CN208864218U - A kind of clean robot anticollision device, collision-prevention device - Google Patents
A kind of clean robot anticollision device, collision-prevention device Download PDFInfo
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- CN208864218U CN208864218U CN201820437475.0U CN201820437475U CN208864218U CN 208864218 U CN208864218 U CN 208864218U CN 201820437475 U CN201820437475 U CN 201820437475U CN 208864218 U CN208864218 U CN 208864218U
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Abstract
A kind of clean robot anticollision device, collision-prevention device, clean robot includes: shell, walking module, control module, laser navigation module, laser navigation module is raised in the top of clean robot main body, laser navigation module is column construction, it is characterized by: clean robot further includes for detecting the side of the laser navigation module anticollision module that whether there are obstacles, anticollision module includes the emission part of transmitting detection signal and the receiving unit of the detection signal for receiving emission part sending, emission part is installed on the lateral location of laser navigation module, receiving unit is installed on the top of housing main body；The utility model solves the problems, such as that the side of laser navigation module can not be detected by existing clean robot that whether there are obstacles, solve the problems, such as existing clean robot laser navigation module can not laser navigation module caused by avoiding obstacles be easy to appear and block or break.
Description
Technical field
The utility model relates to smart home fields, are related to a kind of clean robot, and in particular to arrive a kind of cleaner
Device people's air defense collision device.
Background technique
With popularizing for intellectual product, more and more people replace manually sweeping using clean robot indoor clear
Clean, the clean robot on existing market is largely the clean robot of planning type, is mainly sentenced by internal gyroscope
The direction of travel of disconnected clean robot, the position of barrier is detected by sensor and carries out evading place on direction of travel
Reason；In order to make clean robot more accurately detect barrier and explore indoor ambient conditions, by clean robot
Laser navigation module is arranged to realize the Scanning Detction to indoor environment in top, and it is clear to plan to build figure to indoor environmental scanning
The walking path of clean robot；Laser navigation module is mainly disposed to the top of clean robot and is raised in clean robot master
The top of body, laser navigation module be internally provided with can 360 degree rotation laser scanning assembly, sent out by laser scanning assembly
Laser beam is projected to realize the exploration to indoor barrier and indoor environment and form map, and is further realized to cleaner
The navigation programming of device people.
Clean robot can be shuttled during walking in the edge or bottom of barrier, such as indoor sand at present
Hair, bed bottom etc., because laser navigation module is raised in the top of clean robot main body, is thus easy to cause and works as clean robot
Laser navigation module is easy to appear stuck or the problem of break when needing to enter the bottom of barrier, and main cause is led for laser
Model plane block can not detect the lateral location of laser navigation module, and whether there are obstacles, so that clean robot can not be kept away
Open the bottom space of some lower barriers；When clean robot is at the clean bottom for needing barriers to entry object in the process of walking
When portion space, clean robot includes that the whole height of laser navigation module is greater than or equal to the bottom space height of barrier at this time
When spending, the laser navigation module of clean robot can impinge upon the lateral location of barrier, while laser navigation module is easy card
Extremely at the bottom space marginal position of barrier, causes clean robot to block and can not walk and be automatically stopped work,
It is easy to cause the damage of laser navigation module after the lateral location long period of laser navigation module strikes obstacles and is easy to lead
The furniture at family of applying is damaged, and user experience effect is poor.
Utility model content
The utility model be intended to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.
For this purpose, mainly solving existing cleaning the purpose of this utility model is to provide a kind of clean robot anticollision device, collision-prevention device
The problem of robot can not detect the side of laser navigation module whether there are obstacles, and solve swashing for existing clean robot
Light guide module can not be easy to appear the problem of blocking or breaking by laser navigation module caused by avoiding obstacles.
The embodiments of the present invention provides a kind of clean robot anticollision device, collision-prevention device, clean robot include: shell,
Walking module, control module, laser navigation module, laser navigation module are raised in the top of clean robot main body, and laser is led
Model plane block is column construction, it is characterised in that: clean robot further includes for detecting whether the side of laser navigation module deposits
In the anticollision module of barrier, anticollision module includes the emission part of transmitting detection signal and the detection for receiving emission part sending
The receiving unit of signal, emission part are installed on the lateral location of laser navigation module, and receiving unit is installed on the top of housing main body.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the anticollision module are infrared sensor or ultrasonic sensor
It is one such.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the emission part and receiving unit are located at perpendicular to laser navigation module
On the same vertical plane of top surface.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the anticollision module and control module are electrically connected, and work as receiving unit
There is no barriers for the side of control module confirmation laser navigation module when receiving detection signal, when receiving unit does not receive inspection
There are barriers for the side of control module confirmation laser navigation module when surveying signal.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the clean robot is at least provided with an anticollision module.
