CN109512342A - A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty - Google Patents
A kind of sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty Download PDFInfo
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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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/405—Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
-
- 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
- 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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- 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
Abstract
The present invention provides a kind of sweeping robot attitude detection based on gyroscope and method of getting rid of poverty, and includes the following steps, S1: presetting to relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range；Absolute angle angle value B is angle value of the sweeping robot in specific time and the difference with reference to angle；Relative angle A is the changing value of sweeper angle of vertical direction within the set time；It is the average value of angle readings when small model turns to enclose interior of vertical direction in set time when sweeper is run on the ground with reference to angle C, S2: determines whether relative angle angle value A and absolute angle angle value B reaches preset value；If reaching preset value, then determine that sweeping robot is in heeling condition, in actual application, more accurately the specific heeling condition of sweeping robot, left-right rotation situation etc. can be sensed, and the step of getting rid of poverty such as fall back, swing using subsequent accelerations and getting rid of poverty, using experience degree height.
Description
[technical field]
The present invention relates to sweeping robot product technical field, more particularly to it is a kind of reasonable in design, using effect is prominent
Sweeping robot based on gyroscope and attitude detection out and method of getting rid of poverty.
[background technique]
In recent years, sweeping robot product had obtained quick promotion and application, provided for daily life all
More conveniences, flexibility ratio is high, and can carry out more clean cleaning to flooring according to preset track, deep to be used
Person's likes.
However, current sweeping robot product still remains more deficiency, if function is not abundant enough, it is unable to satisfy people
Certain some special use demand, intelligence degree is not high etc., restrict product it is better popularization and use, especially
It is attitude detection in the process of running and technical aspect of getting rid of poverty, there are biggish deficiencies.
Based on this, those skilled in the art has carried out a large amount of research and development and experiment, and achieves preferable achievement.
[summary of the invention]
To overcome the problems of prior art, the present invention provides a kind of reasonable in design, and using effect is outstanding
Sweeping robot and attitude detection based on gyroscope and method of getting rid of poverty.
The scheme that the present invention solves technical problem is to provide a kind of sweeping robot attitude detection based on gyroscope and de-
Tired method, includes the following steps,
S1: relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range are carried out pre-
First set；Absolute angle angle value B is angle value of the sweeping robot in specific time and the difference with reference to angle；Relative angle angle value A
For the changing value of sweeper angle of vertical direction within the set time；When being run on the ground with reference to angle value C for sweeper
The average value of the angle of vertical direction readings when small model turns to enclose interior in set time；
S2: determine whether relative angle angle value A and absolute angle angle value B reaches preset value；If reaching preset value, judgement is swept the floor
Robot is in heeling condition；Further the posture of sweeping robot is detected, and carries out processing of getting rid of poverty；
S3: control sweeping robot retreats preset strokes, if the absolute angle angle value B for sensing sweeping robot is not reduced,
Then determine that the sweeping robot is stranded, enters step S4；If absolute angle angle value B is reduced, the inclination of the sweeping robot is determined
State generates variation；
S4: processing of getting rid of poverty；Magnitude of angular velocity and time value when by acquisition sweeping robot left-right rotation, are calculated and sweep
The rotational angle of floor-washing robot is then defined when the angle difference that the angle and gyroscope that grating calculates calculate reaches setting value
It cannot be swung for sweeping robot or so, enter step S5；If not up to predetermined value, determine that sweeping robot can control pendulum
It is dynamic；
S5: control sweeping robot reinforcing retreats preset distance, and then left-right rotation judges whether to swing again；If no
It can swing, then left and right reinforcing is swung until getting rid of poverty；When detecting that left and right can be swung, then controls left and right twisting and retreat until de-
It is tired；
S6: sweeping robot attitude detection and processing of getting rid of poverty are completed.
A kind of sweeping robot based on gyroscope, including robot main body and it is set to the robot main body
Internal power supply, dust cleaning case, UV bactericidal lamp, Gyro Assembly, is deposited for carrying out the data of data information memory at control circuit board
Reservoir, fan assembly are installed on the outside of robot main body for receiving the infrared sensor of external infrared remote-controlled signal, being used for
The wireless communication transmission unit of communication connection, water-storing tank are carried out with external mobile terminal and are installed under robot main body
The side brush assemblies and left and right sidesing driving wheel component in portion；Temperature Humidity Sensor, alarm are additionally provided with inside the robot main body
Device and radiator fan for improving equipment internal heat dissipating performance；The dust cleaning case, UV bactericidal lamp, Gyro Assembly, data are deposited
Reservoir, fan assembly, infrared sensor, wireless communication transmission unit, water-storing tank, side brush assemblies, left and right sidesing driving wheel component, temperature
Humidity sensor, alarm, radiator fan and control circuit board are electrically connected.
