CN105151151B - Method for conveniently and effectively judging whether telescopic lifting corridor cleaning robot is ready to walk up stairs or down stairs - Google Patents

Abstract

The invention discloses a convenient and effective method for judging up and down stairs by a lift-telescopic corridor cleaning robot. Proximity sensors are respectively installed at the upper, middle and lower positions of the front end of the robot body, and proximity sensors for downward sensing are installed at the rear end of the body; The combination of proximity sensors at the three positions of , middle and lower can determine whether the front is a staircase; when going upstairs, the proximity sensor at the lower part of the front is used to determine whether the fuselage has risen to a reasonable height, and the proximity sensor at the rear is used to determine whether the fuselage is stretched out to a safe location; when going downstairs, the proximity sensor on the upper part of the front of the robot is used to determine whether the front is a downward staircase; when the robot is going up or down, use the two proximity sensors on the lower part of the front or the Two proximity sensors determine that the robot is facing the edge of the stairs. The above series of discriminations ensure that the robot can go up and down the stairs reliably, and the method of the present invention is cheap and easy to implement.

Description

A convenient and effective method for distinguishing up and down stairs by a lift-telescopic corridor cleaning robot

This application is a divisional application with application number: 201410192412.X, application date: 2014.5.8, and name: "Method for Discriminating Up and Down Stairs of Elevating and Telescoping Corridor Cleaning Robot".

technical field

The invention relates to a method for a lifting and telescopic corridor cleaning robot to go up and down stairs, and belongs to the field of robots and intelligent control.

Background technique

With the rapid increase of population in today's world, in order to effectively use the limited ground space, people are increasingly developing to higher places. Various high-rise buildings, lecture halls, conference halls, stadium stands and other buildings including stairs are becoming more and more common, and the work of cleaning the corridors is obvious. Increase, the market demand in this area came into being. On the other hand, the vast majority of cleaning robots that have entered people's daily life are indoor flat floor cleaning robots, so it is necessary to research and develop stairs cleaning robots. Among them, the method of judging up and down stairs is an important aspect in the study of stair cleaning robots. At present, the relevant intellectual property rights of this type of research have not yet been formed. The present invention is expected to fill this gap, so this research is of great significance.

The structure of the climbing robot mainly includes: wheel type, crawler type, leg type, rolling type. Among them, the crawler type and the tumbling type have complex structures, and it is difficult to design a cleaning device. Wheeled stair-climbing robots mostly use planetary wheels or other composite wheels, which have a large and complex structure, and rarely take into account the function of cleaning stairs, which greatly reduces their practicability. Most of the legged stair-climbing robots adopt the humanoid walking type, the mechanism is complicated, and the cost is high, which seems overqualified and useless, which is unfavorable for promoting to the market.

The lift-telescopic corridor cleaning robot has a simple way of going up and down the stairs, and it can take into account the cleaning function when walking on the stairs, and it is expected to be promoted to the market. Therefore, it is of practical value to research and design the judgment method of the robot for going up and down stairs.

Contents of the invention

The purpose of the present invention is to provide a convenient and effective method for discriminating the up and down stairs of the lifting and telescopic corridor cleaning robot, which can ensure that the robot can go up and down the stairs reliably.

Technical solution of the present invention is:

A method for discriminating up and down stairs of a lift-telescopic corridor cleaning robot, characterized in that: the lift-telescopic corridor cleaning robot is composed of a body, a lift mechanism, a stretch mechanism and a cleaning mechanism, wherein the lift and stretch mechanism adopts rack and pinion transmission The method realizes linear motion to ensure that the robot can go up and down stairs. There are a universal wheel front wheel and a universal wheel rear wheel at the front and rear ends of the robot body respectively; proximity sensors are installed at the upper, middle and lower positions of the robot body front, and the They are oblique upward, horizontal forward and horizontal forward, and the lower position is a proximity sensor on the left and right respectively; in addition, a proximity sensor with an oblique downward direction is installed on the upper front of the robot to judge when going downstairs; two downward sensing sensors are installed at the rear of the body. Proximity sensor;

