CN109602339B

CN109602339B - Intelligent mobile device

Info

Publication number: CN109602339B
Application number: CN201811512336.0A
Authority: CN
Inventors: 朱小刚; 余钧雷
Original assignee: Midea Group Co Ltd; Jiangsu Midea Cleaning Appliances Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2018-12-11
Filing date: 2018-12-11
Publication date: 2020-11-13
Anticipated expiration: 2038-12-11
Also published as: CN109602339A

Abstract

The invention discloses intelligent mobile equipment, wherein a walking state detection device of the intelligent mobile equipment comprises a control circuit board, a first conductor and a second conductor, wherein the first conductor and the second conductor are electrically connected with the control circuit board; the first conductor and the second conductor are both connected with a driven wheel of the intelligent mobile equipment, the driven wheel is provided with a first area and a second area which are respectively contacted with the first conductor and the second conductor, the surface of the first area is conductive, and the surface of the second area is periodically conducted with the second conductor along with the rotation of the driven wheel; and the control circuit board determines the walking state of the intelligent mobile equipment according to the electric signal generated by the periodic conduction. The walking state detection device of the intelligent mobile equipment can timely and accurately acquire the abnormal walking state of the intelligent mobile equipment, and avoids delaying work and wasting electric energy.

Description

Intelligent mobile device

Technical Field

The invention relates to the field of intelligent household appliances, in particular to an intelligent mobile device.

Background

By means of the development of an intelligent technology, the intelligent household appliance concept is increasingly hot, various sweeping robots are continuously developed, great convenience is brought to users, and the problem that the users have no time to clean due to busy work is solved to a great extent. The sweeping robot can automatically move, clean, automatically charge and the like in a preset area according to the requirements of a user, wherein the automatic walking of the sweeping robot is realized through the rotation of the driving wheels.

However, in the self-moving process of the sweeping robot, the movement of the sweeping robot is often blocked due to ground obstacles or other reasons, so that a preset task cannot be completed or the time for completing the task is greatly increased. However, this solution has the following problems:

1) because a certain distance exists between the bottom plate of the shell of the sweeping robot and the ground, when the sweeping robot walks, the sweeping robot can be suspended by obstacles such as toys, shoes and the like and cannot walk, but because the driving wheels still rotate at the moment, the detection is normal, and a user cannot know the abnormal working state of the sweeping robot;

2) the driving wheels are slippery due to wet ground and the like, and at the moment, the machine cannot walk, but the driving wheels are still in a rotating state. The user can not know the abnormal working state of the sweeping robot; both of the above two situations result in neither timely cleaning nor waste of electric energy.

Disclosure of Invention

In view of this, the present invention is expected to provide an intelligent mobile device, which can timely and accurately obtain the abnormal walking state of the intelligent mobile device, and avoid delaying work and wasting electric energy.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

the invention provides a walking state detection device of intelligent mobile equipment, which comprises a control circuit board, a first conductor and a second conductor, wherein the first conductor and the second conductor are electrically connected with the control circuit board; the first conductor and the second conductor are both connected with a driven wheel of the intelligent mobile equipment, the driven wheel is provided with a first area and a second area which are respectively contacted with the first conductor and the second conductor, the surface of the first area is conductive, and the surface of the second area is periodically conducted with the second conductor along with the rotation of the driven wheel;

and the control circuit board determines the walking state of the intelligent mobile equipment according to the electric signal generated by the periodic conduction.

In the above scheme, the control circuit board includes a micro control unit.

In the above scheme, the first conductor and the second conductor are both made of nickel-plated copper sheets.

In the above aspect, each of the first conductor and the second conductor includes a wiring hole that can be connected to the control circuit board by a wire.

The invention also provides intelligent mobile equipment, which comprises a body, a driving wheel, a driven wheel and any one of the walking state detection devices; the driving wheel and the driven wheel are both arranged at the bottom of the body and can rotate relative to the body; the control circuit board, the first conductor and the second conductor are all mounted to the body.

In the above scheme, the driven wheel comprises a wheel and a wheel shaft, the middle of the wheel shaft is arranged in the wheel in a penetrating manner, and two ends of the wheel shaft are both arranged on the body and can rotate along with the rotation of the wheel; the first region and the second region are each located on an outer circle of the axle.