A kind of clean robot anticollision device, collision-prevention device, clean robot include: walking module, control module, laser navigation module,
Laser navigation module is raised in the top of clean robot main body, and laser navigation module is column construction, it is characterised in that: cleaning
Robot further includes for detecting the side of the laser navigation module anticollision module that whether there are obstacles, and anticollision module includes hair
The emission part of detection signal and the receiving unit of the detection signal for receiving emission part sending are penetrated, emission part is installed on housing main body
Top, receiving unit is installed on the lateral location of laser navigation module, and emission part and receiving unit are located at perpendicular to laser navigation mould
On the same vertical plane of block top surface.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the anticollision module and control module are electrically connected, and work as receiving unit
There is no barriers for the side of control module confirmation laser navigation module when receiving detection signal, when receiving unit does not receive inspection
There are barriers for the side of control module confirmation laser navigation module when surveying signal.
A kind of clean robot anticollision device, collision-prevention device above-mentioned, the clean robot are prevented at least provided with an anticollision module
Hitting module is that infrared sensor or ultrasonic sensor are one such.
Compared with prior art, the utility model has the following beneficial effects:
Whether there are obstacles for the side that the utility model detects laser navigation module by setting anticollision module,
To guide clean robot to walk and to avoid the barrier of laser navigation module side, laser navigation module and barrier are prevented
Between collide, solve the problems, such as that the side of laser navigation module can not be detected by existing clean robot that whether there are obstacles.
The anticollision module of the utility model is provided with the emission part and receiving unit of transmitting detection signal, clean robot
During normal walking is clean, receiving unit can receive the detection signal of emission part sending at any time, work as laser navigation module
Side there are when barrier, the detection signal that barrier obstruction emission part issues at this time causes receiving unit that can not receive inspection
Survey signal, the side of control module confirmation laser navigation module is there are barrier and guides clean robot avoiding obstacles and goes
Walk or guide clean robot not in the bottom space of barriers to entry object, so that solving existing clean robot can not avoid hindering
Laser navigation module caused by object is hindered to be easy the problem of blocking or breaking.
Detailed description of the invention
Fig. 1 is the clean robot stereoscopic schematic diagram of the utility model；
Fig. 2 is the clean robot perspective view of the utility model；
Fig. 3 is the clean robot floor map of the utility model；
Fig. 4 is the partial enlargement diagram in Fig. 3 of the utility model at A；
Fig. 5 is the partial enlargement diagram in Fig. 3 of the utility model at B；
Fig. 6 is that the clean robot of the utility model detects the presence of sofa but not can enter showing for sofa bottom
It is intended to；
Fig. 7 is the partial enlargement diagram in Fig. 6 of the utility model at C；
Fig. 8 is that clean robot detects that sofa exists but not can enter a kind of walking of haul off of sofa bottom and shows
It is intended to；
Fig. 9 is the three-dimensional signal of the utility model.
Appended drawing reference: 1- clean robot, 2- anticollision module, 201- emission part, 202- receiving unit, 3- laser navigation mould
Block, 4- shell, 5- sofa.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, under
In conjunction with specific embodiments, the utility model is further described in face.
Embodiment: the clean robot anticollision device, collision-prevention device of the utility model, as shown in Fig. 1 to Fig. 9 composition, clean robot 1
It include: shell 4, walking module, control module, laser navigation module 3, laser navigation module 3 is raised in 1 main body of clean robot
Top, laser navigation module 3 be column construction, it is characterised in that: clean robot 1 further includes for detecting laser navigation mould
The side of the block 3 anticollision module 2 that whether there are obstacles, anticollision module 2 include the emission part 201 of transmitting detection signal and are used for
The receiving unit 202 for the detection signal that emission part 201 issues is received, emission part 201 is installed on the side position of laser navigation module 3
It sets, receiving unit 202 is installed on the top of 4 main body of shell.
The anticollision module 2 is that infrared sensor or ultrasonic sensor are one such；The emission part 201 with connect
Receipts portion 202 is located at perpendicular on the same vertical plane of 3 top surface of laser navigation module；The anticollision module 2 and control module are electrical
Connection, when receiving unit 202 receives detection signal, barrier is not present in the side of control module confirmation laser navigation module 3,
When receiving unit 202 does not receive detection signal, there are barriers for the side of control module confirmation laser navigation module 3；It is described clear
Clean robot 1 is at least provided with an anticollision module 2.