When the sensing direction of the upper position proximity sensor of the front end of the robot body is unobstructed, but the direction of the middle and lower position sensors of the front end of the robot body is obstructed, the robot determines that the front is a staircase; the lower position proximity sensor of the front end of the robot body is also used to detect low obstacles;

If the upper position of the front end of the robot body is close to the sensing direction of the sensor, it will directly judge that the front of the robot is an obstacle. This type of obstacle is relatively high, and the robot cannot pass through such obstacles, so the robot needs to avoid obstacles;

The middle position proximity sensor at the front end of the robot body can be used to detect obstacles with the same height as the steps of the stairs, but only raised obstacles;

When there are no obstructions in the sensing directions of the upper, middle and lower positions of the front end of the robot body, the robot judges that there are no obstacles ahead;

Upstairs process:

After the robot judges that the front is a staircase, it is ready to climb the stairs. The robot body is driven by the lifting mechanism and starts to rise. The robot continues to rise for a short distance y, y is the distance between the lower position of the front end of the robot body and the proximity sensor to the ground, so as to ensure that the driving wheel of the robot reaches the height of the stairs, and avoid the body protruding forward and colliding with the edge of the upper step of the stairs. Then extend the body;

The body of the robot is driven by the telescopic mechanism and begins to stretch out, and the two proximity sensors at the rear end detect no occlusion; when the body of the robot extends to the point where the two proximity sensors at the rear end of the body detect occlusion, it indicates that the rear universal wheel of the robot has fallen to the stair treads up, and then retract the support frame through the lifting mechanism, and then retract the support frame part forward to the initial state through telescoping;

Downstairs process:

When the robot is about to go downstairs, if it goes downstairs from the rest platform, the robot needs to judge whether it is a downward staircase in front of it due to the state switching from walking on flat ground to going downstairs; It is in the overall process of going downstairs, so this kind of judgment is not needed. After the steps are cleaned, continue the process of going downstairs; whether there is a downward staircase in front of you, use the proximity sensor to judge; use the direction installed on the upper part of the front end of the robot to go down The angle between the detection direction of the proximity sensor and the horizontal direction is θ. If the direction of the robot is slanted downward, the proximity sensor detects that there is an obstruction below the oblique direction, indicating that the robot has not reached the vicinity of the stairs; The proximity sensor that is slanting downward detects that there is no occlusion at the slanting downward, indicating that the robot has reached the vicinity of the stairs and is ready to go downstairs; the angle is 30°<θ<60°;

When the robot is about to go downstairs, when the robot judges that the front is a downward staircase, it turns around 180° and faces the stairs behind. At this moment, the two proximity sensors at the rear end of the body detect that there is a block, and the robot has not reached the intersection of the rest platform and the stairs. Then the robot backs up, using the two proximity sensors at the rear end of the body. When the two proximity sensors at the rear end of the body detect that there is no shelter below, it means that the robot has retreated to the intersection edge of the rest platform and the stairs. floor action.

When the robot is going to go upstairs or downstairs, it should first adjust its posture, facing the edge of the steps of the stairs or the intersection edge of the rest platform and the stairs.

When preparing to go upstairs, rely on the lower position of the front end of the robot body to approach the sensor; if the lower position of the front end of the robot body approaches the sensor, the left proximity sensor first detects that there is a block in front, then the robot will turn counterclockwise. When the lower position of the front end of the robot body Both proximity sensors detect occlusion, and it is determined that the robot is facing the edge of the upper step; if the right proximity sensor among the two proximity sensors at the lower part of the front of the robot body first detects occlusion in front, the robot Turn clockwise. When the two proximity sensors at the lower part of the front of the robot body detect occlusion, it is determined that the robot is facing the edge of the upper step;

When preparing to go downstairs, rely on the proximity sensor at the back of the robot to sense downwards. If the sensor on the right detects that there is no occlusion below, the robot will turn counterclockwise. When both proximity sensors at the back of the robot detect that there is no occlusion below , to determine the attitude of the robot facing the edge of the current step or the intersection edge of the rest platform and the stairs; if the left sensor first detects that there is no occlusion below, the robot will turn clockwise. Detect that there is no occlusion below, and determine the posture of the robot facing the edge of the current step or the intersection edge of the rest platform and the stairs.