In the above scheme, the wheel axle is made of a conductive material, the second region includes a preset number of insulation regions, the insulation regions are uniformly distributed in the circumferential direction of the wheel axle, and the distance between adjacent insulation regions in the circumferential direction is a preset value.

In the above scheme, the first conductor and the second conductor both comprise elastic pieces in contact with the wheel axle, and the elastic pieces are provided with cambered surfaces matched with the diameter of the wheel axle.

In the above scheme, the equipment further comprises a support, the support comprises a first fixed end fixed on the body and a second fixed end fixed on the wheel shaft, and the bottom of the second fixed end is provided with an arc surface matched with the diameter of the wheel shaft.

In the above-mentioned scheme, the second stiff end of support is still including fixed first conductor with the fixed slot of second conductor, first conductor with the second conductor all be provided with the block portion that the fixed slot matches.

The walking state detection device of the intelligent mobile equipment and the intelligent mobile equipment comprise a control circuit board, a first conductor and a second conductor, wherein the first conductor and the second conductor are electrically connected with the control circuit board; the first conductor and the second conductor are both connected with a driven wheel of the intelligent mobile equipment, the driven wheel is provided with a first area and a second area which are respectively contacted with the first conductor and the second conductor, the surface of the first area is conductive, and the surface of the second area is periodically conducted with the second conductor along with the rotation of the driven wheel; the control circuit board determines the walking state of the intelligent mobile equipment according to the electric signal generated by the periodic conduction; therefore, according to the walking state detection device of the intelligent mobile equipment and the intelligent mobile equipment, the rotation condition of the driven wheel is detected through the first conductor and the second conductor, the walking state of the intelligent mobile equipment is determined, the abnormal walking state of the intelligent mobile equipment can be timely and accurately obtained, and work delay and electric energy waste are avoided.

Other advantages of the present invention will be further described in conjunction with the detailed description of the invention.

Drawings

Fig. 1 is a schematic view of a sweeping robot according to an embodiment of the present invention;

fig. 2 is a schematic view of a walking state detection device in a sweeping robot according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a graph of an electric signal acquired by a control circuit board when a driven wheel in the sweeping robot rotates normally according to the embodiment of the invention;

fig. 4 is a schematic view of an axle in the sweeping robot according to the embodiment of the present invention;

fig. 5 is a schematic view of a first conductor in the sweeping robot according to the embodiment of the invention;

fig. 6 is a schematic view of a second conductor in the sweeping robot according to the embodiment of the invention;

fig. 7 is a schematic view illustrating a contact condition between the elastic sheet and the wheel axle in the sweeping robot according to the embodiment of the invention;

fig. 8 is a schematic view of a bracket in the sweeping robot according to the embodiment of the present invention;

fig. 9 is a schematic view of a control circuit board in the sweeping robot according to the embodiment of the present invention;

fig. 10 is a first schematic view of a body of the sweeping robot according to the embodiment of the present invention;

fig. 11 is a second schematic view of a body of the sweeping robot according to the embodiment of the present invention.

Detailed Description

It should be noted that, unless otherwise specified and limited, the term "connected" in the description of the embodiments of the present invention is to be understood broadly, and for example, the term may be an electrical connection, a communication between two elements, a direct connection, or an indirect connection through an intermediate medium, and a specific meaning of the term may be understood by those skilled in the art according to specific situations.

It should be noted that, if the term "first \ second \ third" is referred to in the embodiments of the present invention, it is only to distinguish similar objects and does not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may be interchanged with a specific order or sequence as permitted.

The embodiment of the invention provides a walking state detection device of intelligent mobile equipment, which comprises a control circuit board, a first conductor and a second conductor, wherein the first conductor and the second conductor are electrically connected with the control circuit board; the first conductor and the second conductor are both connected with a driven wheel of the intelligent mobile equipment, the driven wheel is provided with a first area and a second area which are respectively contacted with the first conductor and the second conductor, the surface of the first area is conductive, and the surface of the second area is periodically conducted with the second conductor along with the rotation of the driven wheel; and the control circuit board determines the walking state of the intelligent mobile equipment according to the electric signal generated by the periodic conduction.

