invention.

detailed description

1 is a schematic view showing a normal walking state of a split suction type robot according to the present invention. As shown in FIG. 1 , the split suction type robot usually includes two parts of the front body B and the rear body A, and the two are connected by a driving mechanism. For example, a screw C or the like can be used as a driving mechanism, and of course, the screw can also adopt a wire. Instead of a rod nut pair, a rack gear pair, a telescopic sleeve, and the like. Under the expansion and contraction of the screw C, a relative close or separation action between the front body B and the rear body A is achieved, thereby implementing the peristaltic walking of the robot. The front and the back are determined according to the walking direction of the split suction type robot, that is, along the walking direction of the split suction type robot, the part of the body that is first moved is the front body, and then the part that moves. Then it is the rear body. In addition, in order to ensure that the body fixed relative to the working surface does not shift during the traveling process, the stability of the robot is enhanced, and suction cups are respectively arranged at the bottoms of the front body and the rear body. The suction cup is connected to the pump body through a deflation valve to achieve suction or release of the suction cup. Similarly, the suction cup disposed at the bottom of the body of the front body is a front suction cup, and the front suction valve is connected with a front suction valve; the suction cup disposed at the bottom of the rear body is a rear suction cup, and the rear suction cup is connected with a rear relief valve.

As shown in FIG. 1, in the normal walking state, in the initial state, the front suction cup and the rear suction cup are simultaneously sucked, and the front body B and the rear body A are in a closed state. When entering the walking state, the front suction cup is released, and the screw C is extended, so that the front body B and the rear body A are separated until the maximum separation state, at which time the front air release valve is closed. Whether the suction cup can be sucked with the walking surface D before the detection, if the front suction cup can be sucked with the walking surface, the front suction cup is sucked, the rear air release valve is opened, the rear suction cup is released, the screw C is contracted, and the rear body A is forwarded to the body B direction. Close together until the two are completely closed, at this time, the rear air bleed valve is closed. After the test, whether the suction cup can be sucked with the walking surface, if it can be sucked, the front air release valve is repeatedly opened, the front suction cup is released, and the screw C is extended, so that the front body B and the rear body A are separated until the maximum separation state is repeated. Walk forward and walk.

In the present embodiment, both the front body B and the rear body A of the robot can smoothly cross the gap E on the suction surface D to normally walk.

Hereinafter, a method for controlling a split-cup type robot to avoid a walking surface defect according to the present invention will be specifically described in conjunction with various embodiments.

Embodiment 1

2 is a schematic view showing the motion state of the first embodiment of the split suction type robot of the present invention. As shown in FIG. 2, in the present embodiment, in the initial state, the front suction valve and the rear air release valve are simultaneously closed, so that the front suction cup and the rear suction cup are simultaneously sucked, and the front body B and the rear body A are simultaneously In a close state. When entering the walking state, the front vent valve is opened, the front suction cup is released, and the screw C is extended, so that the front body B and the rear body A are separated until the maximum separation state, at which time the front vent valve is closed. Whether the suction cup can be sucked with the walking surface D before the detection, if the front suction cup can After sucking with the walking surface, the rear vent valve is opened, the rear suction cup is released, and the screw C is contracted, so that the front body B and the rear body A are brought closer together until the two are completely close together, and at this time, the rear vent valve is closed. After the detection, the suction cup can be sucked with the walking surface D. If it cannot be sucked, the rear suction cup is just at the position of the gap E. Then, the screw C is extended, so that the rear body A and the front body B are separated by a certain distance, and are returned to the edge of the slit E to be sucked. Then the suction cup is sucked, the front air release valve is opened, the front suction cup is released, and the screw C is extended again to separate the front body B and the rear body A until the maximum separation state. At this time, the front suction cup is sucked, the rear air release valve is opened, and the rear suction cup is opened. Release, the screw C contracts, so that the rear body A moves forward to the body B until the two are completely closed.

