CN109124496B - Sweeping robot and cleaning equipment - Google Patents
Sweeping robot and cleaning equipment Download PDFInfo
- Publication number
- CN109124496B CN109124496B CN201811100056.9A CN201811100056A CN109124496B CN 109124496 B CN109124496 B CN 109124496B CN 201811100056 A CN201811100056 A CN 201811100056A CN 109124496 B CN109124496 B CN 109124496B
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- infrared
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- laser radar
- ranging device
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- 238000010408 sweeping Methods 0.000 title claims abstract description 74
- 238000004140 cleaning Methods 0.000 title claims abstract description 31
- 241001417527 Pempheridae Species 0.000 claims abstract description 34
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application provides a sweeping robot and cleaning equipment, relates to the technical field of cleaning equipment, and aims to solve the problem that the sweeping robot is easy to collide with other objects or is not thoroughly cleaned. The robot for sweeping floor includes: the laser radar device and the infrared ranging device are arranged at the top of the sweeper body; the infrared ranging device is arranged on the top of the laser radar device. The sweeping robot has an infrared distance measuring function, can avoid collision and can enlarge the sweeping range.
Description
Technical Field
The application relates to the technical field of cleaning equipment, in particular to a sweeping robot and cleaning equipment.
Background
At present, in the field of intelligent household appliances, the application of the sweeping robot is wider, and more families use the sweeping robot to sweep the ground.
The part of the sweeping robot cleans according to a certain path in the primary cleaning process, changes the cleaning direction if colliding with an object in the cleaning process, memorizes the area, and forms a map of the cleaning area after the whole area is cleaned, thereby avoiding the area where the object is placed in the next cleaning process. However, the robot for cleaning in this mode is often bumped and is prone to scratch or damage. The part of the sweeping robot detects the object placement position of the sweeping area by emitting a laser beam, constructs a sweeping area map, and then bypasses the area where the object is placed in the sweeping process to sweep. Although the sweeping robot performing the sweeping work in the mode avoids collision, when furniture with a certain gap at the bottom is not thoroughly cleaned, for example, when a sofa nearby area is cleaned, the sweeping robot can bypass the sofa to clean after detecting the sofa, so that dust at the edge area outside the bottom of the sofa cannot be cleaned.
Therefore, the sweeping robot in the prior art is easy to collide with other objects or has the condition of incomplete cleaning.
Disclosure of Invention
The application aims to provide a sweeping robot, which solves the technical problem that the sweeping robot in the prior art is easy to collide with other objects or is not thoroughly cleaned.
The application provides a sweeping robot, comprising: a sweeper body, a laser radar device and an infrared ranging device,
the laser radar device is arranged at the top of the sweeper body;
the infrared ranging device is mounted on the top of the laser radar device.
In the above technical scheme, further, the infrared ranging device is installed in the top of sweeper body, the infrared ranging device includes infrared ray receiving and transmitting subassembly and lens, infrared ray that infrared ray receiving and transmitting subassembly transmitted passes after the lens is penetrated and is penetrated, at least partial region of lens is located infrared ray receiving and transmitting subassembly orientation the place ahead of sweeper body direction of movement one side.
In the above technical solution, further, a horizontal plane of the infrared rays emitted by the infrared ranging device is parallel to a horizontal plane of the laser beam emitted by the laser radar device.
In the above technical solution, further, the shortest distance between the infrared emission track of the infrared ranging device and the track of the laser beam emitted by the laser radar device is 10 mm-13.5 mm.
In any of the above technical solutions, further, the infrared ranging device is installed at a rear side of the moving direction of the sweeper body, and is located at an edge area of the sweeper body.
In any of the above technical solutions, further, the infrared ranging device further includes a protective housing, the protective housing includes an upper cover and a lower cover, the lens is mounted between the upper cover and the lower cover, the upper cover, the lower cover and the lens enclose a sealed chamber, and the infrared transceiver component is mounted in the sealed chamber.
In any of the above embodiments, further, a surface of the lens facing the outer side of the sealed chamber is a concave surface recessed inwards.