Therefore, the control circuit board, the first conductor, the driven wheel and the second conductor can form a loop for transmitting electric signals, and the surface of the first area is periodically conducted with the second conductor along with the rotation of the driven wheel, so that when the driven wheel rotates, the electric signals generated by the periodic conduction of the control circuit board are always pulse signals, otherwise, the signals acquired by the control circuit board are linear, and therefore the control circuit board can determine the rotation condition of the driven wheel according to the electric signals generated by the periodic conduction, and further determine the walking state of the intelligent mobile equipment.

Here, the wheels of the driven wheels are rotated only when the smart mobile device is walking, that is, when the driven wheels are detected to be rotated, it is determined that the smart mobile device is walking, unlike a driving wheel in a smart mobile device, which is driven by a power unit, and may be idle or slip and rotate with the ground even though the smart mobile device is not walking.

According to the walking state detection device of the intelligent mobile equipment, disclosed by the embodiment of the invention, the rotation condition of the driven wheel is detected through the first conductor and the second conductor, the walking state of the intelligent mobile equipment is determined, the abnormal walking state of the intelligent mobile equipment can be timely and accurately obtained, and the work delay and the electric energy waste are avoided.

In one embodiment, the control circuit board includes a Micro Control Unit (MCU). The MCU is also called a Single Chip Microcomputer (Microcomputer) or a Single Chip Microcomputer (MCU), which properly reduces the frequency and specification of a Central Processing Unit (CPU), and integrates peripheral interfaces such as a Memory (Memory), a counter (Timer), a USB (Universal Serial Bus), an a/D (analog/digital) converter, a UART (Universal Asynchronous Receiver/Transmitter), a PLC (Programmable Logic Controller ), a DMA (Direct Memory Access), a Direct Memory Access, and a digital Memory Access), even an LCD (Liquid Crystal Display) driving circuit on a Single Chip, thereby forming a Chip-level computer, which performs different combination control for different applications. Therefore, the structure is simple and the control is convenient. It is understood that the control circuit board may be formed by other control components, such as a Digital Signal Processor (DSP) or a Field Programmable Gate Array (FPGA).

In one embodiment, the first and second conductors are each made of a nickel-plated copper sheet. Thus, the conductive performance is good, and the conductive material also has certain elasticity. It will be appreciated that other conductive materials are possible, such as stainless steel.

In one embodiment, the first conductor and the second conductor each include a wire hole that is connectable to the control circuit board 21 by a wire. Thus, electrical connection to the control circuit board 21 is facilitated, which is a preferred manner.

The embodiment of the invention also provides intelligent mobile equipment, which comprises a body, a driving wheel, a driven wheel and any one of the walking state detection devices; the driving wheel and the driven wheel are both arranged at the bottom of the body and can rotate relative to the body; the control circuit board, the first conductor and the second conductor are all mounted to the body.

Here, the relationship among the main body, the driving wheel, and the driven wheel is: the driving wheel can drive the body to move when rotating, namely equipment walks, and the movement of the body can drive the driven wheel to rotate. Therefore, the rotation condition of the driven wheel is detected through the first conductor and the second conductor, the walking state of the intelligent mobile equipment is determined, the abnormal walking state of the intelligent mobile equipment can be timely and accurately known, and work delay and electric energy waste are avoided.

In one embodiment, the driven wheel comprises a wheel and an axle, the middle of the axle is arranged in the wheel in a penetrating way, and both ends of the axle are arranged on the body and can rotate along with the rotation of the wheel; the first region and the second region are each located on an outer circle of the axle. Thus, as the wheel shaft rotates along with the rotation of the wheel, the function of periodically conducting the surface of the second area with the second conductor along with the rotation of the driven wheel can be realized; it can be understood that the first region and the second region can be disposed at other places of the driven wheel, for example, the first region and the second region can be disposed at end surfaces of two ends of the wheel, or a flange protruding from each end of the wheel, disposed on an outer circumferential surface of the flange, etc.

