CN111616651A - Sweeper with three-dimensional recognition function - Google Patents
Sweeper with three-dimensional recognition function Download PDFInfo
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- CN111616651A CN111616651A CN202010614286.8A CN202010614286A CN111616651A CN 111616651 A CN111616651 A CN 111616651A CN 202010614286 A CN202010614286 A CN 202010614286A CN 111616651 A CN111616651 A CN 111616651A
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- sweeper
- controller
- sensor
- sweeping
- recognition
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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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a sweeper with three-dimensional recognition, which comprises a sweeper body, a controller, a sweeping device, a walking device, a sensor group, a power supply device, a first recognition camera and a second recognition camera; the walking device is connected with the controller; the sensor group is used for acquiring obstacle avoidance information, and the controller is used for controlling the walking device to avoid obstacle walking according to the obstacle avoidance information; the cleaning device is connected with the controller; the first recognition camera is arranged at the front end of the sweeper body and used for acquiring the information of the condition to be swept at the front end, and the controller is also used for controlling the sweeper body to execute a corresponding sweeping mode according to the information of the condition to be swept at the front end; the second recognition camera is arranged at the rear end of the sweeper body and used for acquiring rear-end post-sweeping condition information, and the controller is also used for controlling the sweeper body to return to repeat sweeping according to the rear-end post-sweeping condition information; the power supply device is used for supplying power. The sweeper has the advantages of small sweeping blind area and high sweeping efficiency.
Description
Technical Field
The application relates to the technical field of smart home, in particular to a sweeper with three-dimensional recognition.
Background
The sweeper is a sweeping robot, also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. At present, a recognition camera (close to a front gear or a universal wheel) is usually added at the front end of a sweeper with visual recognition in the market, but a certain blind area exists at the tail part of the sweeper after a sweeping system of the sweeper is arranged behind the sweeper, if the sweeper is not cleaned completely, the sweeper AI (Artificial Intelligence) needs to be turned around to recognize, and the sweeping time is greatly prolonged and the sweeping efficiency is greatly influenced after the sweeper returns to sweep.
Disclosure of Invention
In view of this, the purpose of this application is to provide a take quick-witted of sweeping floor of three-dimensional discernment, can reduce and clean the blind area, improve and clean efficiency.
In order to achieve the technical purpose, the application provides a sweeper with three-dimensional recognition, which comprises a sweeper body, a controller, a sweeping device, a traveling device, a sensor group, a power supply device, a first recognition camera and a second recognition camera;
the walking device is connected with the controller;
the sensor group is used for acquiring obstacle avoidance information, and the controller is used for controlling the walking device to avoid obstacles to walk according to the obstacle avoidance information;
the cleaning device is connected with the controller;
the first recognition camera is mounted at the front end of the sweeper body and used for acquiring front-end to-be-cleaned condition information, and the controller is further used for controlling the sweeper body to execute a corresponding cleaning mode according to the front-end to-be-cleaned condition information;
the second recognition camera is mounted at the rear end of the sweeper body and used for acquiring rear-end post-sweeping condition information, and the controller is further used for controlling the sweeper body to return to repeat sweeping according to the rear-end post-sweeping condition information;
the power supply device is respectively connected with the controller, the cleaning device, the walking device, the sensor group, the first recognition camera and the second recognition camera.
Further, the first recognition camera and the second recognition camera are specifically one of a monocular camera and a binocular camera.
Further, the sensor group comprises a laser radar sensor, a gyroscope and an obstacle avoidance sensor;
the laser radar sensor, the gyroscope and the obstacle avoidance sensor are all arranged on the sweeper body and are connected with the controller;
keep away the barrier sensor set up in quick-witted body front end of sweeping the floor in first discernment camera lateral position.
Further, the lifting mechanism is connected with the controller;
the lifting mechanism is arranged on the sweeper body and used for driving the laser radar sensor to move up and down.
Further, the number of the obstacle avoidance sensors is two;
the two obstacle avoidance sensors are symmetrically arranged relative to the first identification camera.
