CN108720729A - Clean robot - Google Patents
Clean robot Download PDFInfo
- Publication number
- CN108720729A CN108720729A CN201710247369.6A CN201710247369A CN108720729A CN 108720729 A CN108720729 A CN 108720729A CN 201710247369 A CN201710247369 A CN 201710247369A CN 108720729 A CN108720729 A CN 108720729A
- Authority
- CN
- China
- Prior art keywords
- spider
- brush
- view sensor
- clean robot
- lower view
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 241000239290 Araneae Species 0.000 claims abstract description 49
- 230000002093 peripheral effect Effects 0.000 claims abstract description 10
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000001680 brushing effect Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Classifications
-
- 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
Abstract
A kind of clean robot, including robot body (1), with clean robot direction of advance (A) for front, it is lower regarding component (10) that robot body's lower front is equipped with side brush, it is described to brush (12) and towards the lower view sensor (14) of working surface when including depending on component under brush, the side brush is at least partially disposed at the inside of the outer peripheral edge of spider comprising spider (121) and the brush part (122) on spider, the lower view sensor.View sensor is at least partially disposed at the inside of the outer peripheral edge of side brush spider under the present invention, so that side brush brush part not under the influence of view sensor detect working environment, the detection signal that lower view sensor obtains is accurate, clean robot can more accurately carry out cleaning, and lower view sensor will not additionally occupy robot bottom space, improve robot bottom space utilization rate.
Description
Technical field
The present invention relates to a kind of clean robots, belong to small household appliances manufacturing technology field.
Background technology
Existing clean robot is usually by side brush and lower view sensor (steep cliff sensor or floor type sensor etc.)
It is separately mounted to robot base.Lower view sensor can detect the working environment of clean robot, specifically, working as clean robot
When running to stair, by the detection signal of lower view sensor, clean robot can turn to and avoid falling in time；Alternatively, working as
When clean robot is run to by timber floor on carpet, it can voluntarily increase suction to ensure cleaning effect.
Existing clean robot reaches best cleaning effect to make side brush on the market, it usually needs is disposed at machine
Bottom in front of device, and whether lower view sensor is to have step etc. abnormal in front of detection machine, prevents driving wheel hanging, needs to install
In front of driving wheel, the lower view sensor of bristle blocking detects working environment when above structure causes side dataller to make.Such as application number
Covering in side brush bristle is arranged in robot disclosed in Chinese patent application for 201510507560.0, steep cliff sensor
Within the scope of lid, since side brush needs to cover larger area as far as possible, to improve cleaning effect, therefore cannot be one-side
The influence to steep cliff sensor is avoided by bristle lengths are reduced, and the effect of steep cliff sensor determines that it cannot be arranged
At robot rear, side brush rotation at this time or stop that all steep cliff sensor can be caused centainly to interfere, under the influence of visual function generate
Error signal causes machine that cannot correctly identify step (steep cliff), and robot is easy to fall from step (steep cliff), to people or object
It damages.In addition, lower view sensor and side brush occupy the different space in clean robot bottom respectively, it has not been convenient to robot its
The arrangement of its component.
Invention content
Technical problem to be solved by the present invention lies in a kind of clean robot in view of the deficiencies of the prior art, is provided, lead to
Cross the inside for the outer peripheral edge that lower view sensor is at least partially disposed in side brush spider so that view sensor under the influence of side is brushed not
Working environment is detected, the detection signal that lower view sensor obtains is accurate, and clean robot can more accurately carry out cleaner
Make.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions：
A kind of clean robot, including robot body, using clean robot direction of advance as front, the robot master
Body lower front, which is equipped under the brush of side, regards component, described to be brushed when including depending on component under brushing and regard sensing towards the lower of working surface
Device, the side brush includes spider and the brush part on spider, and the lower view sensor is at least partially disposed at spider
Outer peripheral edge inside.
The assembly that lower view sensor and side are brushed for convenience, improves space availability ratio, and the lower view sensor is located at center
The inside of disk.