Preferably, the robot host internal body portion is not provided with controls for the operation to left and right sidesing driving wheel component
System, the left and right wheels for receiving the pwm control signal from controller control drive circuit unit, for left and right sidesing driving wheel component
The left and right wheels velocity checking circuits unit that operating rate is measured in real time and the operation for opposite side brush assemblies are controlled
Side brush drive circuit unit；It is correspondingly provided with inside the robot main body and is controlled for the operation to fan assembly
The fan drive circuit unit of system, for detection circuit unit and being used for detecting control that steep cliff height prevents robot from falling
Detect Robot wall distance along wall detection circuit unit；The left and right wheels control drive circuit unit, the inspection of left and right wheel speed
Slowdown monitoring circuit unit, fan drive circuit unit, controls ground detection circuit unit and along wall detection circuit at side brush drive circuit unit
Unit and control circuit board are electrically connected.
Preferably, the wireless communication transmission unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application,
For remotely controlling the operation of sweeping robot.
Preferably, robot main body side position is additionally provided with camera, and sets in robot main body front
It is equipped with multiple function control buttons；The camera and function control button and control circuit board are electrically connected.
Preferably, the air quality for detecting indoor environment air quality is also installed on inside the robot main body
Sensor；The air quality sensor and control circuit board are electrically connected；Robot main body side offers ventilation hole,
Air quality sensor is arranged close to the ventilation hole.
Preferably, water level sensor is additionally provided with inside the water-storing tank.
Preferably, left and right sidesing driving wheel component position is additionally provided with the height for adjusting the robot main body road clearance
Degree adjusts component.
Compared with prior art, a kind of sweeping robot attitude detection based on gyroscope of the present invention passes through with the method for getting rid of poverty
It is preset using to relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range,
In conjunction with the judgement of reference angle C, by specific calculation calculate posture state and it is subsequent get rid of poverty in the way of, actually answer
With in the process, more accurately the specific heeling condition of sweeping robot, left-right rotation situation etc. can be sensed, and adopts
It the step of getting rid of poverty such as falls back, swing with subsequent acceleration to get rid of poverty, using experience degree is high.
[Detailed description of the invention]
Fig. 1 is the flow diagram of a kind of sweeping robot attitude detection based on gyroscope and method of getting rid of poverty of the invention.
Fig. 2 is a kind of stereoscopic-state structural schematic diagram of the sweeping robot based on gyroscope of the present invention.
Fig. 3 is a kind of internal state structural schematic diagram of the sweeping robot based on gyroscope of the present invention.
[specific embodiment]
To make the purpose of the present invention, technical solution and advantage are more clearly understood, with reference to the accompanying drawings and embodiments, to this
Invention is further elaborated.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, not
For limiting the invention.
It please refers to Fig.1 to Fig.3, a kind of sweeping robot attitude detection based on gyroscope of the invention and the packet of method 1 of getting rid of poverty
Include following steps,
S1: relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range are carried out pre-
First set；Absolute angle angle value B is angle value of the sweeping robot in specific time and the difference with reference to angle；Relative angle angle value A
For the changing value of sweeper angle of vertical direction within the set time；When being run on the ground with reference to angle value C for sweeper
The average value of the angle of vertical direction readings when small model turns to enclose interior in set time；
S2: determine whether relative angle angle value A and absolute angle angle value B reaches preset value；If reaching preset value, judgement is swept the floor
Robot is in heeling condition；Further the posture of sweeping robot is detected, and carries out processing of getting rid of poverty；The stranded inspection of machine
Survey mode, when detecting machine inclination, sweeping robot direction of advance has acceleration moderating process, and sweeping robot visits earth signal
It is liftoff to get higher, fallback mode is first used, if sweeping robot absolute angle does not reduce supposition and is stranded；
S3: control sweeping robot retreats preset strokes, if the absolute angle angle value B for sensing sweeping robot is not reduced,
Then determine that the sweeping robot is stranded, enters step S4；If absolute angle angle value B is reduced, the inclination of the sweeping robot is determined
State generates variation；
S4: processing of getting rid of poverty；Magnitude of angular velocity and time value when by acquisition sweeping robot left-right rotation, are calculated and sweep
The rotational angle of floor-washing robot is then defined when the angle difference that the angle and gyroscope that grating calculates calculate reaches setting value
It cannot be swung for sweeping robot or so, enter step S5；If not up to predetermined value, determine that sweeping robot can control pendulum
It is dynamic；
S5: control sweeping robot reinforcing retreats preset distance, and then left-right rotation judges whether to swing again；If no
It can swing, then left and right reinforcing is swung until getting rid of poverty；When detecting that left and right can be swung, then controls left and right twisting and retreat until de-
It is tired；
S6: sweeping robot attitude detection and processing of getting rid of poverty are completed.