Further, the sensor group comprises a rim sensor and a backfill sensor;
the edge sensor and the recharging sensor are respectively arranged on the side edge of the sweeper body and are respectively connected with the controller.
Further, the sensor group comprises a grating sensor;
the grating sensor is arranged on a universal wheel of the walking device and connected with the controller.
Further, the system also comprises a prompt module;
the prompting module is mounted on the sweeper body and connected with the controller;
the controller is also used for controlling the prompting module to send out a prompting signal.
According to the technical scheme, the first recognition camera is arranged at the front end of the sweeper body, so that the front end information of the condition to be swept is acquired, and the sweeper body is conveniently controlled by the controller to execute the adaptive sweeping mode. Set up the second and discern the camera in the rear end of machine body of sweeping the floor for acquire the rear end and clean back situation information, can discern the detection once more to the region that cleans, judge whether have and clean the unclean condition, in order to make things convenient for controller control machine of sweeping the floor in time to return and clean repeatedly. The three-dimensional recognition system is integrally constructed, the recognition blind area of the sweeper body is reduced, and the sweeping efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a first structural schematic diagram of a sweeper with stereo recognition provided in the present application;
fig. 2 is a second structural schematic diagram of the sweeper with three-dimensional recognition provided in the present application;
fig. 3 is a schematic view of a first cleaning state of the sweeper with three-dimensional recognition provided in the present application;
fig. 4 is a schematic view of a second cleaning state of the sweeper with three-dimensional recognition provided in the present application;
fig. 5 is a block diagram of a sweeper with three-dimensional recognition provided in the present application;
in the figure: 100. a sweeper body; 1. a controller; 2. a traveling device; 21. a driving wheel set; 22. a universal wheel; 3. a cleaning device; 4. a laser radar sensor; 5. a first identification camera; 6. a grating sensor; 7. an obstacle avoidance sensor; 8. a gyroscope; 9. a recharge sensor; 10. an edge sensor; 11. a lifting mechanism; 12. a second identification camera; 13. and a prompt module.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of 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 embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses a sweeper with three-dimensional recognition.
Referring to fig. 1 and fig. 2, an embodiment of a sweeper with stereo recognition provided in an embodiment of the present application includes:
the sweeper comprises a sweeper body 100, a controller 1, a cleaning device 3, a traveling device 2, a sensor group, a power supply device (not shown), a first recognition camera 5 and a second recognition camera 12; the walking device 2 is connected with the controller 1; the sensor group is used for acquiring obstacle avoidance information, and the controller 1 is used for controlling the traveling device 2 to travel in an obstacle avoidance mode according to the obstacle avoidance information; the cleaning device 3 is connected with the controller 1; the first recognition camera 5 is mounted at the front end of the sweeper body 100 and used for acquiring front-end to-be-cleaned condition information, and the controller 1 is further used for controlling the sweeper body 100 to execute a corresponding cleaning mode according to the front-end to-be-cleaned condition information; the second recognition camera 12 is mounted at the rear end of the sweeper body 100 and is used for acquiring rear-end post-sweeping condition information, and the controller 1 is further used for controlling the sweeper body 100 to return to repeat sweeping according to the rear-end post-sweeping condition information; the power supply device is connected to the controller 1, the cleaning device 3, the traveling device 2, the sensor group, the first recognition camera 5, and the second recognition camera 12, respectively.
The sweeper body 100 may include a chassis (not shown) and a housing (not shown) for carrying various mechanisms and components, and the specific shape and structure are not limited. The controller 1 may include a control chip, a control circuit, a software program, and the like, as a control center of the sweeper. The cleaning device 3 may include a blower (not shown), a recycling box (not shown), a rolling brush (not shown), a side brush (not shown), and the like, so as to clean and recycle the garbage. The walking device 2 is used for driving the sweeper to travel/cross obstacles according to a planned path, and specifically may include a driving wheel set 21 and a universal wheel 22. The power supply device may include a lithium battery, a power supply control module, and the like, for supplying power to the respective mechanism parts. The above structural composition can be appropriately changed according to actual needs, and details are not described.