For fixed lower view sensor, the lower view sensor is fixed on by sensor stand on robot body.
In order to make lower view sensor that spider be followed to move synchronously, the lower view sensor is mounted on spider, is followed
Spider moves synchronously.
Further, described further includes the while brush holder being connected to each other with the spider depending on component under brush, the side brush
Holder by while brush gearbox with while brush motor connect.
Preferably, the brush part is bristle, and the bristle extends outwardly from spider.
In order to optimize structure, the lower view sensor is located at the middle part of spider.
Descend view sensor by dirty pollution in order to prevent, the spider is equipped with a transparency window, and the transparency window is located at
Below lower view sensor.Alternatively, the spider, which is located at the part below lower view sensor, uses transparent material.
Further, the lower view sensor uses infrared sensor, ultrasonic sensor or camera.
To prevent distance of the lower view sensor apart from working surface is too small from stopping that robot climbs, the lower view sensor
Distance apart from working surface is not more than distance of the spider apart from working surface.But it is lower between view sensor and spider
Difference in height also should not be too large, to prevent the light path of the lower view sensor of spider blocking.Preferably, lower view sensor and spider
Difference in height be not more than 10mm.
In conclusion view sensor is at least partially disposed at the inside of the outer peripheral edge of side brush spider under the present invention so that side
View sensor detects working environment under the influence of brushing not, and the detection signal that lower view sensor obtains is accurate, and clean robot can be more
Add and accurately carries out cleaning；And lower view sensor will not additionally occupy robot bottom space, and it is empty to improve robot bottom
Between utilization rate.
In the following with reference to the drawings and specific embodiments, technical scheme of the present invention is described in detail.
Description of the drawings
Fig. 1 is the bottom schematic view of clean robot of the present invention；
Fig. 2 is the lower decomposition diagram regarding component of side of the present invention brush；
Fig. 3 is lower one of the bottom schematic view regarding component of side of the present invention brush；
Fig. 4 is the two of the lower bottom schematic view regarding component of side of the present invention brush；
Fig. 5 is the three of the lower bottom schematic view regarding component of side of the present invention brush.
Specific implementation mode
Fig. 1 is the bottom schematic view of clean robot of the present invention；Fig. 2 is the lower exploded pictorial regarding component of side of the present invention brush
Figure.In conjunction with shown in Fig. 1 and Fig. 2, clean robot of the present invention includes robot body 1, and it is single that robot body 1 is equipped with control
The components such as member, vacuum unit (not shown), walking unit, cleaning unit.Described control unit is for controlling cleaning machine
It is artificial to make (walking, cleaning, dust suction and detection) etc.；Vacuum unit, will be in dirty sucking clean robot for generating suction
Dust storage chamber；Walking unit includes the driving wheel 2 for being used to support and driving clean robot to walk and servo-actuated universal wheel 3；Clearly
Clean unit includes the round brush motor (not shown) that round brush 4 and driving round brush 4 rotate.The structure of clean robot is existing
Technology, details are not described herein.
In the present embodiment, using clean robot direction of advance A as front, 1 lower front of robot body is brushed equipped with side
Component 10 is regarded down.As shown in Fig. 2, described brush 12 and the lower view sensor 14 towards working surface when including depending on component under brushing.
The side brush 12 includes spider 121 and the brush part 122 on spider 121, the lower view sensor at least partly position
Inside in the outer peripheral edge of spider.In embodiment as shown in Figure 1, lower view sensor 14 is located at 121 outer peripheral edge of spider
Inside, lower view sensor 14 are electrically connected with control unit, and the working environment for detecting clean robot simultaneously will detect signal
Send control unit to.In the present embodiment, brush part 122 is bristle, and the bristle extends outwardly from spider 121, brush part 122
Or the cleaning devices such as rag.