Clean robot anticollision device, collision-prevention device, clean robot 1 include: walking module, control module, laser navigation module 3, are swashed
Light guide module 3 is raised in the top of 1 main body of clean robot, and laser navigation module 3 is column construction, it is characterised in that: clear
Clean robot 1 further includes for detecting the side of the laser navigation module 3 anticollision module 2 that whether there are obstacles, anticollision module 2
The receiving unit 202 of emission part 201 including transmitting detection signal and the detection signal for receiving the sending of emission part 201, transmitting
Portion 201 is installed on the top of 4 main body of shell, and receiving unit 202 is installed on the lateral location of laser navigation module 3, emission part 201 with
Receiving unit 202 is located at perpendicular on the same vertical plane of 3 top surface of laser navigation module.
The anticollision module 2 is electrically connected with control module, and when receiving unit 202 receives detection signal, control module is true
Barrier is not present in the side for recognizing laser navigation module 3, and when receiving unit 202 does not receive detection signal, control module confirmation swashs
There are barriers for the side of light guide module 3；The clean robot 1 is at least provided with an anticollision module 2, anticollision module 2
It is one such for infrared sensor or ultrasonic sensor.
The utility model clean robot 1 includes: shell 4, walking module, control module, laser navigation module 3,
Laser navigation module 3 is raised in the top of 1 main body of clean robot, and laser navigation module 3 is column construction, can be cylindrical knot
Structure or square column type structure；Laser navigation module 3 be used for detect cleaning region in barrier and to clean region in environment
Figure is built in scanning, and for the path planning of clean robot 1 and navigation walking；Walking module is predominantly in clean robot 1
Driving wheel is arranged to realize freely walking for clean robot 1 in two sides, and clean robot 1 can be performed during walking and clean
Or dust suction or the function of mopping floor realize the cleaning treatment to flooring.
The utility model be arranged anticollision module 2, anticollision module 2 mainly for detection of laser navigation module 3 side
Whether there are obstacles, is greater than or equal to barrier mainly for detection of the whole height that clean robot 1 includes laser navigation module 3
Hinder the barrier of the bottom space height of object, it may also be used for detection height is in 1 body height of clean robot and clean robot 1
Barrier between whole height comprising laser navigation module 3 as detects the laser navigation module 3 of clean robot 1
Whether there are obstacles in the top intersection region of side and the top surface of 1 main machine body shell 4 of clean robot, clean robot
1 body height is that clean robot 1 does not include the body height of the fuselage of laser navigation module 3 in the vertical direction；Anticollision mould
Block 2 predominantly detects in the annular region of the certain distance of the side surface circumference of laser navigation module 3 that whether there are obstacles, can detect
Whether there are obstacles in the upper area of the top surface of 1 main machine body shell 4 of clean robot；When anticollision module 2 detect it is sharp
The side of light guide module 3 guides clean robot 1 to turn left in direction of advance or turn right or turn around at this time there are when barrier
Carry out avoiding obstacles, as shown in figure 8, or guidance clean robot 1 not barriers to entry object bottom space, prevent laser navigation mould
Block 3 is stuck in the marginal position of barrier bottom space, prevents from directly colliding between laser navigation module 3 and barrier and lead
Cause the damage of laser navigation module 3.
The anticollision module 2 and control module of the utility model are electrically connected, and anticollision module 2 is provided with transmitting detection letter
Number emission part 201 and receive detection signal receiving unit 202, control module according to receiving unit 202 whether receive detection letter
Number carrying out disturbance in judgement object whether there is；When 1 normal walking of clean robot, as shown in figure 9, receiving unit 202 can receive at any time
To detection signal, as shown in Figure 1, Figure 2, Figure 3 shows, detected between emission part 201 and receiving unit 202 without any barrier obstruction at this time
In the top intersection region of the top surface of signal, the as side of laser navigation module 3 and 1 main machine body shell 4 of clean robot
There is no barrier, clean robot 1 can walk on along current direction of advance, can also advance along indoor any direction and walk
Carry out indoor cleaning task；When receiving unit 202 can not receive detection signal, at this time between emission part 201 and receiving unit 202
There are barrier and detection signal is blocked, causes receiving unit 202 that can not receive detection signal, control module determines to swash at this time
There are barrier in the top intersection region of the top surface of the side and 1 main machine body shell 4 of clean robot of light guide module 3,
As shown in Figure 6, Figure 7, clean robot 1 need to turn left along current direction of advance or turn right or turn around to come avoiding obstacles after continuing
It walks, as shown in Figure 8；Barrier can be sofa 5, if the body height of clean robot 1 can enter in the bottom space of sofa 5
But clean robot 1 includes that the whole height of laser navigation module 3 cannot be introduced into the bottom space of sofa 5, is cleaned at this time
Robot 1 runs to that laser navigation module 3 then occurs in 5 bottom space edge of sofa and the lateral location of sofa 5 is mutually collided, and swashs
There is the problem of being stuck or breaking in light guide module 3.