According to the technical scheme, the first recognition camera 5 is arranged at the front end of the sweeper body 100 and used for acquiring the front end to-be-swept state information, so that the sweeper body 100 can be conveniently controlled by the controller 1 to execute the adaptive sweeping mode. The second recognition camera 12 is arranged at the rear end of the sweeper body 100 and used for acquiring the rear-end sweeping situation information, recognizing and detecting the swept area again, and judging whether the sweeper is unclean or not so as to facilitate the controller 1 to control the sweeper to timely return to repeat sweeping. The three-dimensional recognition system is integrally constructed, the recognition blind area of the sweeper body 100 is reduced, and the sweeping efficiency is improved.
The above is an embodiment one of the sweeper with the stereoscopic recognition provided by the embodiment of the present application, and the following is an embodiment two of the sweeper with the stereoscopic recognition provided by the embodiment of the present application, and please refer to fig. 1 to 5 specifically.
A sweeper with three-dimensional recognition comprises a sweeper body 100, a controller 1, a sweeping device 3 (not shown), a traveling device 2, a sensor group, a power supply device, a first recognition camera 5 and a second recognition camera 12; the walking device 2 is connected with the controller 1; the sensor group is used for acquiring obstacle avoidance information, and the controller 1 is used for controlling the traveling device 2 to travel in an obstacle avoidance mode according to the obstacle avoidance information; the cleaning device 3 is connected with the controller 1; the first recognition camera 5 is mounted at the front end of the sweeper body 100 and used for acquiring front-end to-be-cleaned condition information, and the controller 1 is further used for controlling the sweeper body 100 to execute a corresponding cleaning mode according to the front-end to-be-cleaned condition information; the second recognition camera 12 is mounted at the rear end of the sweeper body 100 and is used for acquiring rear-end post-sweeping condition information, and the controller 1 is further used for controlling the sweeper body 100 to return to repeat sweeping according to the rear-end post-sweeping condition information; the power supply device is connected to the controller 1, the cleaning device 3, the traveling device 2, the sensor group, the power supply device, the first recognition camera 5, and the second recognition camera 12, respectively.
Further, the first recognition camera 5 and the second recognition camera 12 may be one of a monocular camera and a binocular camera. Wherein binocular camera than monocular camera discernment ability better, for example, specific application is, binocular camera can be preferred to first discernment camera 5 and second discernment camera 12.
As shown in fig. 3, for example, the front end to-be-cleaned area has hairs 201, animal waste 202, jewelry 203 and accumulated water 204, the first recognition camera 5 can clean the garbage which is recognized as hairs and the like and does not cause great damage to the sweeper, and the controller 1 can control the sweeper to clean normally. When the first identification module identifies garbage which can be stuck to the sweeper, such as animal excrement, or accumulated water or jewelry and other articles which can damage the sweeper, the controller 1 can control the sweeper to bypass. Meanwhile, the first recognition camera 5 and the second recognition camera 12 can also be used for recognizing the size information of the garbage, so that the controller 1 can conveniently adjust the rotating speed of a fan in the cleaning device 3 to control the size of the suction force, and the situations that the garbage cannot be absorbed due to too small suction force or the extra power consumption and secondary pollution are caused due to too large suction force are avoided. The first recognition camera 5 and the second recognition camera 12 can recognize the dirt condition of the area before or after cleaning, so that the controller 1 can control the sweeper to clean the important dirt area for multiple times and strongly.