In this embodiment, the front body B of the robot protrudes to the longest position, and the front suction cup is adsorbed after crossing the gap E; at this time, if the rear body A shrinks to the shortest position and is close to the front body B, the rear suction cup is just at the gap E. It can not be adsorbed. Therefore, the rear body A retreats to the edge of the gap E. After the front suction cup is released, the front body B is extended again to the longest post-adsorption. The shrinking screw C causes the rear body B to move closer to the front body A to ensure the front body and The rear body crosses the gap E.

That is to say, in the present embodiment, the front body B directly crosses the gap E, and the span of the gap is realized by adjusting the rear body A.

Embodiment 2

3 is a schematic view showing the motion state of the second embodiment of the split suction type robot of the present invention. As shown in FIG. 3, in the present embodiment, in the initial state, the front suction valve and the rear air release valve are simultaneously closed, so that the front suction cup and the rear suction cup are simultaneously sucked, and the front body B and the rear body A are simultaneously In a close state. When entering the walking state, the front body B protrudes to the longest and has crossed the first gap E1; at this time, if the rear body A shrinks to the shortest and is close to the front body B, it is just at the gap E1 and cannot be adsorbed. After the body A retreats back to the edge of the first gap E1 and adsorbs, the front suction cup is released and then extended to the longest again, but at this time, the front suction cup encounters the second gap E2 cannot be adsorbed, and at this time, the robot cannot be crossed, immediately Stop walking or turning. That is to say, in the present embodiment, there are two gaps, and of course, a combination of a gap and a boundary of the suction surface. The front body B directly crosses the first gap E1, and the body A is adjusted by adjusting the body A. During the process of crossing a gap E1, the front body B hits the second gap E2 or the boundary of the walking surface, and stops walking or turning because it cannot cross.

Embodiment 3

4 is a schematic view showing the motion state of the third embodiment of the split suction type robot of the present invention. As shown in FIG. 4, in the present embodiment, in the initial state, the front venting valve and the rear venting valve are simultaneously closed, so that the front suction cup and the rear suction cup are simultaneously sucked, and the front body B and the rear body A are simultaneously In a close state. When entering the walking state, the front vent valve is opened, the front suction cup is released, and the screw C is extended, so that the front body B and the rear body A are separated until the maximum separation State, at this time, the front vent valve is closed; whether the suction cup can be sucked with the walking surface before detecting; at this time, the front suction cup is just located at the gap E and cannot be slid with the walking surface D, the screw C is contracted, and the front body B is retracted to After the edge of the gap E is sucked. After the suction cup is released, the shrinking screw C causes the rear body A and the front body B to close together, and the rear suction cup is sucked, the front air release valve is opened, the front suction cup is released, and the screw C is extended to separate the front body B and the rear body A until the maximum separation state. .

In this embodiment, the front body B of the robot protrudes to the longest position, and is not able to be adsorbed at the gap E. At this time, the front body B needs to be retracted to the edge of the gap E to be adsorbed, and the rear suction cup is released, and the rear body A and the front are After the body B is closed, it is adsorbed. After the front suction cup is released, the front body is repeatedly extended to the longest, and finally the gap is crossed. That is to say, in the present embodiment, the front body cannot directly cross the gap, and the front body and the rear body cross the gap by adjusting the position of the front body.

Embodiment 4

FIG. 5 is a schematic view showing the motion state of the fourth embodiment of the split suction type robot of the present invention. As shown in FIG. 5, in the present embodiment, when the split suction type robot is in the initial state, the front air release valve and the rear air release valve are simultaneously closed, so that the front suction cup and the rear suction cup are simultaneously sucked, and the front body B and the rear body A are simultaneously When in the walking state, the front vent valve is opened, the front suction cup is released, and the screw C is extended, so that the front body B and the rear body A are separated until the maximum separation state. At this time, the front suction cup cannot be adsorbed at the gap E1, and the screw C is contracted for a distance, so that the front body B is retracted back to the edge of the slit E1 and adsorbed. The contraction of the screw C causes the rear body A and the front body B to close together, and then elongates to the longest. At this time, the front suction cup is still unable to be sucked at the gap E2, indicating that the defective split suction cup robot on the running surface cannot be crossed, and the control is impossible. The robot stops walking or turning and the avoidance process ends.