In one embodiment, the wheel axle is made of a conductive material, the second region includes a preset number of insulation regions therein, the insulation regions are uniformly distributed in the circumferential direction of the wheel axle, and the distance between adjacent insulation regions in the circumferential direction is a preset value. In this way, the function of periodically conducting the surface of the second area with the second conductor as the driven wheel rotates is achieved. The insulation area can be realized by coating insulating paint on the surface of the wheel shaft or pasting insulating glue on the surface of the wheel shaft. It can be understood that the surface of the second region can be periodically communicated with the second conductor along with the rotation of the driven wheel by means of grooving the surface of the wheel shaft and the like. Here, the number of the insulation regions and the distance between adjacent insulation regions may be preset according to the rotation state of the driven wheel that can be accurately judged. Presetting too much or too far, or vice versa, is not conducive to accurate determination and will not be described in detail.

In one embodiment, the first conductor and the second conductor each comprise a spring in contact with the axle, the spring being provided with a cambered surface matching a diameter of the axle. Through the elastic sheet, the first conductor and the second conductor can be always in contact with the wheel shaft in the rotating process of the driven wheel. The cambered surface is beneficial to reducing the frictional resistance between the elastic sheet and the wheel shaft, so that the first conductor and the second conductor can be better ensured to be always contacted in the rotation process of the driven wheel, and the method is an optimal mode.

In one embodiment, the device further comprises a support, the support comprises a first fixed end fixed on the body and a second fixed end fixed on the axle, and an arc surface matched with the diameter of the axle is formed at the bottom of the second fixed end. In this way, it is more convenient to fix the axle, which is the preferred way.

In one embodiment, the second fixed end of the bracket further includes a fixing groove for fixing the first conductor and the second conductor, and the first conductor and the second conductor are both provided with a clamping portion matched with the fixing groove. In this way, the fixation of the first conductor and the second conductor is facilitated. The engaging portion may be fixed to the fixing groove by providing a slope, a protrusion, etc., without using a fixing part such as a screw, etc., which is convenient and simple in structure, and is a preferable mode.

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the embodiment of the invention, the intelligent mobile equipment is a sweeping robot, and it can be understood that the technical scheme of the embodiment can also be used for other intelligent mobile equipment except the sweeping robot. As shown in fig. 1, the sweeping robot comprises a body 11, a driving wheel 12 (not shown in fig. 1, see fig. 9), a driven wheel 13 and a walking state detecting device; the driving wheel 12 and the driven wheel 13 are both mounted at the bottom of the body 11 and can rotate relative to the body 11;

here, the relationship among the main body 11, the driving pulley 12, and the driven pulley 13 is: when the driving wheel 12 rotates, the driving wheel can drive the body 11 to move, that is, the equipment travels, and the movement of the body 11 can drive the driven wheel 13 to rotate. That is, the wheels of the driven wheels 13 only rotate when the sweeping robot walks, and unlike the driving wheels 12 in the sweeping robot, the wheels are driven by power parts, and even if the sweeping robot does not walk, the wheels may idle or slip and rotate with the ground. Therefore, when the driven wheel 13 is detected to rotate, the sweeping robot can be determined to be walking.

As shown in fig. 2, the walking state detecting device includes a control circuit board 21 (not shown in fig. 2, see fig. 1 and 9), a first conductor 22 and a second conductor 23, and both the first conductor 22 and the second conductor 23 are electrically connected to the control circuit board 21; the control circuit board 21, the first conductor 22, and the second conductor 23 are all mounted to the body 11.

Specifically, the first conductor 22 and the second conductor 23 are both connected to a driven wheel 13 of the sweeping robot, the driven wheel 13 is provided with a first area 131 and a second area 132 which are respectively in contact with the first conductor 22 and the second conductor 23, the surface of the first area 131 is conductive, and the surface of the second area 132 is periodically conducted with the second conductor 23 along with the rotation of the driven wheel 13.

