CN109124496A - Sweeping robot and cleaning equipment - Google Patents
Sweeping robot and cleaning equipment Download PDFInfo
- Publication number
- CN109124496A CN109124496A CN201811100056.9A CN201811100056A CN109124496A CN 109124496 A CN109124496 A CN 109124496A CN 201811100056 A CN201811100056 A CN 201811100056A CN 109124496 A CN109124496 A CN 109124496A
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- China
- Prior art keywords
- sweeping robot
- eyeglass
- measuring device
- distance measuring
- infrared
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- 238000010408 sweeping Methods 0.000 title claims abstract description 63
- 238000004140 cleaning Methods 0.000 title claims abstract description 29
- 241001417527 Pempheridae Species 0.000 claims abstract description 48
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract 1
- 239000000243 solution Substances 0.000 description 15
- 238000001514 detection method Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 238000010926 purge Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 208000033748 Device issues Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The present invention provides a kind of sweeping robot and cleaning equipments, are related to cleaning equipment technology field, to solve the problems, such as that colliding or cleaning halfway with other objects easily occur in sweeping robot.The sweeping robot includes: laser radar apparatus and infrared distance measuring device, and laser radar apparatus is installed on the top of sweeper ontology；Infrared distance measuring device is installed on the top of laser radar apparatus.The sweeping robot has infrared distance measurement function, can avoid occurring to hit and can expand cleaning range.
Description
Technical field
The present invention relates to cleaning equipment technology fields, more particularly, to a kind of sweeping robot and cleaning equipment.
Background technique
Currently, in intelligent appliance field, the application of sweeping robot is more extensive, and more and more family's uses are swept the floor machine
People cleans ground.
Part sweeping robot is cleaned in first cleaning process according to certain path, if in cleaning process and object
Body collides, and changes and cleans direction, and remembers region at this, forms the purging zone after entire area cleans
Map, to avoid the region for being placed with article in next cleaning process.But cleaning works is carried out in such a mode
Sweeping robot is often subject to hit, and easily occurs scratching or damage.Part sweeping robot is cleaned by transmitting laser beam detection
The laying for goods position in region, and construct purging zone map, then in cleaning process around be placed with the region of object into
Row cleans.Although the sweeping robot for carrying out cleaning works in such a mode avoids shock, but for some bottoms
Furniture with a fixed gap, which exists, cleans halfway situation, such as when cleaning to sofa near zone, sweeper
Device people detects that can get around sofa after sofa cleans, therefore can not be swept into the dust of sofa bottom outside fringe region.
Therefore, sweeping robot in the prior art easily occurs with the collision of other objects or in the presence of the halfway feelings of cleaning
Condition.
Summary of the invention
The purpose of the present invention is to provide a kind of sweeping robots, easy to solve sweeping robot existing in the prior art
There is the technical issues of colliding with other objects or clean halfway situation.
Sweeping robot provided by the invention, comprising: sweeper ontology, laser radar apparatus and infrared distance measuring device,
The laser radar apparatus is installed on the top of the sweeper ontology；
The infrared distance measuring device is installed on the top of the laser radar apparatus.
In the above-mentioned technical solutions, further, the infrared distance measuring device is installed on the top of the sweeper ontology
Portion, the infrared distance measuring device include infrared ray transceiving component and eyeglass, and the infrared ray of the infrared receiving/transmission component transmitting is worn
It is projected after crossing the eyeglass, the eyeglass at least partly region is located at the infrared ray transceiving component towards the sweeper ontology
The side in the front of moving direction.
In the above-mentioned technical solutions, further, horizontal plane where the infrared ray that the infrared distance measuring device projects with
Horizontal plane where the laser beam that the laser radar apparatus projects is parallel.
In the above-mentioned technical solutions, further, the infrared ray launching track of the infrared distance measuring device swashs with described
It is 10mm~13.5mm that optical radar device, which emits the shortest distance between the track of laser beam,.
In any of the above-described technical solution, further, the infrared distance measuring device is installed on the sweeper ontology
Moving direction rear side, and be located at the sweeper ontology fringe region.
In any of the above-described technical solution, further, the infrared distance measuring device further includes protective casing, described anti-
Protective case body includes upper cover and lower cover, and the eyeglass is installed between the upper cover and the lower cover, the upper cover, the lower cover with
The eyeglass surrounds sealed chamber, and the infrared ray transceiving component is installed in the sealed chamber.