In this embodiment, the front body of the robot is adjusted to cross the first gap, but if it is extended to the longest time and cannot cross the second gap, the walking or steering is immediately stopped.

Embodiment 5

FIG. 6 is a schematic view showing the motion state of the fifth embodiment of the split suction type robot of the present invention. As shown in FIG. 6, the preceding steps in this embodiment are the same as those in the fourth embodiment, except that the front body B of the robot is always located near the boundary of the traveling surface D, and even if the position of the front body B is adjusted by the telescopic screw C, it cannot be crossed. You can only stop walking or turning immediately.

In this embodiment, the front body of the robot is always unable to be adsorbed by the expansion and contraction adjustment of the screw, and the robot is already at the boundary of the walking surface and cannot be crossed.

Embodiment 6

FIG. 7 is a schematic view showing the motion state of the sixth embodiment of the split suction type robot of the present invention. As shown in FIG. 7, in the present embodiment, the front body B of the robot protrudes and encounters the gap E2, and the adsorption position of the front body B is adjusted by the telescopic screw C to be adsorbed at the edge of the gap E2, and the screw C is contracted. The rear body A is brought closer to the front body B. At this time, the rear suction cup is just in the position of the gap E1 and cannot be adsorbed, and the screw C is extended, so that the rear body A is adsorbed at the edge of the slit E1. At this time, the screw C is extended to the longest length again, and when the front body B is extended, it is necessary to judge the positional relationship between the front suction cup and the slit E2, and the judgment process is circulated to the first embodiment or the second embodiment.

Example 7

FIG. 8 is a schematic view showing the motion state of the seventh embodiment of the split suction type robot of the present invention. As shown in FIG. 8, the embodiment has the same operation mode as that of the sixth embodiment, and the difference between the two is that in the last state in the figure, the screw C is extended to the longest again, and the front suction cup is extended when the front body B is extended. If the gap E2 cannot be absorbed, it cannot be crossed and can only stop walking or turning immediately.

FIG. 9 is a complete flow chart of a method for controlling a split suction type robot to avoid a defect on a walking surface according to the present invention. In combination with the above seven embodiments, as shown in FIG. 9, specifically, the complete process of the method for controlling a split suction type robot to avoid a walking surface defect is as follows:

Step 100: In the initial state, the front suction valve and the rear air release valve are simultaneously closed, so that the front suction cup and the rear suction cup are simultaneously sucked, and the front body and the rear body are in a close state.

Step 200: When entering the walking state, the front air release valve is opened, the front suction cup is released, the screw is extended, and the front body and the rear body are separated until the maximum separation state, at this time, the front air release valve is closed;

Step 210: Detect whether the front suction cup can be engaged with the walking surface;

If the front suction cup can be engaged with the walking surface, proceed to step 300; if the front suction cup cannot be engaged with the walking surface, proceed to step 400.

The step 300 specifically includes: the rear vent valve is opened, the rear suction cup is released, the screw is contracted, and the front body and the rear body are brought closer together until the two are completely close together, and at this time, the rear vent valve is closed;

Step 310: Detect whether the suction cup can be engaged with the walking surface. If it can be sucked, repeat step 200 to continue walking forward; if it is unable to pick up, proceed to step 600.

The step 400 specifically includes: the screw shrinks a certain distance, so that the front body and the rear body are close together;

Step 410: Detect whether the front suction cup can be sucked with the walking surface, if the suction is not possible, continue to shrink the screw; if it can be sucked, proceed to step 500.

The step 500 specifically includes: stopping the shrinking screw, the rear air release valve is opened, the rear suction cup is released, and the shrinking screw closes the front body and the rear body until it is completely close, and then the back air valve is closed;

Step 510: Detect whether the suction cup can be sucked with the walking surface, if it is unable to pick up, go to step 600; if it can pick up, go to step 700.