The invention can conveniently and effectively ensure that the robot can go up and down stairs reliably and is easy to operate.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Figure 1 is a schematic diagram of the distribution of sensors for upstairs judgment.

Figures 2-6 are schematic diagrams of the robot judging the stairs.

Fig. 7 is a schematic diagram of the process of the robot going upstairs.

Fig. 8-Fig. 10 are schematic diagrams of the robot body lifting process.

Fig. 11-Fig. 12 are the schematic diagrams of the robot body protruding up to the step surface of the upper step.

Figure 13 and Figure 14 are schematic diagrams for judging whether the front is a downward staircase.

15-20 are schematic diagrams of the process of the robot going downstairs.

Fig. 21 is a schematic top view of the general posture of the robot when it is preparing to go upstairs or downstairs.

Fig. 22 is a schematic top view of the posture of the robot facing the stairs when it is preparing to go upstairs or downstairs.

detailed description

A method for discriminating up and down stairs of a lifting and telescopic corridor cleaning robot. The lifting and telescopic corridor cleaning robot is composed of a body 10, a lifting mechanism 8, a telescoping mechanism 11 and a cleaning mechanism 9, wherein the lifting and telescopic mechanism adopts a rack and pinion drive to move linearly , to ensure that the robot realizes the movement of going up and down stairs, the front and rear ends of the robot body below have a universal wheel front wheel 6 and universal wheel rear wheel 7 respectively; Proximity sensors 3, 2, and 1 are respectively installed in the positions, and the directions are obliquely upward, horizontally forward and horizontally forward, and the lower position is a proximity sensor 1 on the left and right; in addition, a proximity sensor with an obliquely downward direction is installed on the upper part of the front end of the robot. 5 to judge going downstairs; two proximity sensors 4 for downward sensing are installed at the rear end of the vehicle body; the proximity sensors are used to detect stair information, and provide relevant judgment basis for the action of going up and down stairs, so that the robot can go up and down stairs reliably.

When there is no return signal from the proximity sensor, it means that the front of the robot is empty. When there is a return signal, it means that the front of the sensor is blocked. Based on this principle, the present invention uses a combination of sensors to judge whether the road ahead is an open space, a staircase or an obstacle. The installation positions of proximity sensors 1, 2, and 3 are shown in Figure 1.

Proximity sensors 3, 2, and 1 are fixed on three positions of the robot front body, middle and lower, and the directions are respectively obliquely upward, horizontally forward and horizontally forward. In Fig. The elevation angle between the measured direction and the horizontal direction is α.

In Figure 2 to Figure 6, the black mark on the sensor indicates that the sensing direction is blocked; the white mark indicates that there is no blocking. When the sensing direction of sensor 3 is not blocked, but the directions of sensors 1 and 2 are blocked, the robot determines that the front is a staircase. as shown in picture 2.

Sensor 1 is used to detect low obstacles, as shown in Figure 3. Therefore, if the sensor 2 is not used, it is impossible to distinguish low obstacles and stairs, as shown in Figure 2 and Figure 3, and low obstacles are more common in life, such as a ball of paper, a brick, and a box, so the present invention designs Sensor 2 makes a simple distinction.

If the sensing direction of sensor 3 is blocked, it will directly judge that the front of the robot is an obstacle, as shown in Figure 4, regardless of the status of sensors 1 and 2, and 3 is black, indicating that there is a block. Although such obstacles are high, the robot may still be unable to pass through such obstacles, and the robot needs to avoid obstacles.

Sensor 2 can be used to detect obstacles that are as high as a stair step, but only raised, as shown in Figure 5.

When the three sensors 1, 2 and 3 have no obstructions in the sensing directions, the robot judges that there are no obstacles ahead, as shown in Figure 6.

Table 1 shows the status table of the robot stairs judgment sensor. Logic "0" indicates that there is an obstruction in the sensing direction of the sensor, and logic "1" indicates that there is no obstruction in the sensing direction of the sensor.

