CN108814432A - A kind of self-charging sweeping robot - Google Patents
A kind of self-charging sweeping robot Download PDFInfo
- Publication number
- CN108814432A CN108814432A CN201810564519.0A CN201810564519A CN108814432A CN 108814432 A CN108814432 A CN 108814432A CN 201810564519 A CN201810564519 A CN 201810564519A CN 108814432 A CN108814432 A CN 108814432A
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- China
- Prior art keywords
- self
- sweeping robot
- charging
- charging sweeping
- heat
- 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.)
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- 238000007600 charging Methods 0.000 title claims abstract description 110
- 238000010408 sweeping Methods 0.000 title claims abstract description 85
- 230000005855 radiation Effects 0.000 claims abstract description 6
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 15
- 239000000758 substrate Substances 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 238000007726 management method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- 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
- A47L11/4011—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
- 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
Abstract
The present invention relates to a kind of self-charging sweeping robots, it includes fuselage, the driving assembly that fuselage bottom is arranged in, sun energy panel and thermoinduction camera, the solar panel is mounted on the top of the fuselage, the driving component is for driving the self-charging sweeping robot mobile, the thermoinduction camera is used to shoot the image of the self-charging sweeping robot ambient enviroment, and the self-charging sweeping robot further includes controller；The controller passes through the caloric information in analysis described image, and determine the high heat region for being higher than the minimum radiation intensity of solar battery panel optical-electronic conversion, it drives the self-charging sweeping robot to advance towards the high heat region to control the driving component, and heat is received so that the self-charging sweeping robot charges by the solar panel.
Description
Technical field
The present invention relates to a kind of intelligent robot technology fields, relate more specifically to a kind of self-charging sweeping robot.
Background technique
The appearance of the self-chargings sweeping robot such as sweeping robot, floor-mopping robot, largely assumes responsibility for a part
Household cleaning labour, allows people to have more times to lie fallow.Existing self-charging sweeping robot is generally equipped with corresponding
Charging unit, charging unit in a certain range seek within the scope of radiation signal by radiation signal, self-charging sweeping robot
Charging unit is looked for, so docking charging.However, such mode needs to configure a charging unit for each cleaning equipment, occupy
Certain space；And during self-charging sweeping robot finds charging unit, due to signal interference etc., often go out
The case where existing self-charging sweeping robot can not find charging unit, therefore can not charge in time for self-charging sweeping robot.
Summary of the invention
A series of concept of reduced forms is introduced in Summary, this will be in specific embodiment part into one
Step is described in detail.Summary of the invention is not meant to attempt to limit the pass of technical solution claimed
Key feature and essential features do not mean that the protection scope for attempting to determine technical solution claimed more.
According to an aspect of the invention, there is provided a kind of self-charging sweeping robot comprising fuselage, driving assembly,
Solar panel and thermoinduction camera, the solar panel are mounted on the top of the fuselage, and the driving component is used for
Drive the self-charging sweeping robot mobile, the thermoinduction camera is for shooting ring around the self-charging sweeping robot
The image in border, the self-charging sweeping robot further includes controller；The controller passes through the heat in analysis described image
Information, and determine the high heat region for being higher than the minimum radiation intensity of solar battery panel optical-electronic conversion, thus described in control
Driving assembly drives the self-charging sweeping robot to advance towards the high heat region, and is connect by the solar panel
Heat is received so that the self-charging sweeping robot charges.
Optionally, the solar panel includes substrate and the flexible electric layer for covering the substrate, and the substrate is hard
Material.
Optionally, the flexible electric layer includes several heat absorbing units of matrix arrangement, and several heat absorbing units are inhaled
Simultaneously sensed heat is received, when the heat absorbing units heat absorption at the flexible electric layer different location is uneven, the controller control
The driving component is mobile, so that several heat absorbing units uniformly receive heat.
Optionally, the controller is further used for using the initial position of the self-charging sweeping robot as origin, with
The initial direction of advance of the self-charging sweeping robot is x-axis, to construct coordinate as y-axis perpendicular to the initial direction of advance
System.
Optionally, the controller be further used for using described image along the central axes of its shooting direction central point as
The image and carries out described image splice to constructing to clear according to its corresponding coordinate points in the coordinate points of the coordinate system
The map in clean space and corresponding thermal profile.
Optionally, the controller is further used for when battery capacity is lower than threshold power, according to the sky to be cleaned
Between map and corresponding thermal profile drive the self-charging sweeping robot to advance towards nearest chargeable region, and
Heat is received by solar panel so that the self-charging sweeping robot charges.
Optionally, the controller is further used at the end of the self-charging sweeping robot cleaning task, according to
The map and corresponding thermal profile in the space to be cleaned drive the self-charging sweeping robot to fill towards nearest
It advances in electric region.