For fixed lower view sensor 14, side brush is lower depending on being additionally provided with sensor stand 15, sensor stand 15 in component 10
It can be fixed on spider 121, i.e., when brushing 12 rotation when brush motor drives, lower view sensor 14 follows spider 121 same
Step movement；Sensor stand 15 can also be directly anchored to be directly installed on robot body 1 or by lower view sensor 14
On robot body 1, i.e., when brushing 12 rotation when brush motor drives, lower view sensor 14 is fixed.
Usually, when lower view sensor 14 is fixed, side brush 12 and lower view sensor 14 are independently arranged, side brushing
User is facilitated to replace after damage；When lower view sensor 14 follows spider 121 to move, side brush 12 and lower view sensor 14 can be done
Integrally, taken up space smaller, it is simple in structure.
The brush holder 11 when further including depending on component 10 under brushing, the side brush holder 11 is connected to each other with spider 121, is led to
Cross while brush gearbox with while brush motor 13 connect, 12 are brushed when brush motor 13 can drive with perpendicular to (or approximately perpendicular to)
The direction of working surface rotates.In fact, side brush 12 can also be driven using other driving mechanisms, band when being rotated such as round brush 4
Dynamic side brush 12 rotates synchronously.
Further, descend view sensor 14 by dirty pollution in order to prevent, the spider 121 is equipped with a transparency window
16, the transparency window 16 is located at the lower section of lower view sensor 14, transparency window 16 can stop it is dirty contacted with lower view sensor 14,
And it is easy to clean.Alternatively, the part that the spider 121 is located at 14 lower section of lower view sensor uses transparent material.Or thoroughly
Bright window 16 is mounted on sensor stand 15.
Further, distance of the lower view sensor 14 apart from working surface is not more than spider 121 apart from work in the present invention
The distance for making surface, to prevent lower view sensor 14 from stopping robot climbing (or slope, the protrusion such as carpet barrier).But
Difference in height between lower view sensor 14 and spider 121 also should not be too large, to prevent view sensor 14 under the blocking of spider 121
Light path.Preferably, the difference in height of lower view sensor 14 and spider 121 is not more than 10mm.
Fig. 3 is lower one of the bottom schematic view regarding component of side of the present invention brush；Fig. 4 is that side of the present invention brush is lower regarding the bottom of component
The two of schematic diagram；Fig. 5 is the three of the lower bottom schematic view regarding component of side of the present invention brush.In conjunction with shown in Fig. 3 to Fig. 5, the present invention is simultaneously
The relative position of lower view sensor 14 and side brush 12 is not limited, as shown in figure 3, lower view sensor 14 can be located in side brush 12
Portion is brushed as shown in figure 4, lower view sensor 14 can also be located at side on the position at 12 non-middle parts, alternatively, as shown in figure 5, lower regard passes
Sensor 14 can also partly be located on the outside of the outer peripheral edge of spider 121.Instantly when view sensor 14 is located at the center of side brush 12, side
Just view sensor 14 and side is descended to brush 12 assembly, space availability ratio is high；Instantly when view sensor 14 is located elsewhere, ability
Field technique personnel can arrange its position according to design requirement, and space utilization is flexible.
You need to add is that infrared sensor, ultrasonic sensor or camera shooting may be used in lower view sensor in the present invention
Head etc..
In conclusion lower view sensor is at least partially disposed at the inside of the outer peripheral edge of side brush spider in the present invention so that
View sensor detects working environment under the influence of side is brushed not, and the detection signal that lower view sensor obtains is accurate, and clean robot can
More accurately carry out cleaning；And lower view sensor will not additionally occupy robot bottom space, improve robot bottom
Space availability ratio.
Claims (11)
1. a kind of clean robot, including robot body (1), which is characterized in that before being with clean robot direction of advance (A)
Side, robot body's lower front are equipped with that side brush is lower to regard component (10), it is described brush when including depending on component under brush (12) and
Towards the lower view sensor (14) of working surface, the side brush includes spider (121) and the brush part on spider
(122), the lower view sensor is at least partially disposed at the inside of the outer peripheral edge of spider.
2. clean robot as described in claim 1, which is characterized in that the lower view sensor (14) is located at spider
(121) inside.