Table 1: Judgment rules for stairs

In the specific implementation, according to the "Code for Design of Building Stairs" promulgated by the state, the width of the stairs should not be less than 0.26m, and the height of the steps should not be greater than 0.175m. The edge connection line of the steps of the stairs forms an angle of about 30° with the horizontal direction, as shown in Figure 1, so the elevation angle of the sensor 3 is α=30°, and the fixed height of the sensor 3 is at least 160mm; the sensor 1 is fixed below the robot, 40mm from the ground , to detect low obstacles forward, as shown in Figure 3; sensor 2 is fixed in the middle of the front of the robot, at a height of 100mm from the ground, and combined with sensor 1 to judge stairs, the height range of the staircase riser that can be judged is more than 100mm. For the height of the stair riser that is too short and less than 100mm, the sensor 2 can be lowered to make it equal to the height of the stair that needs to be judged.

About the process of going upstairs:

The lifting and telescopic corridor cleaning robot adopts the combination of lifting and telescopic to go up and down the stairs. As shown in Figure 7, after the robot judges the stairs, the lifting mechanism first raises the robot body until it rises to the height of the stair tread; the telescopic mechanism will The robot body stretches out and sends the body to the step surface of the upper step; and the lifting mechanism retracts the robot support frame; after the support frame is retracted, the telescopic mechanism retracts the support frame to both sides of the robot body. So far, the robot has completed the movement of going upstairs.

In the process of going upstairs, the lifting mechanism makes the robot body rise. If it does not rise to the height that makes the bottom wheel of the robot body higher than the upper step, it cannot carry out the next step of stretching out. Therefore, sensors are required to determine whether the relevant altitude has been reached. When the telescopic mechanism sends the robot body to the steps, if the body is not stretched out enough, causing the rear wheels of the robot not to fall on the step surface of the upper step, the lifting mechanism cannot retract the support frame. Because the center of gravity is very close to the rear of the robot at this moment, if there is no support from the rear wheels of the robot, retracting the support frame will cause the robot to tip backwards. Therefore, whether the telescoping mechanism stretches out in place also needs sensor to judge. The proximity sensors used for the judgment of raising and stretching out are distributed as sensors 1 and 4 as shown in FIG. 8 .

After the robot judges that the front is a staircase, it goes up the stairs. During the ascent process of the robot, sensor 1 is used to determine whether the robot body has risen to the height of the stairs. As shown in Figure 8, the robot reaches the edge of the stairs and is ready to climb. When there is no obstruction in front of sensor 1, as shown in Figure 9, control the robot to continue to rise for a short distance y. Stretch out and collide to the edge of the last step of the stairs, as shown in Figure 10, then the vehicle body can be stretched out.

After the robot body stretches out, utilize sensor 4 to judge whether the robot body stretches out sufficiently, promptly whether the universal wheel rear wheel falls on the upper step step surface. Sensor 4 is installed on the bottom plate rear portion of the robot, and the direction is downward. At the rear of the universal wheel rear wheel, there are two sensor 4, which are distributed on both sides of the universal wheel rear wheel. The body of the robot is driven by the telescopic mechanism and begins to stretch out, and the sensor 4 detects that there is no occlusion, as shown in Figure 11. When the robot body stretches out to the sensor 4 and detects that there is a block, it shows that the rear universal wheel of the robot has fallen on the stair steps, as shown in Figure 12. Then the support frame can be collected by the lifting mechanism, and then the support frame part is retracted forward to the initial state by telescopic, as shown in the uppermost state of Fig. 7 .