It can be seen that the present invention provides self-charging sweeping robot, the self-charging is shot by the thermoinduction camera
The image of sweeping robot ambient enviroment, and heat region is determined by the caloric information in analysis described image, to control
The driving component drives the self-charging sweeping robot to advance towards the heat region, and passes through the solar panel
Heat is received so that the self-charging sweeping robot charges.So as to avoid can not find charging due to signal interference etc.
The case where device, and can charge in time for self-charging sweeping robot.
Detailed description of the invention
The embodiment of the present invention is described in more detail below with reference to attached drawing, above-mentioned and other mesh of the invention
, feature and advantage will be apparent.Attached drawing is used to that the embodiment of the present invention is further explained, which is constituted
Part of specification, and be used to explain the present invention together with the embodiment of the present invention, it is not construed as limiting the invention.Attached
In figure, identical appended drawing reference typically represents the same or similar component or step.
Fig. 1 is the stereoscopic schematic diagram of self-charging sweeping robot in the embodiment of the present invention；
Fig. 2 is the stereoscopic schematic diagram of the solar panel of self-charging sweeping robot described in Fig. 1；
Fig. 3 is the sensing schematic diagram of solar panel heat described in Fig. 2；
Fig. 4 is each module connection block diagram of self-charging sweeping robot described in Fig. 1；
Fig. 5 is the charged state schematic diagram of self-charging sweeping robot.
Description of symbols：
100：Self-charging sweeping robot 10：Fuselage
20：Thermoinduction camera 30：Solar panel
40：Driving assembly 50：Controller
60：Battery component 70：Region
31：Ground hot cell 32：Substrate
33：Heat-sink shell 51：Charge management module
52：First rechargeable battery 53：Second rechargeable battery
311：Part heat sink region
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, this is described in detail below with reference to accompanying drawings
The example embodiment of invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than of the invention
Whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.It is sent out based on described in the present invention
Bright embodiment, those skilled in the art's obtained all other embodiment in the case where not making the creative labor all are answered
It falls under the scope of the present invention.
Self-charging sweeping robot 100 in the embodiment of the present invention can be self-charging sweeping robot.As shown in Figure 1
For a stereoscopic schematic diagram of self-charging sweeping robot 100.The self-charging sweeping robot 100 includes fuselage 10 and driving assembly
40, in the present embodiment, the fuselage 10 is substantially in the form of annular discs, and the driving component 40 is two and is oppositely arranged on the fuselage 10
The wheel of side, the driving component 40 drive the fuselage 10 to walk in environment to be cleaned.
Incorporated by reference to referring to fig. 2, the self-charging sweeping robot 100 further includes solar panel 30 and thermoinduction camera
20.The other side of the opposite the driving component 40 of the fuselage 10 is arranged in the solar panel 30 and thermoinduction camera 20.
The solar panel 30 includes several heat absorbing units 31, and several heat absorbing units 31 form a heat-sink shell 33, the sun
Energy panel 30 further includes substrate 32, and the heat-sink shell 33 is covered on the substrate 32, and the heat-sink shell 33 is soft material layer,
The substrate 32 is hard material layer, and the substrate 32 carries the heat-sink shell 33.
Referring to Fig. 3, several heat absorbing units 31 need to keep inhaling as far as possible when the heat-sink shell 33 is in sensed heat
The consistency of heat, that is, guarantee that each heat absorbing units of the heat-sink shell 33 can receive compared with heat-flash amount, the heat-sink shell
33 part heat sink region 311 (gray area) can receive stronger heat, remaining region of the heat-sink shell 33 can receive
The heat arrived is lower, at this point, the controller 50 controls the driving component 40 towards the movement of the direction F, so that the heat-sink shell
33 several heat absorbing units 31 receive stronger heat.