In this way, the control circuit board 21, the first conductor 22, the driven wheel 13 and the second conductor 23 may form a loop for transmitting an electrical signal, and since the surface of the first region 131 is periodically conducted with the second conductor 23 along with the rotation of the driven wheel 13, when the driven wheel 13 rotates, the electrical signal acquired by the control circuit board 21 from the first conductor 22 or the second conductor 23 is necessarily a pulsating signal, in this embodiment, the pulsating signal is shown in fig. 3, otherwise, the signal acquired by the control circuit board 21 is in a linear shape, and therefore, the control circuit board 21 can determine the rotation condition of the driven wheel 13 according to the electrical signal acquired from the first conductor 22 or the second conductor 23, that is, can determine the walking state of the sweeping robot. And the abnormal walking state of the sweeping robot can be timely and accurately known, so that work delay and electric energy waste can be avoided.

Further, the walking state of the sweeping robot can be determined according to the rotation condition of the driven wheel 13. However, in order to reduce the energy consumption, the control circuit board 21 will only generate the task of detecting the driven wheel when the driving wheel 12 is in a rotating state; specifically, the rotation state of the driving wheel 12 is determined by a stop ring 121 (see fig. 10) and an optical coupler transceiver (not shown in the figure), that is, the optical coupler transceiver can intermittently receive an optical signal, which indicates that the driving wheel is rotating. In this way, the rules for confirming the walking state of the sweeping robot are as follows:

when the driving wheel 12 rotates and the driven wheel 13 also rotates, the walking state is normal;

when the driving pulley 12 rotates and the driven pulley 13 does not rotate, the traveling state is abnormal.

For abnormal walking conditions, an alarm may be sounded depending on the situation.

According to the walking state detection device of the sweeping robot, disclosed by the embodiment of the invention, the rotation condition of the driven wheel 13 is detected through the first conductor 22 and the second conductor 23, the walking state of the sweeping robot is determined, the abnormal walking state of the sweeping robot can be timely and accurately obtained, and the work delay and the electric energy waste are avoided.

In this embodiment, the control circuit board 21 includes an MCU. Therefore, the structure is simple and the control is convenient.

In this embodiment, the first conductor 22 and the second conductor 23 are made of nickel-plated copper sheets. Thus, the conductive performance is good, and the conductive material also has certain elasticity.

In the present embodiment, each of the first conductor 22 and the second conductor 23 includes a wiring hole 221 connectable to the control circuit board 21 through a wire 26. In this way, electrical connection to the control circuit board 21 is facilitated. Specifically, one end of the lead wire 26 is connected to the wiring hole 221, and the other end is connected to the control circuit board 21.

In this embodiment, the driven wheel 13 includes a wheel 133 and a wheel axle 134, the middle of the wheel axle 134 is inserted into the wheel 133, and both ends of the wheel axle 134 are mounted on the body 11 and can rotate along with the rotation of the wheel 133; the first region 131 and the second region 132 are located on the outer circles of the axles 134, respectively. Thus, since the wheel shaft 134 rotates with the rotation of the wheel 133, the surface of the second region 132 periodically communicates with the second conductor 23 with the rotation of the driven wheel 13.

Further, as shown in fig. 10 and 11, the body 11 is provided with a groove 111 for accommodating the axle 134; fig. 10 shows not only the body 11 but also the parts mounted on the body 11, so that the structure of the sweeping robot can be more clearly understood.

In this embodiment, as shown in fig. 4, the axle 134 is made of a conductive material, the second region 132 includes a plurality of insulating regions 135 therein, the insulating regions 135 are uniformly distributed in the circumferential direction of the axle 134, and the arc length of the circumferential interval between adjacent insulating regions 135 is the same as the arc length of the insulating region 135. In this way, the function of periodically conducting the surface of the second region 132 with the second conductor as the driven wheel 13 rotates is achieved. The insulation region 135 may be formed by coating the surface of the axle 134 with an insulation varnish so that the frictional resistance to the surface of the axle 134 is not greatly affected.

Further, the outer circumferential surface of the fixing portion of the wheel shaft 134 and the wheel 133 is provided with a knurl 136, so that the fixing is convenient and the structure is simple.