About the process of going downstairs:

When the robot is about to go downstairs, if it goes downstairs from the rest platform, since it involves a state switch from walking on flat ground to going downstairs, the robot needs to judge whether there is a downward staircase ahead. For the situation that the robot is currently on the stairs, since it is in the process of going downstairs as a whole, this judgment is not needed. After the steps are cleaned, the process of going downstairs will continue. Whether there is a downward staircase in front, use the proximity sensor to judge. Proximity sensors 5 are installed on both sides of the front end of the robot to judge whether it is going downstairs. The direction is obliquely downward, and the angle with the horizontal direction is θ. As shown in the figure, Figure 13 shows that the robot proximity sensor 5 detects that there is no obstruction at the oblique downward direction, indicating that the robot has not arrived. Near the stairs, Fig. 14 shows that the robot proximity sensor 5 detects that there is an oblique downward block, indicating that the robot has arrived near the stairs and is ready to go downstairs.

During specific implementation, according to the national standard for stair design, the downward depression angle is 30°, so the angle is 30°<θ<60°.

The process of the robot going downstairs is the inverse process of the process shown in Figure 7. Therefore, when the robot judges that the front is a downward staircase, it needs to turn around 180° and face the rear to the stairs, as shown in Figure 15. At this moment, the sensor 4 detects that there is an obstruction. , the robot has reached the edge of the stair riser; then the robot retreats, using sensor 4, when the sensor 4 detects that there is no shelter below, it means that the robot has reached the edge of the stair riser, as shown in Figure 16, the robot stops backing; The part of the support frame protrudes towards the direction of the stairs, as shown in Figure 17; then the support frame is lowered until it reaches the step surface of the next step of the stairs, as shown in Figure 18; finally, the robot body is retracted and reset, as shown in Figures 19 and 20 Show.

When the robot is going to go up and down the stairs, it must first adjust its posture, facing the edge of the steps of the stairs. When preparing to go upstairs, rely on the left and right proximity sensors 1 that the front end of the robot senses forward. As shown in Figure 21, if the left proximity sensor 1 first detects an occlusion in front, the robot will turn counterclockwise so that both proximity sensors 1 detect occlusion; if the right proximity sensor 1 first detects an occlusion in front, the robot will Turn clockwise so that both proximity sensors 1 detect that there is an obstruction ahead. Above-mentioned two kinds of situations all determine that the robot is in the posture facing (ie vertically) the step edge of the upper step as shown in Fig. 22, and then the action of going upstairs can be performed. The distance for the proximity sensor 1 to detect whether there is an occlusion in front can be adjusted to X in advance.

When preparing to go downstairs, rely on the two proximity sensors 4 sensed downward by the rear end of the robot, as shown in Figures 15-22. As shown in Figure 21, if the sensor on the right first detects that there is no occlusion below, the robot will turn counterclockwise so that both proximity sensors 4 detect that there is no occlusion below; if the sensor on the left first detects that there is no occlusion below, the robot will turn Clockwise turns, and two proximity sensors 4 all detect that there is no shelter ahead. The above two situations all determine that the robot is in a posture facing (ie vertically) the edge of the current step step or the intersection edge of the rest platform and the stairs as shown in Figure 22, and then the action of going downstairs can be performed.

Claims (1)

1. a kind of easily and effectively method of discrimination of elevating and telescopic type corridor cleaning robot stair activity, is characterized in that：Described Elevating and telescopic type corridor cleaning robot is made up of vehicle body, elevating mechanism, telescoping mechanism and cleaning mechanism, wherein lifting and flexible Mechanism realizes linear motion using rack pinion mode, it is ensured that robot realizes action downstairs, below robot automobile body Front and back end has a universal wheel front-wheel and universal wheel trailing wheel respectively；The upper, middle and lower position of robot automobile body front end is respectively provided with and connects Nearly sensor, direction be respectively obliquely, it is horizontal forward and horizontal forward, wherein lower position is that each one of left and right is close to sensing Device；It is another in robot upper front end installation direction proximity transducer obliquely downstairs being judged；Body rear end installs two The proximity transducer of individual downward sensing；

When robot automobile body front end upper position proximity transducer sensing direction it is unobstructed, and in robot automobile body front end, When lower position sensor orientation is blocked, robot judges front as stair；The lower position of robot automobile body front end is close to and passes Sensor is additionally operable to detect short barrier；

If the sensing direction of the upper position proximity transducer of robot automobile body front end is blocked, directly will determine that in front of robot For barrier, this kind of barrier is higher, and robot cannot need to make robot carry out avoidance by this kind of barrier；