Refer to Fig. 3, each module of the self-charging sweeping robot 100 connects block diagram, and the self-charging is swept the floor machine
People 100 further includes controller 50 and battery component 60, the controller 50 respectively with the driving component 40, the solar charging
Battery plate 30, the battery component 60, the thermoinduction camera 20 are electrically connected.The battery component 60 and the controller 50 it
Between connect charge management module 51, the battery component 60 include the first rechargeable battery 52 and the second rechargeable battery 53.It is described to fill
Electric management module 51 is used to manage the charge and discharge process of the first rechargeable battery 52 and the second rechargeable battery 53, specifically, it is described too
Positive energy charging panel 30, which absorbs thermal energy and converts heat into electric energy, is respectively stored in first rechargeable battery 52 and the second charging
In battery 53, the charge management module 51 monitors the charging electricity of first rechargeable battery 52 and the second rechargeable battery 53 in real time
Amount, (refers to electricity when the charge capacity of first rechargeable battery 52 and the second rechargeable battery 53 reaches default electricity under normal circumstances
Amount is full of), electricity is transferred to the controller 50 full of signal by the charge management module 51, and the controller 50 controls institute
Solar panel 30 is stated to stop absorbing heat.In the present embodiment, it is mobile the driving component 40 can be controlled by controller 50
It closes to the relatively low position that shines, and by charge management module 51 to first rechargeable battery 52 and the second charging electricity
The charging in pond 53.When needing to be implemented cleaning task, the controller 50 controls the self-charging sweeping robot 100 on ground
Walking is to carry out cleaning task by cleaning assemblies (not shown), such as round brush, side brush, water tank, mop etc..The Charge Management
Module 51 controls the electric energy of the release of the first rechargeable battery 52 storage, executes cleaning for the self-charging sweeping robot 100
Task, the electricity stored in first rechargeable battery 52 is gradually consumed, until the first rechargeable battery 52 can not continue to provide
Electric energy supplies the self-charging sweeping robot 100 in use, the control starting of the charge management module 51 second charging electricity
The electric energy of the release storage of pond 53, continues to execute cleaning task, second rechargeable battery for the self-charging sweeping robot 100
The electricity stored in 53 is gradually consumed.Under normal conditions, electricity provided by first rechargeable battery 52 can be for general
Household cleaning is using 2 twice, for example family's area is 70 square meters to 90 square meters.It can be by making if it is the family compared with big-room and luxury housing project
It is continued as executing cleaning task compared with the family of big-room and luxury housing project with the electricity of the second rechargeable battery 53.When the self-charging sweeping robot
After 100 complete primary cleaning task, if the electricity in second rechargeable battery 53 is not used, the Charge Management
Module 51 is when the self-charging sweeping robot 100 executes and cleans task next time, the second rechargeable battery described in priority acccess control
The electric energy of 53 release storages, in this way, can be by the way that depositing for the first rechargeable battery 52 and the second rechargeable battery 53 is constantly recycled
Storage energy guarantees to make full use of first rechargeable battery 52 and the second rechargeable battery in charging process and electric discharge use process
53 electricity, with the thermal energy of 30 production capacity of solar panel described in effective management and use.
It should be understood that the self-charging sweeping robot 100 can also include lighting device (not shown), such as electric light
Deng, can be connect by the charge management module 51 with the controller 50, when the solar panel 30 absorb heat
During producing electricl energy, after first rechargeable battery 52 and the second rechargeable battery 53 are full of, the illumination dress can be continued as
Set charging.When the self-charging sweeping robot 100 enters the bright darker environment such as bed bottom, sofa bottom or tables and chairs bottom
When middle, the thermoinduction camera 20 can not shoot photo under dim environment, open the lighting device at this time, with for it is described from
The sweeping robot 100 that charges illuminates, to shoot the rule that self-charging sweeping robot 100 described in images assist clean path
It draws.After the self-charging sweeping robot 100 leaves dim environment, the lighting device is closed.
The thermoinduction camera 20 is used to shoot the image of 100 ambient enviroment of self-charging sweeping robot.The control
Device 50 processed determines by the caloric information in analysis described image and is higher than the minimum of 30 optical-electronic of solar battery panel conversion
The high heat region of radiation intensity drives the self-charging sweeping robot 100 towards institute to control the driving component 40
The traveling of high heat region is stated, and heat is received so that the self-charging sweeping robot 100 is filled by the solar panel 30
Electricity.Referring to Fig. 4, the heat in other regions is less than it should be understood that region 70 is that heat is high in several heat regions
The heat in the region 70, under normal circumstances, the place beside window are the higher region of heat.
In embodiments of the present invention, the self-charging sweeping robot 100 can be constructed in the initial position of movement routine
Coordinate system simultaneously establishes corresponding map, by being moved according to preset move mode, completes the label to entire map.Tool
Body, the controller 50 is using the initial position of the self-charging sweeping robot 100 as origin, with the self-charging sweeper
The initial direction of advance of device people 100 is x-axis, to construct coordinate system as y-axis perpendicular to the initial direction of advance.Further,
The central point of central axes of the controller 50 using described image along its shooting direction as the image the coordinate system coordinate
Point, and described image according to its corresponding coordinate points is subjected to splicing to construct the map in space to be cleaned and corresponding
Thermal profile, and the label to entire map is completed by the coordinate points of the image.Due to the bat of the thermoinduction camera 20
Angle [alpha] and height h is taken the photograph to be fixedly installed with respect to ground, therefore, described image can be obtained by the shooting angle α and height h
Distance of the coordinate points apart from the self-charging sweeping robot 100 is about tan α * h, then further according to the self-charging sweeper
Device people 100 finally obtains the image relative to the rotation angle beta (obtaining by angular transducer) of the initial direction of advance x-axis
In the coordinate points of the coordinate system.In addition, by the label of to map, it, can be according to this mark for self-charging sweeping robot
Note mode completes the cleaning task to entire room.Also, the paths planning method of the embodiment of the present invention ensure that self-charging is swept
Floor-washing robot 100 realizes all region covering with less distance, ensure that path is optimal, also correspondingly saves self-charging and sweep the floor
Robot 100 uses electricity, keeps its more efficient.