Further, as shown in fig. 1, 2 and 5, in order to stably obtain the obstacle avoidance information, the sensor group may specifically include a laser radar sensor 4, a gyroscope 8 and an obstacle avoidance sensor 7; the laser radar sensor 4, the gyroscope 8 and the obstacle avoidance sensor 7 are all arranged on the sweeper body 100 and are connected with the controller 1; the obstacle avoidance sensor 7 is arranged at the front end of the sweeper body 100 at the side of the first identification camera 5. The laser radar sensor 4 is used for planning a path and the like, and the obstacle avoidance sensor 7 can be a conventional infrared obstacle avoidance sensor, can be installed on the side wall of the sweeper body 100, and is used for sensing obstacles in advance. As shown in fig. 1 and 2, the number of the obstacle avoidance sensors 7 may be two specifically; two obstacle avoidance sensors 7 are symmetrically arranged relative to the first identification camera 5, so that the obstacle sensing capability is improved in advance. The gyroscope 8 may be used to detect and obtain the state information of the sweeper body 100, such as a steering angle, so as to facilitate the controller 1 to control the sweeping robot to walk more precisely, and may employ a conventional multi-axis gyroscope, such as a three-axis gyroscope, without limitation.
Further, as shown in fig. 1, 2 and 5, the device further comprises a lifting mechanism 11 connected with the controller 1; the lifting mechanism 11 is mounted on the sweeper body 100 and used for driving the laser radar sensor 4 to move up and down. The lifting mechanism 11 is arranged, so that the sweeper can move back and forth better, and the influence of the installation height of the laser radar on the movement is reduced. The lifting structure can be an electric lifting mechanism 11 such as a screw rod lifting mechanism 11 and the like, and is simple in structure and convenient to install and maintain.
Further, as shown in fig. 1, 2 and 5, the sensor group comprises a rim sensor 10 and a refill sensor 9; the edge sensor 10 and the refill sensor 9 are respectively installed at the side edge of the sweeper body 100 and are respectively connected with the controller 1. The edge sensor 10 is used for identifying the edge position such as a wall/table cabinet, and the stability of edge cleaning is improved. Fill sensor 9 back and be used for discernment to fill the electric pile position to the machine of conveniently sweeping the floor can the accurate counterpoint fill the end that charges of electric pile, in order to accomplish back smoothly and fill.
Further, as shown in fig. 1, 2 and 5, the sensor group includes a grating sensor 6; the grating sensor 6 is mounted on the universal wheel 22 of the traveling device 2 and connected to the controller 1. The grating sensor 6 may be a conventional grating signal sensor, and is configured to detect and determine an operation state of the universal wheel 22 in real time, such as a collision state, an obstacle-free operation state, a carpet-crossing state, and the like, and adjust a torque of the driving wheel set 21 in the walking device 2 according to the operation state, so as to successfully complete obstacle crossing. The sensor group in the present application includes, but is not limited to, the proposed sensing device, and may also include, without limitation, a cliff sensor, and the like. ,
further, as shown in fig. 1 to 5, a prompt module 13 is further included; the prompting module 13 is arranged on the sweeper body 100 and is connected with the controller 1; the controller 1 is further configured to control the prompt module 13 to send a prompt signal. The prompting module 13 may be an audible and visual alarm/LED alarm lamp/horn, etc. for prompting a user with audible and visual/voice. For example, as shown in fig. 4, when the second recognition camera 12 finds that there is garbage 205 that is not completely cleaned in the region after the rear end cleaning, the garbage is fed back to the controller 1, the controller 1 controls the traveling device 2 to move back to the region and controls the cleaning device 3 to clean repeatedly, the cleaning is performed before the cleaning, if the second recognition camera 12 recognizes that the garbage is not cleaned, the cleaning is returned to the cleaning repeatedly again, and after a certain number of cleaning times, for example, 3 times, the garbage is still recognized that the cleaning is not clean, at this time, the controller 1 may control the prompting module 13 to notify the user that the cleaning needs to be performed manually. Certainly, the user may not be at home, at this time, after the prompt module 13 prompts for a certain time, the user can continue to travel and ignore the area, and the controller 1 can record the position information of the area in combination with the laser radar sensor 4 and feed the position information back to the user app, so as to establish a coordinate map on the user app, thereby conveniently guiding the user to subsequently find the position for manual cleaning. That is, the user can be prompted on site through the prompt module 13, and can be synchronized to the user app at the same time to remind the user.