In the utility model barrier can be sofa 5 or bed or other furniture etc., when anticollision module 2 detect it is sharp
There are barriers in the top intersection region of the top surface of the side and 1 main machine body shell 4 of clean robot of light guide module 3
When, clean robot 1 cannot be introduced into the bottom space of sofa 5 or bed at this time；When anticollision module 2 detects laser navigation mould
When barrier being not present in the top intersection region of the top surface of the side and 1 main machine body shell 4 of clean robot of block 3, at this time
Clean robot 1 can be entered in the bottom space of sofa 5 or bed and be cleaned；Anticollision module 2 can prevent sofa 5 or bed or its
The side of his furniture is collided by the laser navigation module 3 of clean robot 1, not only protect furniture be not damaged while
Clean robot 1 is protected not to be damaged, user uses more secure and reliable.
The emission part 201 of the anticollision module 2 of the utility model can be installed with mutually replacing with receiving unit 202,
Realize the detection effect of anticollision module 2, emission part 201 is located at receiving unit 202 perpendicular to the same of 3 top surface of laser navigation module
On vertical plane；Settable multiple anticollision modules 2, multiple anticollision modules 2 can be respectively arranged in perpendicular to 3 top surface of laser navigation module
Multiple vertical planes on, it can be achieved that detection to barrier in larger scope, the emission part 201 of multiple anticollision modules 2 with connect
Receipts portion 202 can also intersect setting to improve the reliability that anticollision module 2 detects barrier.
A kind of mounting means of the anticollision module 2 of the utility model, emission part 201 are installed on laser navigation module 3
Lateral location, receiving unit 202 is installed on the top of 4 main body of shell；Optionally, it settable multiple emission parts 201 and multiple connects
Receipts portion 202, multiple receiving units 202 can be located at any position at the top of 4 main body of shell, and multiple emission parts 201 can be located at laser
Any position of 3 side of navigation module, only needing to be oppositely arranged between the emission part 201 and receiving unit 202 of single anticollision module 2 makes
Obtaining receiving unit 202 can receive detection signal；Optionally, have one between emission part 201 and the top surface of laser navigation module 3
Fixed angle, angle can freely be arranged to adjust the position of the different distance between the side of laser navigation module 3 and barrier
Detection, can detect in the different distance range in side from laser navigation module 3 that whether there are obstacles, expand anticollision module
2 detection range；Preferably, in order to enable receiving unit 202 it is more accurate receive detection signal, can be in receiving unit 202
Top setting optically focused lens come realize to detection signal aggregation, so as to receiving unit 202 it is more reliable receive detection signal；
Optionally, when the angle between the top surface of 4 main body of receiving unit 202 and shell is bigger than normal, more in order to ensure receiving unit 202 at this time
Add and accurately receive detection signal, the refracting plates with the direction for changing detection signal can be set in the top of receiving unit 202,
Even if the larger range of angle for adjusting emission part 201, receiving unit 202 also can receive detection signal, not only expand anticollision
The detection range of module 2, and improve the precision that receiving unit 202 receives detection signal.
Another mounting means of the anticollision module 2 of the utility model, emission part 201 are installed on 4 main body of shell
Top, receiving unit 202 are installed on the lateral location of laser navigation module 3；Optionally, settable multiple emission parts 201 and multiple
Receiving unit 202, multiple emission parts 201 can be located at any position at the top of 4 main body of shell, and multiple receiving units 202, which can be located at, to swash
Any position of 3 side of light guide module only needs to be oppositely arranged between the emission part 201 and receiving unit 202 of single anticollision module 2
So that receiving unit 202 can receive detection signal；Optionally, have one between the top surface of 4 main body of emission part 201 and shell
Fixed angle, angle can be arbitrarily arranged；It optionally, can in order to expand the range and angle for detecting signal that emission part 201 issues
In the top of emission part 201, setting has the refracting plates in the direction for changing detection signal, enables receiving unit 202 more accurate
Detection signal is received, the detection range of anticollision module 2 is expanded.