In any of the above technical solutions, further, a connection between the lens and the upper cover has a set distance from an edge of the upper cover, and a connection between the lens and the lower cover has a set distance from an edge of the lower cover.
In any of the above technical solutions, further, a distance from a center point of the lens to an upper surface of the sweeper body is 17mm to 20mm.
Compared with the prior art, the sweeping robot has the following advantages:
in the working process of the sweeping robot, the laser radar device and the infrared ranging device are synchronously started, the laser radar device detects whether an obstacle exists in a long distance of the sweeping machine body, the infrared ranging device emits infrared rays to detect whether the obstacle exists in a short distance of the sweeping machine body, and the distance between the infrared ranging device and an object is detected, so that the sweeping robot can change a sweeping route so as not to collide with the object.
In addition, because the infrared ranging device is arranged at the top of the laser radar device, whether an object exists in front of the area above the top of the sweeper body or not and the distance between the object and the sweeper body can be detected, and the sweeping area of the sweeper robot can be enlarged through reasonable setting of the distance threshold value. For example, if the infrared ranging device detects that no obstacle exists in a close distance in front of the device, the height of the bottom gap of the obstacle is higher than the top surface of the laser radar device, namely, a certain gap exists at the bottom of the object, the height of the gap is higher than the height of the laser radar device, the body of the sweeper can enter the gap, meanwhile, the laser radar device can be prevented from being impacted, the sweeping robot can be controlled to continuously move forwards for a certain distance, and the sweeping robot turns before the impact occurs, so that the bottom of the object can be further cleaned.
Therefore, the sweeping robot provided by the application can change the route before ensuring that the sweeping machine body collides, and further cleans the bottom of an object with a gap at the bottom, so that the sweeping range of the sweeping robot is enlarged, and the sweeping effect of the sweeping robot is better.
Another object of the present application is to provide a cleaning device, so as to solve the technical problem that the sweeping robot in the prior art is easy to collide with other objects or is not thoroughly cleaned.
In order to achieve the above purpose, the technical scheme of the application is realized as follows:
a cleaning device comprises the sweeping robot.
The cleaning device has the same advantages as the sweeping robot compared with the prior art, and is not described in detail herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a sweeping robot at a first view angle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a sweeping robot at a second view angle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a sweeping robot at a third view angle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of the sweeping robot at a fourth view angle according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of an infrared ranging device in a sweeping robot at a first view angle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an infrared ranging device in a sweeping robot at a second view angle according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an infrared ranging device in a sweeping robot at a third view angle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a sweeping robot at a fifth view angle according to an embodiment of the present application.
In the figure: 10-a sweeper body; 11-a dust collection box; 12-operating a key; 13, cleaning the side brush; 20-an infrared ranging device; 21-an upper cover; 22-a lower cover; 23-a lens; 24-an infrared emitter; 25-an infrared receiver; 30-lidar device.
Detailed Description
The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Example 1
As shown in fig. 1 to 8, a sweeping robot provided by an embodiment of the present application includes: laser radar device 30, sweeper body 10 and infrared ranging device 20, wherein:
the lidar device 30 is mounted on top of the sweeper body 10. The laser radar device 30 rotates and detects a cleaning area by emitting a laser beam during the operation of the robot to detect an area located at a circumference of an outer ring of the robot to construct a cleaning area map, thereby performing cleaning path planning of the robot.
The infrared ranging apparatus 20 is mounted on top of the lidar apparatus 30.
In the working process of the sweeping robot provided by the embodiment of the application, the laser radar device 30 and the infrared ranging device 20 are synchronously started, and the laser radar device 30 detects whether an obstacle exists in the field 10 of the sweeping robot in a long distance; the infrared ray receiving and transmitting assembly in the infrared ray ranging apparatus 20 emits infrared rays, and the reflected infrared rays are received by the infrared ray receiving and transmitting assembly, thereby detecting whether an object exists in the close range of the sweeper body 10 and detecting the distance between the object and the sweeper body, so that the sweeping robot can change the sweeping route to avoid collision with the object.
