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1. WO2020108549 - ROBOT AND WALKING CONTROL METHOD THEREFOR

Publication Number WO/2020/108549
Publication Date 04.06.2020
International Application No. PCT/CN2019/121445
International Filing Date 28.11.2019
IPC
G05D 1/02 2020.01
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
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
  • 天佑电器(苏州)有限公司 SKYBEST ELECTRIC APPLIANCE (SUZHOU) CO.,LTD. [CN]/[CN]
Inventors
  • 孔钊 KONG, Zhao
  • 王蒙 WANG, Meng
Priority Data
201811444423.729.11.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) ROBOT AND WALKING CONTROL METHOD THEREFOR
(FR) ROBOT ET PROCÉDÉ DE COMMANDE DE MARCHE ASSOCIÉ
(ZH) 机器人及其行走控制方法
Abstract
(EN)
A robot (100) and walking control method therefor. The robot (100) comprises a top cover (14) having an opening, a controller, a sensing element (60) connected to the controller, a mounting seat (16) provided at the opening, and a collision receiving component. When the sensing element (60) is excited, the sensing element (60) sends an obstacle signal to the controller. The collision receiving component comprises: a ball (20) of which one small portion is convexly stretched to the upper portion of the top cover (14) by means of the opening and most of the rest remains under the top cover (14) in a state in which upward disconnection is not possible by means of the opening; a support component (30), assembled on the mounting seat (16) and comprising a support portion (31), the ball (20) being rotatably accommodated in an accommodation groove on the top surface of the support portion (31), wherein when the ball (20) receives an external force, the support component (30) is driven by the ball (20) to move from an initial position where the sensing element (60) is not excited to a second position where the sensing element (60) is excited along a first direction which is far away from the opening; and an elastic component (40), provided between at least one of the mounting seat (16) and the top cover (14), and the support component (30) so that the support component (30) has the trend of maintaining at the initial position.
(FR)
L'invention concerne un robot (100) et un procédé de commande de marche associé. Le robot (100) comprend un couvercle supérieur (14) comportant une ouverture, un dispositif de commande, un élément de détection (60) connecté au dispositif de commande, un siège de montage (16) disposé au niveau de l'ouverture, et un élément de réception de collision. Lorsque l'élément de détection (60) est excité, l'élément de détection (60) envoie un signal d'obstacle au dispositif de commande. L'élément de réception de collision comprend : une bille (20) dont une petite partie est étirée de manière convexe jusqu'à la partie supérieure du couvercle supérieur (14) au moyen de l'ouverture et la partie restante demeure sous le couvercle supérieur (14) dans un état dans lequel une déconnexion vers le haut n'est pas possible au moyen de l'ouverture; un élément de support (30), assemblé sur le siège de montage (16) et comprenant une partie de support (31), la bille (20) étant logée rotative dans une rainure de réception sur la surface supérieure de la partie de support (31) et, lorsque la bille (20) reçoit une force externe, l'élément de support (30) étant entraîné par la bille (20) pour se déplacer d'une position initiale où l'élément de détection (60) n'est pas excité vers une seconde position où l'élément de détection (60) est excité le long d'une première direction qui est éloignée de l'ouverture; et un élément élastique (40), disposé entre le siège de montage (16) et/ou le couvercle supérieur (14) et l'élément de support (30), de telle sorte que l'élément de support (30) a tendance à rester à la position initiale.
(ZH)
一种机器人(100)及其行走控制方法。机器人(100)包括具有开口的顶盖(14)、控制器、与控制器相连接的感测元件(60)、设于开口处的安装座(16)以及碰撞收受组件,当感测元件(60)被激发时,感测元件(60)向控制器发送障碍信号,碰撞收受组件包括:圆球(20),其一小部分通过开口凸伸至顶盖(14)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(14)下方;支撑件(30),组装在安装座(16)上,其包含支撑部(31),圆球(20)可转动地收容于支撑部(31)顶表面的容纳槽内,当圆球(20)接收到外力时,在圆球(20)的带动下,支撑件(30)能够从不使感测元件(60)被激发的初始位置沿第一方向远离开口向使感测元件(60)被激发的第二位置运动;弹性件(40),其设于安装座(16)和顶盖(14)的至少其一与支撑件(30)之间,并使支撑件(30)具有保持在初始位置处的趋势。
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