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1. CN109445436 - Robot and walking control method

Office China
Application Number 201811444423.7
Application Date 29.11.2018
Publication Number 109445436
Publication Date 08.03.2019
Publication Kind A
IPC
G05D 1/02
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
A47L 11/24
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
24Floor-sweeping machines, motor-driven
A47L 11/40
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not provided for in groups A47L11/02-A47L11/38108
CPC
A47L 11/24
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
24Floor-sweeping machines, motor-driven
A47L 11/40
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
A47L 11/4002
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4002Installations of electric equipment
A47L 11/4011
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
A47L 11/4061
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
11Machines for cleaning floors, carpets, furniture, walls, or wall coverings
40Parts or details of machines not ; provided for in; groups A47L11/02 - A47L11/38, ; or not restricted to one of these groups; , e.g. handles, arrangements of switches, skirts, buffers, levers
4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
A47L 2201/04
AHUMAN NECESSITIES
47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
LDOMESTIC WASHING OR CLEANING
2201Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
04Automatic control of the travelling movement; Automatic obstacle detection
Applicants SKYBEST ELECTRIC APPLIANCE (SUZHOU) CO., LTD.
天佑电器(苏州)有限公司
Inventors KONG ZHAO
孔钊
WANG MENG
王蒙
Agents 苏州威世朋知识产权代理事务所(普通合伙) 32235
Title
(EN) Robot and walking control method
(ZH) 机器人及其行走控制方法
Abstract
(EN)
The invention provides a robot and a walking control method. The robot comprises a top cover having an opening, a controller, a sensing component connected to the controller, an installation seat arranged at the opening and a collision receiving component. When being excited, the sensing component sends an obstacle signal to the controller. The collision receiving component comprises a ball, a support component and an elastic component, wherein one small part of the ball is convexly stretched to the upper portion of the top cover through the opening and most of the rest of the ball remains under the top cover in a state in which upward disconnection is not possible through the opening; the support component is assembled on the installation seat and includes a support portion, and the ballis rotatably arranged in an accommodation groove on the top surface of the support portion; when the ball receives an external force, the support component is driven by the ball to move from an initial position where the sensing component is not excited to a second position where the sensing component is excited along a first direction which is far away from the opening; and the elastic componentis arranged between at least one of the installation seat and the top cover, and the support component so that the support component has the trend of maintaining at the initial position.

(ZH)
本发明提供一种机器人及其行走控制方法。机器人包括具有开口的顶盖、控制器、与控制器相连接的感测元件、设于开口处的安装座以及碰撞收受组件,当感测元件被激发时,感测元件向控制器发送障碍信号,碰撞收受组件包括:圆球,其一小部分通过开口凸伸至顶盖上方,且其余大部分始终以不可通过开口向上脱离的状态保持在顶盖下方;支撑件,组装在安装座上,其包含支撑部,圆球可转动地收容于支撑部顶表面的容纳槽内,当圆球接收到外力时,在圆球的带动下,支撑件能够从不使感测元件被激发的初始位置沿第一方向远离开口向使感测元件被激发的第二位置运动;弹性件,其设于安装座和顶盖的至少其一与支撑件之间,并使支撑件具有保持在初始位置处的趋势。

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