CN205031182U - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN205031182U CN205031182U CN201520753983.6U CN201520753983U CN205031182U CN 205031182 U CN205031182 U CN 205031182U CN 201520753983 U CN201520753983 U CN 201520753983U CN 205031182 U CN205031182 U CN 205031182U
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- 238000010408 sweeping Methods 0.000 title claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000004458 analytical method Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 abstract description 30
- 238000001514 detection method Methods 0.000 abstract description 25
- 238000010191 image analysis Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005286 illumination Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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Abstract
The utility model discloses a floor sweeping robot, include: the robot main part, first and second laser instruments, first and second laser instruments are established respectively in the robot main part, and first and second laser instruments send first and second laser beams respectively, and first laser beam level is launched forward, and the second laser beam slopes forward the transmission downwards for the horizontal direction, first and second laser beams form respectively into the perpendicular to separately the linear light of transmit direction restraint, camera, camera are established in the robot main part, controller, controller are established in the robot main part, and first and second laser instruments and camera link to each other with the controller respectively to work under the control of controller, camera can be caught the laser image of first and second laser beams and transmit it to the controller and carried out image analysis and range finding. According to the utility model discloses floor sweeping robot is more comprehensive to the detection range of barrier, and it is higher to detect the precision, can effectively improve floor sweeping robot and bump.
Description
Technical field
The utility model relates to clean technologies field, more specifically, relates to a kind of sweeping robot.
Background technology
In the related, sweeping robot adopts ultrasonic wave and infrared proximity to find range, and causes measurement blind area more, can not effective collision free problem.
Utility model content
The utility model is intended to solve one of technical problem in correlation technique at least to a certain extent.For this reason, the utility model proposes a kind of sweeping robot, described sweeping robot detection range is wider, and check frequency reduces, and effectively can improve collision problem.
According to sweeping robot of the present utility model, comprising: robot body; First and second laser instruments, described first and second laser instruments are located on described robot body respectively, described first and second laser instruments send the first and second laser beams respectively, the horizontal forward transmitting of described first laser beam, described second laser beam is launched downwardly towards top rake relative to horizontal direction, and described first and second laser beams are formed as the Line beam perpendicular to respective transmit direction respectively; Camera, described camera is located on described robot body; Controller, described controller is located on described robot body, described first and second laser instruments and described camera are connected with described controller respectively, to work under the control of described controller, described camera can catch the laser image of described first and second laser beams and transmit it to described controller and carry out graphical analysis and range finding.
According to sweeping robot of the present utility model to the detection range of barrier more comprehensively, accuracy of detection is higher, and Detection results is better, and barrier or the lower barrier that effectively can improve sweeping robot and its front collide, sweeping robot uses reliable, is not easily damaged.
In addition, following additional technical characteristic can also be had according to sweeping robot of the present utility model:
According to embodiments more of the present utility model, also comprise the 3rd laser instrument, described 3rd laser instrument is located on described robot body, described 3rd laser instrument can send the 3rd laser beam, described 3rd laser beam upwards turns forward to extend relative to horizontal direction and launches, described 3rd laser beam is formed as the Line beam perpendicular to its transmit direction, described 3rd laser instrument is connected with described controller, to work under the control of described controller, described camera can catch the laser image of described 3rd laser beam and transmit it to described controller and carry out graphical analysis and range finding.
Alternatively, the angle between the transmit direction of described second laser beam and horizontal direction is 30 degree-60 and spends, and the described transmit direction of the 3rd laser beam and the angle of horizontal direction are 30 degree-60 and spend.
According to an embodiment of the present utility model, the angle between the transmit direction of described second laser beam and horizontal direction is 45 degree, and the described transmit direction of the 3rd laser beam and the angle of horizontal direction are 45 degree.
According to embodiments more of the present utility model, described camera comprises the first camera and second camera, and described first camera and described second camera are in left-right direction on the spaced apart leading flank being arranged on described robot body.
According to embodiments more of the present utility model, described first, second, and third laser instrument and described camera are located on the leading flank of described robot body respectively, described first, second, and third laser instrument is in the horizontal direction in the spaced apart same level be located at higher than described camera, and the center of described camera and the distance of described horizontal plane in the vertical direction are 50 ± 5mm.