In any of the above-described technical solution, further, the eyeglass towards the one side on the outside of the sealed chamber be to
The concave surface of sunken inside.
In any of the above-described technical solution, further, the junction and the upper cover of the eyeglass and the upper cover
Edge has setting spacing, and the edge of the junction and the lower cover of the eyeglass and the lower cover has setting spacing.
In any of the above-described technical solution, further, the upper table of the central point of the eyeglass to the sweeper ontology
The distance in face is 17mm~20mm.
Compared with the existing technology, sweeping robot of the present invention has the advantage that
In the process of work, laser radar apparatus is synchronous with infrared distance measuring device for sweeping robot of the present invention
Starting, laser radar apparatus detection sweeper ontology is interior at a distance, and whether there are obstacles, and infrared distance measuring device issues infrared
Whether there are obstacles in sweeper ontology short distance to detect for line, and the distance between detection and object, in order to sweep
Floor-washing robot changes sweep-out pattern in order to avoid hitting with object.
Further, since infrared distance measuring device is set to the top of laser radar apparatus, therefore detectable sweeper ontology
Over top region fore whether there is object and the distance between object and sweeper ontology, by for distance threshold
Reasonable set, the purging zone of sweeping robot can be expanded.Such as infrared distance measuring device detection low coverage immediately ahead of it
From clear, then illustrate that the bottom space height of the barrier is higher than the top surface of laser radar apparatus, i.e. the object bottom is deposited
In a fixed gap, and the height in the gap is higher than the height of laser radar apparatus, illustrates that sweeper ontology can enter the gap, together
When can be avoided laser radar apparatus and hit, then can control sweeping robot to continue to move along certain distance, sweeping the floor
Robot occurs hitting front steering, so as to further be cleaned for the object bottom.
Therefore, road can be changed before collision guaranteeing sweeper ontology using sweeping robot provided by the present application
Line, and there are the bottoms of the object in gap more further to be cleaned for bottom, to expand the cleaning model of sweeping robot
It encloses, so that the cleaning effect of sweeping robot is more preferable.
Another object of the present invention is to propose a kind of cleaning equipment, to solve sweeping robot existing in the prior art
Easily there is the technical issues of colliding with other objects or clean halfway situation.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of cleaning equipment, including sweeping robot described in above-mentioned technical proposal.
Possessed advantage is identical compared with the existing technology with above-mentioned sweeping robot for the cleaning equipment, no longer superfluous herein
It states.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram that sweeping robot provided in an embodiment of the present invention is in the first visual angle；
Fig. 2 is the structural schematic diagram that sweeping robot provided in an embodiment of the present invention is in the second visual angle；
Fig. 3 is the structural schematic diagram that sweeping robot provided in an embodiment of the present invention is in third visual angle；
Fig. 4 is the structural schematic diagram that sweeping robot provided in an embodiment of the present invention is in the 4th visual angle；
Fig. 5 is that the structure that infrared distance measuring device is in the first visual angle in sweeping robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 6 is that the structure that infrared distance measuring device is in the second visual angle in sweeping robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 7 is that the structure that infrared distance measuring device is in third visual angle in sweeping robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 8 is the structural schematic diagram that sweeping robot provided in an embodiment of the present invention is in the 5th visual angle.
In figure: 10- sweeper ontology；11- dust-collecting box；12- operation button；13- cleans side brush；20- infrared distance measuring dress
It sets；21- upper cover；22- lower cover；23- eyeglass；24- RF transmitter；25- infrared receiver；30- laser radar apparatus.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Embodiment one
As Figure 1-Figure 8, sweeping robot provided in an embodiment of the present invention, comprising: laser radar apparatus 30, sweeper
Ontology 10 and infrared distance measuring device 20, in which:
Laser radar apparatus 30 is installed on the top of sweeper ontology 10.Laser radar apparatus 30 works in sweeping robot
Rotation is carried out in the process and purging zone is detected by transmitting laser beam beam, so that detection is located at the outer circumferential direction one of sweeping robot
The region in week, to construct purging zone map, to carry out the cleaning path planning of sweeping robot.
Infrared distance measuring device 20 is installed on the top of laser radar apparatus 30.