In the above description, a sweeper with stereo recognition provided by the present application is described in detail, and a person having ordinary skill in the art may change the specific implementation manner and the application range according to the idea of the embodiment of the present application.
Claims (8)
1. A sweeper with three-dimensional recognition is characterized by comprising a sweeper body, a controller, a sweeping device, a traveling device, a sensor group, a power supply device, a first recognition camera and a second recognition camera;
the walking device is connected with the controller;
the sensor group is used for acquiring obstacle avoidance information, and the controller is used for controlling the walking device to avoid obstacles to walk according to the obstacle avoidance information;
the cleaning device is connected with the controller;
the first recognition camera is mounted at the front end of the sweeper body and used for acquiring front-end to-be-cleaned condition information, and the controller is further used for controlling the sweeper body to execute a corresponding cleaning mode according to the front-end to-be-cleaned condition information;
the second recognition camera is mounted at the rear end of the sweeper body and used for acquiring rear-end post-sweeping condition information, and the controller is further used for controlling the sweeper body to return to repeat sweeping according to the rear-end post-sweeping condition information;
the power supply device is respectively connected with the controller, the cleaning device, the walking device, the sensor group, the first recognition camera and the second recognition camera.
2. The sweeper with stereoscopic recognition according to claim 1, wherein the first recognition camera and the second recognition camera are specifically one of a monocular camera and a binocular camera.
3. The sweeper with the stereoscopic recognition function according to claim 1, wherein the sensor group comprises a laser radar sensor, a gyroscope and an obstacle avoidance sensor;
the laser radar sensor, the gyroscope and the obstacle avoidance sensor are all arranged on the sweeper body and are connected with the controller;
keep away the barrier sensor set up in quick-witted body front end of sweeping the floor in first discernment camera lateral position.
4. The sweeper with the stereoscopic recognition function according to claim 3, further comprising a lifting mechanism connected with the controller;
the lifting mechanism is arranged on the sweeper body and used for driving the laser radar sensor to move up and down.
5. The sweeper with the three-dimensional recognition function according to claim 3, wherein the number of the obstacle avoidance sensors is specifically two;
the two obstacle avoidance sensors are symmetrically arranged relative to the first identification camera.
6. The sweeper with the stereoscopic recognition function according to claim 3, wherein the sensor group comprises a rim sensor and a refill sensor;
the edge sensor and the recharging sensor are respectively arranged on the side edge of the sweeper body and are respectively connected with the controller.
7. The sweeper with the stereo recognition function according to claim 3, wherein the sensor group comprises a grating sensor;
the grating sensor is arranged on a universal wheel of the walking device and connected with the controller.
8. The sweeper with the stereoscopic recognition function according to claim 1, further comprising a prompting module;
the prompting module is mounted on the sweeper body and connected with the controller;
the controller is also used for controlling the prompting module to send out a prompting signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010614286.8A CN111616651A (en) | 2020-06-30 | 2020-06-30 | Sweeper with three-dimensional recognition function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010614286.8A CN111616651A (en) | 2020-06-30 | 2020-06-30 | Sweeper with three-dimensional recognition function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111616651A true CN111616651A (en) | 2020-09-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010614286.8A Pending CN111616651A (en) | 2020-06-30 | 2020-06-30 | Sweeper with three-dimensional recognition function |
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| CN (1) | CN111616651A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114343522A (en) * | 2022-01-20 | 2022-04-15 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
-
2020
- 2020-06-30 CN CN202010614286.8A patent/CN111616651A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
| CN114343522A (en) * | 2022-01-20 | 2022-04-15 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
| CN114343522B (en) * | 2022-01-20 | 2023-01-06 | 深圳市云鼠科技开发有限公司 | Method for solving problem of skidding of cleaning robot and cleaning robot |
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