According to embodiments more of the present utility model, the leading flank of described robot body is formed as arc, and the two ends, left and right of described leading flank are respectively with the left surface of described robot body with right flank is round and smooth is connected.
According to embodiments more of the present utility model, sweeping robot also comprises ultrasonic transmitter and ultrasonic receiver, described ultrasonic transmitter and ultrasonic receiver are located at described robot body respectively and go up and be connected with described controller respectively, described ultrasonic transmitter outwards can launch ultrasonic wave under the control of the controller, and described ultrasonic receiver is suitable for accepting ultrasonic wave and is analyzed by reception information transmission to described controller.
According to embodiments more of the present utility model, described ultrasonic transmitter comprises multiple, and multiple described ultrasonic transmitter is in the horizontal direction on the spaced apart leading flank being located at described robot body.
Alternatively, multiple described ultrasonic transmitter spaced apart setting and being positioned at above or below described first and second laser instruments in the horizontal direction.
Additional aspect of the present utility model and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structural representation of the sweeping robot according to the utility model first embodiment;
Fig. 2 is the structural representation of the sweeping robot according to the utility model second embodiment; ;
Fig. 3 is the structural representation of the sweeping robot according to the utility model the 3rd embodiment; ;
Fig. 4 is the structural representation of the sweeping robot according to the utility model the 4th embodiment; ;
Fig. 5 is the direction of illumination schematic diagram of three laser beams of sweeping robot according to the utility model embodiment;
Fig. 6 is the partial enlargement structural representation of the sweeping robot according to the utility model embodiment.
Reference numeral:
Sweeping robot 100;
Robot body 10; Leading flank 11;
First laser instrument 21; Second laser 22; 3rd laser instrument 23;
Camera 30; First camera 31; Second camera 32;
Controller 40;
Ultrasonic transmitter 50.
Detailed description of the invention
Be described below in detail embodiment of the present utility model, the example of described embodiment is shown in the drawings.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the utility model, and can not be interpreted as restriction of the present utility model.
The sweeping robot 100 according to the utility model embodiment is described in detail below in conjunction with accompanying drawing.
Shown in Fig. 6, according to the sweeping robot 100 of the utility model embodiment can comprise robot body 10, first and second laser instrument 21,22, camera 30 and controller 40.
First laser instrument 21 and second laser 22, camera 30 and controller 40 can be located on robot body 10 respectively.First laser instrument 21 is connected with controller 40 respectively with second laser 22 and camera 30, to work under the control of the controller 40.First laser instrument 21 can send the first laser beam, and second laser 22 can send the second laser beam.Camera 30 can catch the laser image of the first laser beam and the second laser beam and transmit it to controller 40 and carry out graphical analysis and range finding.
Specifically, the first laser beam or the second laser beam respectively on respective transmit direction to front irradiation, if do not hit barrier, then can not change direction of illumination, now, camera 30 can not capture laser image.When the first laser beam or the second laser beam hit barrier in irradiation process, the direction of illumination of the first laser beam or the second laser beam changes, camera 30 can capture the laser image of the first laser beam or the second laser beam, and controller 40 can be transmitted it to, controller 40 can be analyzed it, obtains the information of barrier and the distance of barrier.
Wherein, the first laser beam can horizontal forwardly be launched, and the second laser beam can be launched downwardly towards top rake relative to horizontal direction.Wherein, the first laser beam and the second laser beam are formed as the Line beam perpendicular to respective transmit direction respectively.That is, first laser beam is formed as the Line beam extended in left-right direction, the horizontal forward irradiation of this Line beam, second laser beam is then formed as the Line beam extended perpendicular to the bearing of trend of the second laser beam, this Line beam is along the transmit direction of the second laser beam to front irradiation, and wherein the first laser beam and the second laser beam can irradiate a wordline hot spot of formation one horizontal-extending in left-right direction respectively on the vertical plane extended in left-right direction.