3. clean robot as claimed in claim 2, which is characterized in that the lower view sensor (14) passes through sensor stand
(15) it is fixed on robot body (1).
4. clean robot as claimed in claim 2, which is characterized in that the lower view sensor (14) is mounted on spider
(121) on, spider (121) is followed to move synchronously.
5. clean robot as described in claim 1, which is characterized in that side brush it is lower depending on component (10) further include with it is described
The side brush holder (11) that spider (121) is connected to each other, it is described while brush holder by while brush gearbox connect with side brush motor (13).
6. clean robot as described in claim 1, which is characterized in that the brush part (122) is bristle, and the bristle is therefrom
Cartridge (121) extends outwardly.
7. clean robot as described in claim 1, which is characterized in that the lower view sensor (14) is located at spider
(121) middle part.
8. clean robot as described in claim 3 or 4, which is characterized in that the spider (121) is equipped with a transparency window
(16), the transparency window is located at below lower view sensor (14).
9. clean robot as described in claim 3 or 4, which is characterized in that the spider (121) is located at lower view sensor
(14) part below uses transparent material.
10. clean robot as described in claim 1, which is characterized in that the lower view sensor (14) uses infrared sensing
Device, ultrasonic sensor or camera.
11. clean robot as described in claim 1, which is characterized in that the lower view sensor (14) is apart from working surface
Distance be not more than distance of the spider (121) apart from working surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247369.6A CN108720729A (en) | 2017-04-14 | 2017-04-14 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247369.6A CN108720729A (en) | 2017-04-14 | 2017-04-14 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108720729A true CN108720729A (en) | 2018-11-02 |
Family
ID=63924154
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247369.6A Pending CN108720729A (en) | 2017-04-14 | 2017-04-14 | Clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108720729A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109480712A (en) * | 2018-12-22 | 2019-03-19 | 深圳市银星智能科技股份有限公司 | Clean robot |
| WO2020187014A1 (en) * | 2019-03-20 | 2020-09-24 | 速感科技（北京）有限公司 | Side sweeping assembly and cleaning robot |
Citations (6)
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|---|---|---|---|---|
| KR20070109355A (en) * | 2006-05-11 | 2007-11-15 | 엘지전자 주식회사 | Automatic cleaner |
| CN102908102A (en) * | 2012-11-10 | 2013-02-06 | 张周新 | Brush disc for cleaning robot |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
| CN105473045A (en) * | 2013-12-27 | 2016-04-06 | 夏普株式会社 | Self-propelled electric vacuum cleaner |
| CN106137047A (en) * | 2016-08-03 | 2016-11-23 | 江苏新光数控技术有限公司 | Sweeping robot |
| CN207412122U (en) * | 2017-04-14 | 2018-05-29 | 科沃斯机器人股份有限公司 | Clean robot |
-
2017
- 2017-04-14 CN CN201710247369.6A patent/CN108720729A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070109355A (en) * | 2006-05-11 | 2007-11-15 | 엘지전자 주식회사 | Automatic cleaner |
| CN102908102A (en) * | 2012-11-10 | 2013-02-06 | 张周新 | Brush disc for cleaning robot |
| CN104216404A (en) * | 2013-05-31 | 2014-12-17 | 科沃斯机器人科技(苏州)有限公司 | Self-moving device and control method thereof |
| CN105473045A (en) * | 2013-12-27 | 2016-04-06 | 夏普株式会社 | Self-propelled electric vacuum cleaner |
| CN106137047A (en) * | 2016-08-03 | 2016-11-23 | 江苏新光数控技术有限公司 | Sweeping robot |
| CN207412122U (en) * | 2017-04-14 | 2018-05-29 | 科沃斯机器人股份有限公司 | Clean robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109480712A (en) * | 2018-12-22 | 2019-03-19 | 深圳市银星智能科技股份有限公司 | Clean robot |
| WO2020187014A1 (en) * | 2019-03-20 | 2020-09-24 | 速感科技（北京）有限公司 | Side sweeping assembly and cleaning robot |
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