In addition, since the infrared ranging device 20 is provided at the top of the laser radar device 30, it is possible to detect whether or not an object is present in front of the area above the top of the sweeper body 10 and the distance between the object and the sweeper body 10, and by reasonably setting the distance threshold, the sweeping area of the sweeper robot can be enlarged. So set up, infrared ranging device 20 detects and closely has the barrier in its dead ahead, then the bottom of this object of explanation exists certain space, and the height in this space is higher than the height of laser radar device 30, and it can get into this space to explain the machine body 10 of sweeping the floor, can avoid the laser radar device to receive the striking simultaneously, then steerable robot of sweeping the floor continues to move forward a certain distance, turns to before the robot of sweeping the floor appears striking to can clean further to this object bottom.
For example, when a sofa is placed in front of the robot for cleaning, there is a certain space at the bottom of the sofa, specifically, the height of the gap in the partial area of the bottom of the sofa near the outside is greater than the height of the laser radar device 30, and the gap in the area inside the bottom of the sofa is lower than the height of the laser radar device 30, when the robot for cleaning 10 moves to the edge of the sofa, the controller controls the robot for cleaning 10 to continue to move toward the area inside the bottom of the sofa because the infrared ranging device 20 detects that the space in front of the robot for cleaning 10 is enough for the entrance of the robot for cleaning 30 to not generate impact.
Therefore, the sweeping robot provided by the application can ensure that the sweeping machine body 10 enters the gap at the bottom of the object to further sweep, meanwhile, the laser radar device 30 does not collide, and the route is changed before collision so as to sweep the bottom of the object with the gap at the bottom more further, thereby expanding the sweeping range of the sweeping robot and leading the sweeping effect of the sweeping robot to be better.
The infrared ranging device 20 includes an infrared transceiver and a lens 23, wherein the infrared rays emitted by the infrared transceiver pass through the lens 23 and then are emitted, the reflected infrared rays pass through the lens 23 and then are received by the infrared transceiver, and at least a part of the lens 23 is located at one side of the infrared transceiver facing the moving direction of the sweeper body 10. That is, the infrared ray emission direction of the infrared ray transmitting-receiving unit and the emission direction of the laser beam emitted from the laser radar device 30 have the same region.
Specifically, the infrared transceiver assembly includes an infrared transmitter 25 and an infrared receiver 26, the infrared transmitter 25 is used for transmitting infrared rays, the infrared receiver 26 is used for receiving infrared rays, and the distance between the front object and the sweeping robot is calculated according to factors such as a time difference between the transmission and the reception of the infrared rays.
In a specific implementation manner provided in this embodiment, the sweeping robot includes a casing, a dust collecting box 11 is disposed inside the casing, a sweeping edge brush 13 is disposed at the bottom of the casing, an infrared ranging device 20 is disposed at the top of the casing, and an operation key 12 is also disposed at the top of the casing.
In an alternative embodiment, the level of the infrared rays emitted from the infrared ranging device 20 (shown by the dotted line A-A in fig. 4) is parallel to the level of the laser beam emitted from the laser radar device 30 (shown by the dotted line B-B in fig. 4), and since the infrared ranging device 20 is located on top of the laser radar device 30, the infrared emission track of the infrared ranging device 20 is located above the track of the laser beam emitted from the laser radar device 30. The laser radar device 30 is used for detecting a far area, and the infrared ranging device 20 is used for detecting a near area and is positioned above the sweeper body 10 and the laser radar device 30.
When the infrared ray emission trajectory of the infrared ray ranging apparatus 20 is parallel to the trajectory of the laser beam emitted from the laser radar apparatus 30, the shortest distance between the infrared ray emission trajectory of the infrared ray ranging apparatus 20 and the trajectory of the laser beam emitted from the laser radar apparatus 30 is 10mm to 13.5mm.
In any of the above embodiments, further, the minimum wavelength of the infrared rays emitted from the infrared ranging device 20 is the distance between the lens 23 and the vertical plane of the front end surface of the sweeper body 10 in the moving direction. That is, the shortest wavelength of the infrared rays emitted from the infrared ranging device 20 is the length from the lens 23 to the front end surface of the sweeper body 10, where the front end surface of the sweeper body 10 is the end surface of the sweeper body 10 located at the foremost side in the moving direction.