Thus, when the first laser beam or the second laser beam all can be irradiated in the horizontal extent of 180 degree, sweeping robot 100 front, the barrier within the scope of left, center, right, sweeping robot 100 front can both be detected, detection range more comprehensively; And two laser beams detect, and can be implemented in during vertical direction is in, the detection of the barrier of upper/lower positions, make to rest on the ground and the barrier with lower height also can be detected, such as, threshold, step or steep cliff etc., detect more comprehensively.
Meanwhile, the utility model people of the application finds, when adopting infrared ray or ultrasonic wave to detect in correlation technique, usually can can't detect for less object, causes measuring blind area more, and sweeping robot 100 occurs that the probability of collision is larger; And in the application, adopt laser less barrier can be detected, measure blind area and significantly reduce, detection range is wider, and precision is higher, detects the better effects if of barrier.
According to the sweeping robot 100 of the utility model embodiment, by arranging the first laser instrument 21 and second laser 22, and the laser beam making two laser instruments send is formed as line laser and irradiates along different directions, make to the detection range of barrier more comprehensively, accuracy of detection is higher, and Detection results is better, effectively can improve sweeping robot 100 and collide with the barrier in its front or the barrier of front lower place, sweeping robot 100 uses reliably, is not easily damaged.
Preferably, in embodiments more of the present utility model, with reference to shown in Fig. 2 to Fig. 4, sweeping robot 100 can also comprise the 3rd laser instrument 23.3rd laser instrument 23 can be located on robot body 10, and the 3rd laser instrument 23 can send the 3rd laser beam, and the 3rd laser beam upwards turns forward to extend relative to horizontal direction and launches, and the 3rd laser beam can be formed as the Line beam perpendicular to its transmit direction.3rd laser instrument 23 is connected with controller 40, to work under the control of the controller 40.That is, the 3rd laser instrument 23 can be launched the 3rd laser beam under the control of the controller 40 or not launch the 3rd laser beam.Camera 30 can catch the laser image of the 3rd laser beam and transmit it to controller 40 and carry out graphical analysis and range finding, obtains the information of barrier and the distance of barrier.
Thus, sweeping robot 100 can detect the barrier being positioned at 180 degree of horizontal extents on the upside of its front, detection range is wide, sweeping robot 100 not only can detect the barrier being positioned at its dead ahead and the barrier be positioned on the downside of its front, but also the barrier be positioned on the upside of its front can be detected, detection range more comprehensively, the check frequency of further minimizing sweeping robot 100, avoid sweeping robot 100 and the comparatively high obstacle thing arranged compared with barrier or the hollow out of low obstacle, equal height, such as, there is the sofa of supporting leg, collide.
Here, it should be noted that, when first, second and the 3rd laser image of laser beam when gathering by a camera 30, the laser image gathered to effectively distinguish camera 30 is the laser image of which laser beam and prevents from overlapping between laser image, impact analysis effect, sweeping robot 100 operationally, first, second and the 3rd laser instrument 23 different time open, namely at one time, a laser instrument is only had to give off laser beam, and camera 30 can gather the laser image that this beam of laser bundle produces, and transmit it to controller 40 and analyze.
Thus, just can judge according to the laser instrument opened the laser image gathered is from where.Such as, when the first laser instrument 21 is opened, if camera 30 collects laser image, then controller 40 just can judge that the dead ahead of sweeping robot 100 exists barrier, and by analyzing the distance drawn between this barrier, can detect accurately.
Wherein, the open and close of first, second, and third laser instrument 21,22 and 23 can be controlled by controller 40.Such as, controller 40 can control first, second, and third laser instrument 21,22 and 23 and open the regular hour respectively successively.Such as, first the first laser instrument 21 can be opened, after arriving 0.5s, first laser instrument 21 cuts out, and second laser 22 is opened, after arriving 0.5s, second laser 22 is closed, 3rd laser instrument 23 is opened, then after arriving 0.5s, the 3rd laser instrument 23 cuts out, first laser instrument 21 is opened again, carry out and so forth, can go out the barrier situation of sweeping robot 100 dead ahead, front lower place and front upper place by continuous Polling, Detection results is good.