The step 600 specifically includes: extending the screw to separate the front body and the rear body by a certain distance;

Step 610: Detect whether the suction cup can be sucked with the walking surface, if the suction is not possible, continue to extend the screw; if it can be sucked, proceed to step 700.

The step 700 specifically includes: the front air release valve is opened, the front suction cup is released, and the screw is extended to separate the front body and the rear body until the maximum separation state, and at this time, the front air release valve is closed;

Step 710: Detect whether the front suction cup can be engaged with the walking surface, if it can be sucked, repeat step 300; if it is unable to pick up, it indicates that there is a boundary that the split suction robot cannot cross on the running surface, and the process proceeds to step 800.

The step 800 specifically includes: controlling the robot to stop walking or turning, and the boundary determining process ends.

In summary, the present invention combines the specific structure and the movement mode of the split suction-type robot to realize the detection and span of the gap during the walking process, and has high sensitivity and strong practicability.

Claims (7)

A method for controlling a split-cup type robot to avoid a defect of a walking surface, the split-cup type robot comprising a front body (B) and a rear body (A) connected to each other by a screw (C), a body of the front body and the rear body The bottom part is respectively provided with a front suction cup and a rear suction cup. Under normal circumstances, the screw is moved in a full extension or a full contraction manner, and the driving robot alternately adsorbs the walking surface by the front suction cup and the rear suction cup, so that the front body and the rear body are opposite. Separate or close, complete the peristaltic walking of the robot, which is characterized by: When the screw is fully extended, when the front suction cup cannot adsorb the walking surface, the adsorption position of the front suction cup is adjusted by controlling the local contraction of the screw to avoid the defect of the walking surface; When the screw is fully retracted and the rear suction cup cannot absorb the walking surface, the adsorption position of the rear suction cup is adjusted by controlling the local extension of the screw to avoid the defect of the walking surface. The method according to claim 1, wherein said adjusting the suction position of the front suction cup by controlling the partial contraction of the screw (C), after the screw is fully extended again, the front suction cup is still unable to adsorb the walking surface, before the control The suction cup is retracted and the robot is turned. The method according to claim 1, wherein said adjusting the suction position of the rear suction cup by controlling the partial extension of the screw (C), after the screw is fully extended again, the front suction cup is still unable to adsorb the walking surface, before the control The suction cup is retracted and the robot is turned. The method according to claim 1, wherein the method comprises: the screw (C) is fully extended, and when the front suction cup is adsorbed on the walking surface, the screw is fully retracted, and the rear suction cup cannot attract the walking surface. The adsorption position of the rear suction cup is adjusted by controlling the local extension of the screw to avoid the defect of the walking surface. The method according to claim 1, wherein the method comprises: after the screw (C) is fully extended, the front suction cup is unable to adsorb the walking surface, and the adsorption of the front suction cup is adjusted by controlling the local shrinkage of the screw. Position to avoid the defect of the walking surface; after the screw is fully extended again, the front suction cup absorbs the walking surface. The method according to claim 2, wherein the method comprises: after the screw (C) is fully extended, the front suction cup is unable to adsorb the walking surface, and the adsorption of the front suction cup is adjusted by controlling the local shrinkage of the screw. Position to avoid defects in the walking surface; When the screw (C) is fully retracted, the rear suction cup cannot attract the walking surface, and the control screw is passed through the bureau. The extension is used to adjust the suction position of the suction cup to avoid the defects of the walking surface; After the screw (C) is fully extended again, when the front suction cup is still unable to adsorb the walking surface, the front suction cup is retracted and the robot is turned. The method according to claim 1, wherein the method comprises: after the screw (C) is fully extended, the front suction cup is unable to adsorb the walking surface, and the adsorption of the front suction cup is adjusted by controlling the local shrinkage of the screw. Position to avoid defects in the walking surface; When the screw (C) is fully retracted, and the rear suction cup cannot absorb the walking surface, the adsorption position of the rear suction cup is adjusted by controlling the local extension of the screw to avoid the defect of the walking surface; After the screw (C) is fully extended again, the front suction cup is attracted to the walking surface.

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