The controller 50 can be further used for when 60 electricity of battery is lower than threshold power, according to the space to be cleaned
Map and corresponding thermal profile drive the self-charging sweeping robot 100 to advance towards nearest chargeable region,
And heat is received so that the self-charging sweeping robot 100 charges by solar panel 30.In addition, the controller 50 can
Be further used at the end of the 100 cleaning task of self-charging sweeping robot, according to the map in the space to be cleaned with
And corresponding thermal profile drives the self-charging sweeping robot 100 to advance towards nearest chargeable region.
The present invention is converted into electric energy using thermal energy as the charging of self-charging sweeping robot, saves and charging pile is separately configured, save
The space for placing charging pile in family has been saved, while having saved household electricity, has realized intelligentized charging and cleaning process.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (7)
1. a kind of self-charging sweeping robot comprising fuselage and the driving assembly that fuselage bottom is arranged in, which is characterized in that institute
Stating self-charging sweeping robot further includes solar panel and thermoinduction camera, and the solar panel is mounted on the fuselage
Top, for the driving component for driving the self-charging sweeping robot mobile, the thermoinduction camera is described for shooting
The image of self-charging sweeping robot ambient enviroment, the self-charging sweeping robot further includes controller；The controller is logical
The caloric information in analysis described image is crossed, and determines the minimum radiation intensity for being higher than the conversion of solar battery panel optical-electronic
High heat region drives the self-charging sweeping robot towards the high heat area row to control the driving component
Into, and heat is received so that the self-charging sweeping robot charges by the solar panel.
2. self-charging sweeping robot according to claim 1, which is characterized in that the solar panel include substrate and
The flexible electric layer of the substrate is covered, the substrate is hard material.
3. self-charging sweeping robot according to claim 2, which is characterized in that the flexibility electric layer includes matrix form
Several heat absorbing units of arrangement, several heat absorbing units absorb and sensed heat, at the flexible electric layer different location
Heat absorbing units heat absorption it is uneven when, it is mobile that the controller controls the driving component, so that several heat absorbing units
Uniformly receive heat.
4. self-charging sweeping robot according to claim 1, which is characterized in that the controller is further used for institute
The initial position for stating self-charging sweeping robot is origin, using the initial direction of advance of the self-charging sweeping robot as x-axis,
To construct coordinate system as y-axis perpendicular to the initial direction of advance.
5. self-charging sweeping robot according to claim 4, which is characterized in that the controller is further used for institute
State image along the central axes of its shooting direction central point as the image the coordinate system coordinate points, and by described image root
Splicing is carried out according to its corresponding coordinate points to construct the map and corresponding thermal profile in space to be cleaned.
6. self-charging sweeping robot according to claim 5, which is characterized in that the controller is further used in electricity
When pond electricity is lower than threshold power, filled certainly according to the map in the space to be cleaned and the driving of corresponding thermal profile are described
Electric sweeping robot is advanced towards nearest chargeable region, and receives heat by solar panel so that the self-charging is swept the floor
Robot charging.
7. self-charging sweeping robot according to claim 5, which is characterized in that the controller is further used for working as institute
At the end of stating self-charging sweeping robot cleaning task, according to the map and corresponding thermal profile in the space to be cleaned
The self-charging sweeping robot is driven to advance towards nearest chargeable region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564519.0A CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810564519.0A CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108814432A true CN108814432A (en) | 2018-11-16 |
| CN108814432B CN108814432B (en) | 2021-06-29 |
Family
ID=64143971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810564519.0A Active CN108814432B (en) | 2018-06-04 | 2018-06-04 | Self-charging sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108814432B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109494833A (en) * | 2018-11-19 | 2019-03-19 | 珠海市微半导体有限公司 | A kind of electricity planing method, robot and chip based on robot work electricity consumption |
| CN110673043A (en) * | 2019-09-30 | 2020-01-10 | 安克创新科技股份有限公司 | Method for current electric quantity of battery of self-moving device, self-moving device and control method |
| WO2021259128A1 (en) * | 2020-06-22 | 2021-12-30 | 速感科技（北京）有限公司 | Autonomous mobile device and control method therefor |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108814432B (en) | 2021-06-29 |
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