It is suitable with stairway step height but only raised that the medium position proximity transducer of robot automobile body front end can be used for detection Barrier；

When the three proximity transducer sensing direction all no shelters in upper, middle and lower position of robot automobile body front end, robot Judge front clear；

Process upstairs：

After robot judges front for stair, prepare building of climbing, robot automobile body is driven by elevating mechanism and begun to ramp up, this moment Block in front of the lower position proximity transducer of robot automobile body front end；Pass when the lower position of robot automobile body front end is close to When just unobstructed in front of sensor, control robot continues to rise a small distance y, lower portions of the y for robot automobile body front end The distance of proximity transducer and ground is put, thereby guarantees that the driving wheel of robot reaches the height of stair, it is to avoid vehicle body is to extension Go out to collide single order stair step edge, then stretch out vehicle body；

Robot automobile body is stretched out by telescoping mechanism driving, and two proximity transducers of rear end detect unobstructed；Work as machine People's vehicle body reaches two proximity transducers of body rear end and is detected with blocking, and after showing robot, universal wheel has fallen building In ladder rung, bracing frame is packed up by elevating mechanism then, then supporting frame part is recovered to forward original state by flexible, Complete action upstairs；

Downstairs process：

When robot prepares to go downstairs, if gone downstairs from half space, due to being related to from level walking to state switching downstairs, machine Whether device people is stair down in front of needing to judge；For robot currently already in stair step when in the case of, due to Itself is during overall going downstairs, therefore does not need this judgement, marks time and has cleaned, then continues process downstairs；Front is No is stair down, is judged using proximity transducer；Using the direction installed in robot upper front end obliquely Downstairs being judged, direction proximity transducer detection direction obliquely and horizontal direction angle are θ to proximity transducer, such as machine Device people direction proximity transducer detection obliquely downward obliquely is blocked, and illustrates that robot is not reached near stair；Such as direction is oblique Downward proximity transducer detection obliquely downward is unobstructed, illustrates that robot has been reached near stair, prepares to go downstairs；The direction is oblique 30 ° of downward proximity transducer detection direction and horizontal direction angle<θ<60°；

When robot prepares to go downstairs, after robot judges front for stair down, 180 ° are turned round by rear in the face of stair, this Two proximity transducers for carving body rear end are detected with downwards blocking, and robot does not reach the side that crosses of half space and stair Edge；Then robot is retreated, using two proximity transducers of body rear end, when two proximity transducer detections of body rear end It is unobstructed to lower section, illustrate that robot has retreated the edge that crosses for going to half space and stair, robot stops retreating, machine People performs action of going downstairs；

When robot prepares upstairs or downstairs, attitude, just mark time edge or half space and the stair to stairway step are first adjusted The edge that crosses；

When preparing upstairs, by the lower position proximity transducer of robot automobile body front end；If the bottom of robot automobile body front end It is closely located to one, left side proximity transducer in sensor and first detects front block, then turns to robot inverse hour hands, when Two proximity transducers of lower position of robot automobile body front end are all detected with blocking, and judge that robot is in just to upper level Step is marked time the attitude at edge；If the right proximity transducer in two proximity transducers of the lower position of robot automobile body front end First detect front to block, Ze Shi robots are turned to clockwise, pass when the lower position two of robot automobile body front end is close to Sensor is all detected with blocking, and judges attitude of the robot in edge of just marking time to upper level step；

When preparing to go downstairs, by the proximity transducer that robot rear end senses downwards, if the sensor on wherein the right is first detected It is unobstructed to lower section, then turn to robot inverse hour hands, when the proximity transducer of robot rear end two all detects lower section without screening Gear, judges robot just to working as the attitude or half space of front step nosing edge and the attitude at the edge that crosses of stair；If its The sensor on the middle left side first detects that lower section is unobstructed, and Ze Shi robots are turned to clockwise, are passed when robot rear end two is close to Sensor all detects that lower section is unobstructed, judges robot just to when front step nosing edge or half space and the side that crosses of stair The attitude of edge.