Controller 40 can realize its control action by number of ways, such as, control three laser instruments can be preset with in controller 40 and when open the program of when closing, can be controlled by program, control convenient and be convenient to realize, controller can utilize range of triangle principle to carry out graphical analysis and range finding.Alternatively, in concrete examples more of the present utility model, controller 40 can be pcb board.Pcb board is convenient to manufacture, easy to assembly and control performance good.
In addition, the producing method for line laser does not do special restriction, and such as, first, second, and third laser instrument 21,22 and 23 can adopt laser line generator respectively, and laser line generator directly can send line laser.Again such as, first, second, and third laser instrument 23 also can adopt coordinating of common lasers and lens.Certainly, the alternate manner that those of ordinary skill in the art also can be adopted to know.
With reference to shown in Fig. 2 to Fig. 4, in preferred embodiments more of the present utility model, sweeping robot 100 can also comprise ultrasonic transmitter 50 and ultrasonic receiver.Ultrasonic transmitter 50 and ultrasonic receiver to be located at respectively on robot body 10 and to be connected with controller 40 respectively, ultrasonic transmitter 50 outwards can launch ultrasonic wave under the control of the controller 40, and ultrasonic receiver is suitable for accepting ultrasonic wave and reception information transmission is analyzed to controller 40.
Specifically, ultrasonic transmitter 50 outwards can launch ultrasonic wave, transmit direction can be changed after ultrasonic wave runs into barrier, and received by ultrasonic receiver, the ultrasound information received can be transferred to controller 40 by ultrasonic receiver, and controller 40 can be analyzed it, thus obtains the information of barrier, such as, range information.
Thus, laser not only can be adopted to find range, ultrasonic wave can also be adopted to find range according to the sweeping robot 100 of the utility model embodiment, detection is more accurate and reliable, and Detection results is better.Wherein, in actual use, laser detection can as main detection means, and ultrasound examination can use as auxiliary detection means.Such as, such as, for some barrier being formed as the measurement blind area of laser, the such as curtain of black lint, laser detection can not play a role, and ultrasonic wave now can be adopted to detect, effectively ensure that Detection results.Laser detection is wherein adopted still to adopt ultrasound examination can be controlled by controller 40.
Alternatively, ultrasonic transmitter 50 comprises can be multiple, and multiple ultrasonic transmitter 50 can spaced apartly in the horizontal direction be located on the leading flank 11 of robot body 10.Thus, good Detection results can be ensured.Wherein, the quantity of supersonic generator can be arranged as required flexibly.Such as, in the embodiment shown in Figure 2, supersonic generator is three, and in the embodiment shown in Fig. 3 and Fig. 4, supersonic generator is then five.
Alternatively, as shown in Figure 5, according to embodiments more of the present utility model, the angle α between the transmit direction of the second laser beam and horizontal direction can be 30 degree-60 and spend, and the transmit direction of the 3rd laser beam and the angle β of horizontal direction can be 30 degree-60 and spend.These angle design are reasonable, and barrier can be detected in suitable scope, and Detection results is good.Such as, in a concrete example of the present utility model, the angle α between the transmit direction of the second laser beam and horizontal direction is 45 degree, and the transmit direction of the 3rd laser beam and the angle β of horizontal direction are 45 degree.The sweeping robot 100 with this angular range can have excellent Detection results.
In order to effectively catch laser image, alternatively, shown in Fig. 4, in embodiments more of the present utility model, camera 30 can comprise the first camera 31 and second camera 32, first camera 31 and second camera 32 and can spaced apartly in left-right direction be arranged on the leading flank 11 of robot body.Because the seizure angle of camera 30 is generally 140 degree, when an employing camera, be difficult to be positioned at 180 degree, sweeping robot 100 front horizontal extent and all capture.
For ensureing to catch effect, need to adopt and catch the larger special camera of angular range, and adopt the first and second cameras 31 and 32 also can effectively to address this problem, and the first and second cameras 31 and 32 can adopt common camera, two cameras are with the use of all covering being positioned at 180 degree, robot front horizontal extent, catch effective, and cost is lower, manufactures easier.