In this embodiment, as shown in fig. 5 and 6, each of the first conductor 22 and the second conductor 23 includes a spring piece 222 contacting with the axle 134, and the spring piece 222 is provided with an arc surface matching with the diameter of the axle 134. Through the elastic sheet 222, both the first conductor 22 and the second conductor 23 can always contact the axle 134 during the rotation of the driven wheel 13. The cambered surface helps to reduce the frictional resistance between the elastic sheet 222 and the axle 134, so that the first conductor 22 and the second conductor 23 can be better ensured to be always in contact during the rotation of the driven wheel 13. Fig. 7 shows the contact of the resilient tab 222 with the axle.

In this embodiment, as shown in fig. 1, fig. 2, and fig. 8, the sweeping robot further includes a bracket 14, the bracket 14 includes a first fixed end 141 fixed to the body 11 and a second fixed end 142 fixed to the axle 134, and an arc surface matched with the diameter of the axle 134 is formed at the bottom of the second fixed end 142. In this way, it is more convenient to fix the axle 134. Specifically, the bracket is fixed to the body 11 by screws, and the body is provided with screw posts 112.

Further, the second fixing end 142 of the bracket 14 further includes a fixing groove 143 for fixing the first conductor 22 and the second conductor 23 (hereinafter, referred to as conductors), and the conductors are each provided with an engaging portion 223 matched with the fixing groove 143. In this way, the fixation of the conductor is facilitated. Specifically, the engaging portion 223 is formed by cutting a rectangular engaging piece on the conductor through a tongue cutting process in stamping, three sides of the engaging piece are separated from the conductor, and only one side of the engaging piece is connected to the conductor, so that one end of the engaging piece protrudes out of the conductor and has a certain inclination, and when the engaging piece is assembled to the fixing groove 143, the engaging piece is directly inserted, and can be clamped through the inclination without using fixing parts such as screws, which is convenient and simple in structure.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements, etc. that are within the spirit and principle of the present invention should be included in the present invention.

Claims

1. The intelligent mobile equipment is characterized by comprising a body, a driving wheel, a driven wheel and a walking state detection device; the walking state detection device comprises a control circuit board, a first conductor and a second conductor, wherein the first conductor and the second conductor are electrically connected with the control circuit board; the first conductor and the second conductor are both connected with a driven wheel of the intelligent mobile equipment, the driven wheel is provided with a first area and a second area which are respectively contacted with the first conductor and the second conductor, the surface of the first area is conductive, and the surface of the second area is periodically conducted with the second conductor along with the rotation of the driven wheel;

the control circuit board determines the walking state of the intelligent mobile equipment according to the electric signal generated by the periodic conduction;

the driving wheel and the driven wheel are both arranged at the bottom of the body and can rotate relative to the body; the control circuit board, the first conductor and the second conductor are all mounted on the body;

the driven wheel comprises a wheel and a wheel shaft, the middle of the wheel shaft is arranged in the wheel in a penetrating mode, and two ends of the wheel shaft are arranged on the body and can rotate along with the rotation of the wheel; the first region and the second region are each located on an outer circle of the axle.

2. The smart mobile device of claim 1, wherein the control circuit board comprises a micro-control unit.

3. The smart mobile device of claim 1 or 2, wherein the first conductor and the second conductor are each made of a nickel-plated copper sheet.

4. The smart mobile device of claim 2 wherein the first conductor and the second conductor each include a wire hole that is connectable to the control circuit board by a wire.

5. The smart mobile device of claim 4, wherein the wheel shaft is made of a conductive material, the second region includes a predetermined number of insulation regions therein, the insulation regions are uniformly distributed in a circumferential direction of the wheel shaft, and a distance between adjacent insulation regions in the circumferential direction is a predetermined value.

6. The smart mobile device of claim 5, wherein the first conductor and the second conductor each comprise a spring in contact with the axle, the spring being provided with a curved surface matching a diameter of the axle.

7. The intelligent mobile device according to any one of claims 4 to 6, wherein the device further comprises a support, the support comprises a first fixed end fixed to the body and a second fixed end fixed to the axle, and an arc surface matched with the diameter of the axle is formed at the bottom of the second fixed end.

8. The smart mobile device of claim 7, wherein the second fixing end of the bracket further comprises a fixing groove for fixing the first conductor and the second conductor, and the first conductor and the second conductor are each provided with a clamping portion matched with the fixing groove.