In a preferred implementation of the present embodiment, the infrared ranging device 20 is mounted at the rear side of the movement direction of the sweeper body 10 and is located at the edge region of the sweeper body 10. It should be noted that, in the present embodiment, both the front side and the rear side are determined for the moving direction of the sweeping robot. The cleaning side brush 13 is located at a front side region of the bottom of the sweeper body 10, and the infrared ranging device 20 is installed at a rear side region of the top of the sweeper body 10.
In a preferred implementation manner of this embodiment, the infrared ranging device 20 further includes a protective housing, the protective housing includes an upper cover 21 and a lower cover 22, the lens 23 is installed between the upper cover 21 and the lower cover 22, the upper cover 21, the lower cover 22 and the lens 23 enclose a sealed chamber, and the infrared transceiver assembly is installed in the sealed chamber. The setting can avoid the infrared ray receiving and transmitting assembly to fall ash, meet water or receive the collision to play better guard action to the infrared ray receiving and transmitting assembly, extension infrared ray receiving and transmitting assembly's live time.
The connection between the upper cover 21 and the lower cover 22, the connection between the upper cover 21 and the lens 23, and the connection between the lower cover 22 and the lens 23 are all sealed, and specifically, the sealing is performed by coating sealant or adding sealing strips.
Further, the top surface of the upper cover 21 is a curved surface, specifically, the longitudinal section of the top surface of the upper cover 21 is an arc line protruding upwards, so that the appearance of the sweeping robot is more attractive.
To further protect the mirror surface, in one embodiment of the present embodiment, the connection between the lens 23 and the upper cover 21 has a set distance from the edge of the upper cover 21, and the connection between the lens 23 and the lower cover 22 has a set distance from the edge of the lower cover 22. That is, the edge of the upper cover 21, and the edge of the lower cover 22 are each in a more forward position relative to the lens 23. Therefore, even if a collision occurs, the upper cover 21 and the lower cover 22 are brought into contact with the collided object first, thereby preventing the lens 23 from being directly impacted to protect the lens 23.
In another embodiment of the present example, the side of the lens 23 facing the outside of the sealed chamber is concave surface recessed inward. The edge of the lens 23 may be connected to the inner side areas of the edges of the upper cover 21 and the lower cover 22 as described above, or the edge of the lens 23 may be connected to the edges of the upper cover 21 and the edges of the upper cover 21. Since the outer side surface of the lens 23 is a curved surface recessed into the sealed chamber, the outer side surface of the lens 23 is entirely located in the rear side areas of the edges of the upper cover 21 and the lower cover 22, thereby protecting the lens 23.
In any of the above embodiments, further, the distance between the center point of the lens 23 and the upper surface of the sweeper body 10 in the vertical direction is 17mm to 20mm.
In the above embodiment, the infrared emission directions of the infrared ranging device 20 are fixed and all face the front of the moving direction of the sweeping robot, and in another alternative implementation of this embodiment, the infrared ranging device 20 further includes a first driving structure, and the infrared transceiver component is connected to the first driving structure, where the first driving structure is used to drive the infrared transceiver component to rotate. For example, the first driving structure includes a driver and a turntable, the infrared transceiver is mounted on the turntable, and the driver is connected with the turntable and is used for driving the turntable to rotate, thereby driving the infrared transceiver to rotate.
Further, the infrared ranging device 20 further includes a second driving structure, which is connected to the infrared transceiver and is used for driving the infrared transceiver to swing up and down, so as to change the pitch angle of the infrared rays emitted by the infrared transceiver.
In a preferred embodiment, the infrared ranging apparatus 20 includes a first driving structure and a second driving structure, the second driving structure is mounted on a rotating portion (such as a turntable) of the first driving structure, the infrared transceiver assembly is connected to the second driving structure, the first driving structure drives the second driving structure to rotate so as to drive the infrared transceiver assembly to rotate, so as to change an emission angle of infrared rays in a horizontal direction, and the second driving structure drives the infrared transceiver assembly to swing up and down, so as to change a pitch angle of the emitted infrared rays.