According to embodiments more of the present utility model, first, second, and third laser instrument 21,22 and 23 and camera 30 can be located on the leading flank 11 of robot body respectively, first, second, and third laser instrument 23 can in the horizontal direction on the spaced apart same level line be located at higher than camera 30, the center of camera 30 and the distance d of horizontal line in the vertical direction are 50 ± 5mm.Namely d changes between 45mm-55mm.
In other words, first, second, and third laser instrument 23 can spaced apart setting be located on the leading flank 11 of robot body in left-right direction, camera 30 is also located on the leading flank 11 of robot body, and be positioned at below three laser instruments, first, second, and third laser instrument 21,22 and 23 is arranged on sustained height, and the difference of place, the center height of place, the center height of three laser instruments and camera 30 is 45mm-55mm.Thus, both can ensure the seizure effect that camera 30 is good, and the size of sweeping robot 100 is relatively little.Such as, in a concrete example of utility model, d=50mm.
According to embodiments more of the present utility model, multiple ultrasonic transmitter 50 can spaced apart setting and being positioned at above or below laser instrument in the horizontal direction.Such as, as shown in Figure 3, five supersonic generators 50 are located at the top of three laser instruments respectively.Again such as, as shown in Figure 4, five supersonic generators 50 are located at the below of three laser instruments respectively.These arrangements not only make good looking appearance, and can not affect each other, favorable working performance.
Alternatively, the leading flank 11 of robot body 10 can be formed as arc, and the two ends, left and right of leading flank 11 respectively can with the left surface of robot body 10 and right flank be round and smooth is connected.That is, the leading flank 11 of robot body 10 can be the cambered surface of round and smooth shape, and bending radian can be arranged as required, and the left end of leading flank 11 can be connected with left surface is round and smooth, and the right-hand member of leading flank 11 can be connected with right flank is round and smooth.Thus, the profile of sweeping robot 100 is comparatively attractive in appearance.
In reality manufactures, leading flank 11, left surface and right flank can be integrally formed, and the thickness of leading flank 11 can be 16mm.Leading flank 11 can arrange installing hole, to facilitate the installation of laser instrument, camera 30 and ultrasonic transmitter 50.Shown in Fig. 4, the end face of robot body 10 can arrange control button, to facilitate, the duty of sweeping robot 100 be controlled.
According to the sweeping robot 100 of the utility model embodiment other form and operation be known for the person of ordinary skill of the art, be not described in detail at this.
In description of the present utility model, it will be appreciated that, term " width ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In description of the present utility model, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection or each other can communication; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood as the case may be.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature second feature " on ", " top " and " above " can be fisrt feature directly over second feature or tiltedly on represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment " or " specific embodiment ", " example " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present utility model or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this description or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and described embodiment of the present utility model above, be understandable that, above-described embodiment is exemplary, can not be interpreted as restriction of the present utility model, those of ordinary skill in the art can change above-described embodiment, revises, replace and modification in scope of the present utility model.
Claims (10)
1. a sweeping robot, is characterized in that, comprising:
Robot body;
First and second laser instruments, described first and second laser instruments are located on described robot body respectively, described first and second laser instruments send the first and second laser beams respectively, the horizontal forward transmitting of described first laser beam, described second laser beam is launched downwardly towards top rake relative to horizontal direction, and described first and second laser beams are formed as the Line beam perpendicular to respective transmit direction respectively;
Camera, described camera is located on described robot body;
Controller, described controller is located on described robot body, described first and second laser instruments and described camera are connected with described controller respectively, to work under the control of described controller, described camera can catch the laser image of described first and second laser beams and transmit it to described controller and carry out graphical analysis and range finding.
2. sweeping robot according to claim 1, it is characterized in that, also comprise the 3rd laser instrument, described 3rd laser instrument is located at described robot body and goes up and be connected with described controller, to work under the control of described controller, described 3rd laser instrument can send the 3rd laser beam, described 3rd laser beam upwards turns forward to extend relative to horizontal direction and launches, described 3rd laser beam is formed as the Line beam perpendicular to its transmit direction, described camera can catch the laser image of described 3rd laser beam and transmit it to described controller and carry out graphical analysis and range finding.