Sweeping robot provided in an embodiment of the present invention in the process of work, laser radar apparatus 30 and infrared distance measuring
20 synchronous averaging of device, the detection of laser radar apparatus 30 sweeper Honda 10 is interior at a distance, and whether there are obstacles；Infrared ray is surveyed
Emitting infrared ray away from the infrared ray transceiving component in device 20, the infrared ray being reflected back is received by infrared ray transceiving component, thus
Detection is closely interior with the presence or absence of object, and the distance between detection and object in sweeper ontology 10, in order to sweeper
Device people changes sweep-out pattern in order to avoid hitting with object.
Further, since infrared distance measuring device 20 is set to the top of laser radar apparatus 30, therefore detectable sweeper
The front in 10 over top region of ontology whether there is object and the distance between object and sweeper ontology 10, by right
In the reasonable set of distance threshold, the purging zone of sweeping robot can be expanded.So set, infrared distance measuring device 20 is examined
Short distance clear immediately ahead of it is surveyed, then illustrates that there are a fixed gaps for the bottom of the object, and the height in the gap is higher than
The height of laser radar apparatus 30, illustrate sweeper ontology 10 can enter the gap, while can be avoided laser radar apparatus by
It to shock, then can control sweeping robot to continue to move along certain distance, occur hitting front steering in sweeping robot, thus
The object bottom can further be cleaned.
For example, when being placed with sofa in front of sweeping robot, there are certain spaces for the bottom of sofa, specifically,
Sofa bottom is greater than the height of laser radar apparatus 30 close to the height in the gap of the partial region in outside, sofa bottom inside
The gap in region is lower than the height of laser radar apparatus 30, when sweeper ontology 10 is moved to sofa edge, due to infrared
Line range unit 20 detects that its front space is sufficient to make the entrance of sweeper ontology 10 and laser radar apparatus 30 is not generated and hit
It hits, therefore controller control sweeper ontology 10 continues to the movement of sofa bottom interior region, it is close hence for sofa bottom
The region in outside is cleaned.
Therefore, object bottom gap can be entered guaranteeing sweeper ontology 10 using sweeping robot provided by the present application
Further clean while laser radar apparatus 30 does not generate collision, route is changed before colliding, for bottom
There are the bottoms of the object in gap more further to be cleaned, to expand the cleaning range of sweeping robot, so that sweeper
The cleaning effect of device people is more preferable.
Infrared distance measuring device 20 includes infrared ray transceiving component and eyeglass 23, and the infrared ray of infrared receiving/transmission component transmitting is worn
It is projected after crossing eyeglass 23, the infrared ray being reflected back is received after passing through eyeglass 23 by infrared ray transceiving component, and eyeglass 23 is at least partly
Region is located at infrared ray transceiving component towards the side of 10 moving direction of sweeper ontology.That is, infrared ray transceiving component
The infrared ray direction of the launch and laser radar apparatus 30 emit laser beam direction of the launch region having the same.
Specifically, infrared ray transceiving component includes RF transmitter 25 and infrared receiver 26, RF transmitter
25 for emitting infrared ray, and infrared receiver 26 is used for receiving infrared-ray, according between the transmitting and reception of infrared ray when
Between the factors such as difference calculate the distance between objects in front and sweeping robot.
In a kind of specific embodiment provided in this embodiment, sweeping robot includes casing, and casing internal is provided with
Dust-collecting box 11, bottom of shell, which is provided with, cleans side brush 13, and cabinet top is provided with infrared distance measuring device 20, meanwhile, in casing
Top is additionally provided with operation button 12.
In a kind of optional embodiment, horizontal plane is (empty in such as Fig. 4 where the infrared ray that infrared distance measuring device 20 projects
Shown in line A-A) it is parallel with horizontal plane (as shown in dotted line B-B in Fig. 4) where the laser beam that laser radar apparatus 30 emits, and by
It is located at the top of laser radar range device 30, therefore the infrared ray hair of infrared distance measuring device 20 in infrared distance measuring device 20
Penetrate the top that track is located at the track for emitting laser beam of laser radar apparatus 30.Laser radar apparatus 30 is for detecting distant place area
Domain, infrared distance measuring device 20 is for detecting nearby and being located at 30 upper area of sweeper ontology 10 and laser radar apparatus.
When the track that the infrared ray launching track and laser radar apparatus 30 of infrared distance measuring device 20 emit laser beam is flat
When row, between the track of infrared ray launching track and laser radar apparatus 30 the transmitting laser beam of infrared distance measuring device 20 most
Short distance is 10mm~13.5mm.