After the robot enters a narrow space, the emission angle of the infrared rays can be changed through the first driving mechanism and/or the second driving mechanism so as to measure the environment in different areas around the main body of the sweeper, and therefore a more preferable sweeping path is provided.
When the infrared ranging device 20 includes the first driving structure, the cross section of the lens 23 may be arc-shaped or ring-shaped, so as to ensure that the infrared rays emitted by the rotated infrared transceiver assembly can always be emitted through the lens 23.
Example two
An embodiment II of the present application provides a cleaning apparatus, which includes the sweeping robot provided in the above embodiment I.
The cleaning device has the same advantages as the sweeping robot compared with the prior art, and the description thereof is omitted.
Further, the cleaning apparatus may also comprise other cleaning means.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (8)
1. A robot for sweeping floor, comprising: a sweeper body, a laser radar device and an infrared ranging device,
the laser radar device is arranged at the top of the sweeper body;
the infrared ranging device is arranged on the top of the laser radar device; the infrared ranging device comprises an infrared receiving and transmitting assembly, a lens and a protective shell, wherein the protective shell comprises an upper cover and a lower cover, the lens is arranged between the upper cover and the lower cover, a set distance is reserved between the joint of the lens and the upper cover and the edge of the upper cover, and a set distance is reserved between the joint of the lens and the lower cover and the edge of the lower cover; one surface of the lens, which faces away from the infrared receiving and transmitting assembly, is a concave surface which is concave inwards;
the infrared ranging device further comprises a first driving structure and a second driving structure which are connected with the infrared receiving and transmitting assembly, so that the infrared receiving and transmitting assembly can be driven to rotate and swing respectively.
2. The robot cleaner of claim 1, wherein the infrared rays emitted from the infrared transceiver assembly are emitted through the lens, and at least a part of the lens is located on a front side of the infrared transceiver assembly toward the moving direction of the cleaner body.
3. The robot cleaner of claim 1, wherein the infrared rays emitted from the infrared ranging device are parallel to the laser beam emitted from the laser radar device.
4. A robot as claimed in claim 3, wherein the shortest distance between the infrared emission track of the infrared ranging device and the track of the laser beam emitted by the laser radar device is 10mm to 13.5mm.
5. The robot cleaner according to any one of claims 1 to 4, wherein the infrared ranging device is installed at a rear side of the moving direction of the cleaner body and is located at an edge region of the cleaner body.
6. The robot of claim 1, wherein the upper cover, the lower cover and the lens define a sealed chamber, and the infrared transceiver assembly is mounted in the sealed chamber.
7. The robot cleaner of claim 1, wherein the distance from the center point of the lens to the upper surface of the cleaner body is 17mm to 20mm.
8. A cleaning apparatus comprising the sweeping robot of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100056.9A CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100056.9A CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124496A CN109124496A (en) | 2019-01-04 |
| CN109124496B true CN109124496B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811100056.9A Active CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
Country Status (1)
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| CN (1) | CN109124496B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123211A (en) * | 2019-05-15 | 2019-08-16 | 湖南格兰博智能科技有限责任公司 | A kind of distance measuring structure of intelligent sweeping machine |
| CN210931221U (en) * | 2019-09-05 | 2020-07-07 | 北京石头世纪科技股份有限公司 | Sealing structure and intelligent cleaning equipment |
| CN110941276A (en) * | 2019-12-09 | 2020-03-31 | 佛山市云米电器科技有限公司 | Sweeping robot and side detection control sweeping method using same |
| JP2021094118A (en) * | 2019-12-16 | 2021-06-24 | 日立グローバルライフソリューションズ株式会社 | Autonomously travelling type cleaner |
| CN112515550A (en) * | 2020-09-29 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Autonomous cleaning device |
| CN113040658A (en) * | 2021-03-24 | 2021-06-29 | 深圳市云鼠科技开发有限公司 | Laser radar cover collision detection device of sweeper |
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Address after: Room D-401, Floor 4, Building 1, Yard 3, Xiadian, Chaoyang District, Beijing, 100026 Patentee after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 100101 6, 1 building, 169 Beiyuan Road, Chaoyang District, Beijing. Patentee before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |
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