3. sweeping robot according to claim 2, is characterized in that, the angle between the transmit direction of described second laser beam and horizontal direction is 30 degree-60 and spends, and the described transmit direction of the 3rd laser beam and the angle of horizontal direction are 30 degree-60 and spend.
4. sweeping robot according to claim 3, is characterized in that, the angle between the transmit direction of described second laser beam and horizontal direction is 45 degree, and the described transmit direction of the 3rd laser beam and the angle of horizontal direction are 45 degree.
5. sweeping robot according to claim 1, is characterized in that, described camera comprises the first camera and second camera, and described first camera and described second camera are in left-right direction on the spaced apart leading flank being arranged on described robot body.
6. sweeping robot according to claim 2, it is characterized in that, described first, second, and third laser instrument and described camera are located on the leading flank of described robot body respectively, described first, second, and third laser instrument is in the horizontal direction in the spaced apart same level be located at higher than described camera, and the center of described camera and the distance of described horizontal plane in the vertical direction are 50 ± 5mm.
7. sweeping robot according to claim 1, is characterized in that, the leading flank of described robot body is formed as arc, and the two ends, left and right of described leading flank are respectively with the left surface of described robot body with right flank is round and smooth is connected.
8. the sweeping robot according to any one of claim 1-7, it is characterized in that, also comprise ultrasonic transmitter and ultrasonic receiver, described ultrasonic transmitter and ultrasonic receiver are located at described robot body respectively and go up and be connected with described controller respectively, described ultrasonic transmitter outwards can launch ultrasonic wave under the control of the controller, and described ultrasonic receiver is suitable for accepting ultrasonic wave and is analyzed by reception information transmission to described controller.
9. sweeping robot according to claim 8, is characterized in that, described ultrasonic transmitter comprises multiple, and multiple described ultrasonic transmitter is in the horizontal direction on the spaced apart leading flank being located at described robot body.
10. sweeping robot according to claim 9, is characterized in that, the spaced apart setting and being positioned at above or below described first and second laser instruments in the horizontal direction of multiple described ultrasonic transmitter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520753983.6U CN205031182U (en) | 2015-09-25 | 2015-09-25 | Floor sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520753983.6U CN205031182U (en) | 2015-09-25 | 2015-09-25 | Floor sweeping robot |
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| CN205031182U true CN205031182U (en) | 2016-02-17 |
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| CN201520753983.6U Expired - Fee Related CN205031182U (en) | 2015-09-25 | 2015-09-25 | Floor sweeping robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105286729A (en) * | 2015-09-25 | 2016-02-03 | 江苏美的清洁电器股份有限公司 | Sweeping robot |
| CN106526579A (en) * | 2016-10-31 | 2017-03-22 | 张舒怡 | Obstacle detection sensor for robot |
| WO2017200305A1 (en) * | 2016-05-17 | 2017-11-23 | 엘지전자 주식회사 | Robot vacuum cleaner |
| WO2017200304A3 (en) * | 2016-05-17 | 2018-04-12 | 엘지전자 주식회사 | Mobile robot and control method therefor |
| WO2017200303A3 (en) * | 2016-05-17 | 2018-04-12 | 엘지전자 주식회사 | Mobile robot and control method therefor |
| WO2018077263A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Sensor for automatic driving |
| JP2019516505A (en) * | 2016-05-20 | 2019-06-20 | エルジー エレクトロニクス インコーポレイティド | Robot vacuum cleaner |
| WO2020116232A1 (en) * | 2018-12-05 | 2020-06-11 | ソニー株式会社 | Control device, control method, and program |
| CN111736616A (en) * | 2020-08-27 | 2020-10-02 | 北京奇虎科技有限公司 | Obstacle avoidance method and device for sweeping robot, sweeping robot and readable medium |
| US10827896B2 (en) | 2016-05-20 | 2020-11-10 | Lg Electronics Inc. | Autonomous cleaner |
| CN114370881A (en) * | 2018-01-12 | 2022-04-19 | 原相科技股份有限公司 | Method and system for detecting obstacle and sensor subsystem thereof |
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2015
- 2015-09-25 CN CN201520753983.6U patent/CN205031182U/en not_active Expired - Fee Related
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
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