In any of the above-described technical solution, further, the most small echo for the infrared ray that infrared distance measuring device 20 is issued
A length of eyeglass 23 and the distance between perpendicular where a side end face in the front of the moving direction of sweeper ontology 10.Also
It is to say, the minimal wave length for the infrared ray that infrared distance measuring device 20 emits is length of the eyeglass 23 to 10 front end face of sweeper ontology
Degree, 10 front end face of sweeper ontology described herein are that sweeper ontology 10 is located on the foremost side end face in the direction of movement.
In a kind of preferred embodiment of the present embodiment, infrared distance measuring device 20 is installed on the shifting of sweeper ontology 10
The rear side in dynamic direction, and it is located at the fringe region of sweeper ontology 10.It is noted that the front side mentioned in the present embodiment
With the moving direction judgement that rear side is for sweeping robot.Clean the front side that side brush 13 is located at the bottom of sweeper ontology 10
Region, infrared distance measuring device 20 are installed on the posterior region at 10 top of sweeper ontology.
In a kind of preferred embodiment of the present embodiment, infrared distance measuring device 20 further includes protective casing, protecting crust
Body includes upper cover 21 and lower cover 22, and eyeglass 23 is installed between upper cover 21 and lower cover 22, and upper cover 21, lower cover 22 and eyeglass 23 surround
Sealed chamber, infrared ray transceiving component are installed in sealed chamber.It falls ash so set, can avoid infrared ray transceiving component, meet
Water is collided, to play better protective effect to infrared ray transceiving component, extends making for infrared ray transceiving component
Use the time.
Junction, upper cover 21 between upper cover 21 and lower cover 22 and the junction between eyeglass 23 and lower cover 22 and mirror
Junction between piece 23 is sealed processing, it is specific coating sealant can be selected or add the modes such as sealing strip carry out it is close
Envelope.
It further, is curved surface in the top surface of upper cover 21, specifically, the longitudinal cross-section of the top surface of upper cover 21 is to raise upward
Camber line so that sweeping robot appearance is more aesthetically pleasing.
To be further protected to mirror surface, in a kind of specific embodiment of the present embodiment, eyeglass 23 and upper cover
21 junction and the edge of upper cover 21 have setting spacing, and eyeglass 23 has with the junction of lower cover 22 and the edge of lower cover 22
Set spacing.That is, the edge of upper cover 21 and the edge of lower cover 22 are in more forward position both with respect to eyeglass 23
It sets.Therefore, though collide and upper cover 21 and lower cover 22 first with collide object and contact, to avoid eyeglass 23 by direct
It hits, to protect eyeglass 23.
In another specific embodiment of the present embodiment, eyeglass 23 is to concave towards the one side on the outside of sealed chamber
Sunken concave surface.The edge of eyeglass 23 can be connected to 22 edge inside region of upper cover 21 and lower cover such as above scheme, can also incite somebody to action
23 edge of eyeglass is connected to 21 edge of 21 edge of upper cover and upper cover.Since 23 lateral surface of eyeglass is to sealed chamber sunken inside
Curved surface so that the lateral surface of eyeglass 23 is integrally located at 22 edge posterior region of 21 edge of upper cover and lower cover, thus to mirror
Piece 23 plays a protective role.
In any of the above-described technical solution, further, the central point of eyeglass 23 to the upper surface of sweeper ontology 10
Distance in vertical direction is 17mm~20mm.
In the above-described embodiment, the infrared ray direction of the launch of infrared distance measuring device 20 is fixed, and is towards sweeper
The front of device people's moving direction, in another optional embodiment of the present embodiment, infrared distance measuring device 20 further includes
One driving structure, infrared ray transceiving component are connect with the first driving structure, and the first driving structure is for driving infrared ray transceiving group
Part rotation.For example, the first driving structure includes driver and turntable, and infrared ray transceiving component is installed on turntable, driving
Device is connect with turntable, for driving turntable to rotate, so that infrared ray transceiving component be driven to rotate.
Further, infrared distance measuring device 20 further includes the second driving structure, the second driving structure and infrared ray transceiving
Component connection, for driving infrared ray transceiving component to swing up and down, thus change the infrared ray of infrared ray transceiving component sending
Pitch angle.