Working principle: the utility model realizes the laser navigation to clean robot 1 by setting anticollision module 2
The detection that whether there are obstacles of the side of module 3；Main emission part 201 and receiving unit 202 by setting anticollision module 2,
Emission part 201 and receiving unit 202 are separately mounted to the top position of 4 main body of lateral location and shell of laser navigation module 3, and
Emission part 201 and receiving unit 202 can mutually replace the installation on ground；Barrier is detected by the transmitting of emission part 201 detection signal,
Control module determines that the side of laser navigation module 3 whether there is by the way that whether confirmation receiving unit 202 receives detection signal
Barrier, and guide clean robot 1 correctly to walk and carry out avoiding obstacles；The utility model mainly by detection signal come
The specific location for detecting whether there are barrier or detecting barrier prevents cleaning machine by the detection to Obstacle Position
It collides between the laser navigation module 3 and barrier of people 1, laser navigation module 3 is prevented to be stuck or be damaged.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And range, it is within the protection scope of the present utility model.
Claims (8)
1. a kind of clean robot anticollision device, collision-prevention device, clean robot includes: shell, walking module, control module, laser navigation mould
Block, laser navigation module are raised in the top of clean robot main body, and laser navigation module is column construction, it is characterised in that:
Clean robot further includes for detecting the side of the laser navigation module anticollision module that whether there are obstacles, anticollision mould
Block includes the emission part of transmitting detection signal and the receiving unit of the detection signal for receiving emission part sending, and emission part is installed on
The lateral location of laser navigation module, receiving unit are installed on the top of housing main body.
2. a kind of clean robot anticollision device, collision-prevention device according to claim 1, it is characterised in that: anticollision module is infrared ray biography
Sensor or ultrasonic sensor are one such.
3. a kind of clean robot anticollision device, collision-prevention device according to claim 1, it is characterised in that: emission part is located at receiving unit
Perpendicular on the same vertical plane of laser navigation module top surface.
4. a kind of clean robot anticollision device, collision-prevention device according to claim 1, it is characterised in that: anticollision module and control module
It is electrically connected, when receiving unit receives detection signal, barrier is not present in the side of control module confirmation laser navigation module,
When receiving unit does not receive detection signal, there are barriers for the side of control module confirmation laser navigation module.
5. a kind of clean robot anticollision device, collision-prevention device described in any one of -4 according to claim 1, it is characterised in that: cleaner
Device people is at least provided with an anticollision module.
6. a kind of clean robot anticollision device, collision-prevention device, clean robot includes: walking module, control module, laser navigation module, is swashed
Light guide module is raised in the top of clean robot main body, and laser navigation module is column construction, it is characterised in that:
Clean robot further includes for detecting the side of the laser navigation module anticollision module that whether there are obstacles, anticollision mould
Block includes the emission part of transmitting detection signal and the receiving unit of the detection signal for receiving emission part sending, and emission part is installed on
The top of housing main body, receiving unit are installed on the lateral location of laser navigation module, and emission part and receiving unit are located at perpendicular to sharp
On the same vertical plane of light guide module top surface.
7. a kind of clean robot anticollision device, collision-prevention device according to claim 6, it is characterised in that: anticollision module and control module
It is electrically connected, when receiving unit receives detection signal, barrier is not present in the side of control module confirmation laser navigation module,
When receiving unit does not receive detection signal, there are barriers for the side of control module confirmation laser navigation module.
8. a kind of clean robot anticollision device, collision-prevention device according to claim 6 or 7, it is characterised in that: clean robot is at least
It is provided with an anticollision module, anticollision module is that infrared sensor or ultrasonic sensor are one such.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820437475.0U CN208864218U (en) | 2018-03-29 | 2018-03-29 | A kind of clean robot anticollision device, collision-prevention device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820437475.0U CN208864218U (en) | 2018-03-29 | 2018-03-29 | A kind of clean robot anticollision device, collision-prevention device |
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| CN208864218U true CN208864218U (en) | 2019-05-17 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012255A (en) * | 2019-12-30 | 2020-04-17 | 江苏美的清洁电器股份有限公司 | Integrated component, cleaning robot and cleaning robot system |
| CN111481121A (en) * | 2020-04-29 | 2020-08-04 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| WO2022233183A1 (en) * | 2021-05-06 | 2022-11-10 | 北京石头世纪科技股份有限公司 | Obstacle avoidance method and apparatus for self-walking device, and medium and electronic device |
-
2018
- 2018-03-29 CN CN201820437475.0U patent/CN208864218U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012255A (en) * | 2019-12-30 | 2020-04-17 | 江苏美的清洁电器股份有限公司 | Integrated component, cleaning robot and cleaning robot system |
| CN111481121A (en) * | 2020-04-29 | 2020-08-04 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| WO2022233183A1 (en) * | 2021-05-06 | 2022-11-10 | 北京石头世纪科技股份有限公司 | Obstacle avoidance method and apparatus for self-walking device, and medium and electronic device |
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