In a preferred embodiment, infrared distance measuring device 20 includes the first driving structure and the second driving knot simultaneously
Structure, the second driving structure are installed on the rotation section (such as turntable) of the first driving structure, infrared ray transceiving component and the second driving
Structure connection, the first driving mechanism drive the rotation of the second driving structure to drive infrared ray transceiving component to rotate, to change in water
Square upwards infrared ray launch angle, the second driving structure drive infrared ray transceiving component swing up and down, to change injection
Infrared ray pitch angle.
So set, can be driven by the first driving mechanism and/or second after sweeping robot enters more narrow space
Motivation structure changes the launch angle of infrared ray, to measure the environment of the different zones around sweeper main body, to provide more
It is preferred to clean path.
When including the first driving structure in infrared distance measuring device 20, the cross section of eyeglass 23 can be arc or ring
Shape, to guarantee that the infrared ray that the infrared ray transceiving component after rotation issues can pass through the injection of eyeglass 23 always.
Embodiment two
The embodiment of the present invention two proposes a kind of cleaning equipment, the sweeping robot provided including above-described embodiment one.
Possessed advantage is identical compared with the existing technology with above-mentioned sweeping robot for cleaning equipment, and details are not described herein.
Further, cleaning equipment may also include other cleaning devices.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of sweeping robot characterized by comprising sweeper ontology, laser radar apparatus and infrared distance measuring device,
The laser radar apparatus is installed on the top of the sweeper ontology；
The infrared distance measuring device is installed on the top of the laser radar apparatus.
2. sweeping robot according to claim 1, which is characterized in that the infrared distance measuring device includes that infrared ray is received
Component and eyeglass are sent out, the infrared ray of the infrared receiving/transmission component transmitting projects after passing through the eyeglass, and the eyeglass is at least partly
Region is located at side of the infrared ray transceiving component towards the front of the sweeper ontology moving direction.
3. sweeping robot according to claim 1, which is characterized in that the infrared ray that the infrared distance measuring device projects
Place horizontal plane is parallel with horizontal plane where the laser beam that the laser radar apparatus projects.
4. sweeping robot according to claim 3, which is characterized in that the infrared ray of the infrared distance measuring device emits
The shortest distance between track and the track of laser radar apparatus transmitting laser beam is 10mm~13.5mm.
5. sweeping robot according to claim 1-4, which is characterized in that the infrared distance measuring device installation
In the rear side of the moving direction of the sweeper ontology, and it is located at the fringe region of the sweeper ontology.
6. sweeping robot according to claim 2, which is characterized in that the infrared distance measuring device further includes protecting crust
Body, the protective casing include upper cover and lower cover, and the eyeglass is installed between the upper cover and the lower cover, the upper cover,
The lower cover and the eyeglass surround sealed chamber, and the infrared ray transceiving component is installed in the sealed chamber.
7. sweeping robot according to claim 6, which is characterized in that the eyeglass is towards on the outside of the sealed chamber
Concave surface to be recessed inwardly on one side.
8. sweeping robot according to claim 6, which is characterized in that the junction and institute of the eyeglass and the upper cover
The edge for stating upper cover has setting spacing, and the edge of the junction and the lower cover of the eyeglass and the lower cover has between setting
Away from.
9. sweeping robot according to claim 2, which is characterized in that the central point of the eyeglass to the sweeper sheet
The distance of the upper surface of body is 17mm~20mm.
10. a kind of cleaning equipment, which is characterized in that including such as described in any item sweeping robots of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100056.9A CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811100056.9A CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124496A true CN109124496A (en) | 2019-01-04 |
| CN109124496B CN109124496B (en) | 2023-11-28 |
Family
ID=64815296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811100056.9A Active CN109124496B (en) | 2018-09-20 | 2018-09-20 | Sweeping robot and cleaning equipment |
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| Country | Link |
|---|---|
| CN (1) | CN109124496B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123211A (en) * | 2019-05-15 | 2019-08-16 | 湖南格兰博智能科技有限责任公司 | A kind of distance measuring structure of intelligent sweeping machine |
| CN110941276A (en) * | 2019-12-09 | 2020-03-31 | 佛山市云米电器科技有限公司 | Sweeping robot and side detection control sweeping method using same |
| WO2021042959A1 (en) * | 2019-09-05 | 2021-03-11 | 北京石头世纪科技股份有限公司 | Sealing structure and smart cleaning apparatus |
| CN112515550A (en) * | 2020-09-29 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | Autonomous cleaning device |
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