The application is by using the relative angle angle value A and absolute angle angle value to sweeping robot in normal course of operation
B range is preset, in conjunction with the judgement of reference angle C, using specific calculation calculate posture state and after
Continuous mode of getting rid of poverty can be more accurately to specific heeling condition, the left-right rotation of sweeping robot in actual application
Situation etc. is sensed, and the step of getting rid of poverty such as is fallen back, swung using subsequent accelerations and getting rid of poverty, using experience degree height.
A kind of sweeping robot based on gyroscope, including robot main body 11 and it is set to the robot host
Power supply, control circuit board 112, dust cleaning case 115, UV bactericidal lamp 113, Gyro Assembly 114 inside body 11, for carrying out data
The data storage of information storage, is installed on the outside of robot main body 11 for receiving external infrared remote control letter fan assembly
Number infrared sensor, for external mobile terminal carry out the wireless communication transmission unit of communication connection, water-storing tank 111 with
And install side brush assemblies and left and right sidesing driving wheel component 12 in 11 lower part of robot main body；In the robot main body 11
Portion is additionally provided with Temperature Humidity Sensor, alarm and the radiator fan for improving equipment internal heat dissipating performance；The dust cleaning case
115, UV bactericidal lamp 113, Gyro Assembly 114, data storage, fan assembly, infrared sensor, wireless communication transmission list
Member, water-storing tank 111, side brush assemblies, left and right sidesing driving wheel component 12, Temperature Humidity Sensor, alarm, radiator fan and control electricity
Road plate 112 is electrically connected.
Preferably, be separately provided for inside the robot main body 11 operation to left and right sidesing driving wheel component 12 into
Row control, is used for left and right sidesing driving wheel group the left and right wheels control drive circuit unit for receiving the pwm control signal from controller
Left and right wheels velocity checking circuits unit that the operating rate of part 12 is measured in real time and for opposite side brush assemblies operation into
The side brush drive circuit unit of row control；It is correspondingly provided with inside the robot main body 11 for the fortune to fan assembly
Fan drive circuit unit that row is controlled, the control ground detection circuit unit for preventing robot from falling for detecting steep cliff height
And for detect robot 11 along wall distance along wall detection circuit unit；The left and right wheels control drive circuit unit, a left side
Right wheel velocity checking circuits unit, side brush drive circuit unit, fan drive circuit unit, control ground detection circuit unit and edge
Wall detection circuit unit and control circuit board 112 are electrically connected.
Preferably, the wireless communication transmission unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application,
For remotely controlling the operation of sweeping robot.
Preferably, the 11 side position of robot main body is additionally provided with camera, and robot main body 11 just
Face is provided with multiple function control buttons；The camera and function control button and control circuit board 112 are electrically connected.
Preferably, the air matter for detecting indoor environment air quality is also installed on inside the robot main body 11
Quantity sensor；The air quality sensor and control circuit board 112 are electrically connected；11 side of robot main body offers
Ventilation hole, air quality sensor are arranged close to the ventilation hole.
Preferably, water level sensor is additionally provided with inside the water-storing tank 111.
Preferably, 12 position of left and right sidesing driving wheel component is additionally provided with for adjusting 11 road clearance of robot main body
Height adjustment assembly.
Compared with prior art, a kind of sweeping robot and attitude detection based on gyroscope of the invention and method 1 of getting rid of poverty
It is preparatory by using being carried out to relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range
Setting, in conjunction with the judgement of reference angle C, by specific calculation calculate posture state and it is subsequent get rid of poverty in the way of,
In actual application, more accurately the specific heeling condition of sweeping robot, left-right rotation situation etc. can be felt
It surveys, and the step of getting rid of poverty such as falls back, swings using subsequent accelerations and getting rid of poverty, using experience degree height.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should be included in claim protection model of the invention
Within enclosing.
Claims (8)
1. a kind of sweeping robot attitude detection based on gyroscope and method of getting rid of poverty, it is characterised in that: include the following steps,
S1: relative angle angle value A of the sweeping robot in normal course of operation and absolute angle angle value B range are set in advance
It is fixed；Absolute angle angle value B is angle value of the sweeping robot in specific time and the difference with reference to angle；Relative angle angle value A is to sweep
The changing value of ground machine angle of vertical direction within the set time；It is that sweeper is fixed when running on the ground with reference to angle value C
The average value of the angle of vertical direction readings when small model turns to enclose interior in time；
S2: determine whether relative angle angle value A and absolute angle angle value B reaches preset value；If reaching preset value, machine of sweeping the floor is determined
People is in heeling condition；Further the posture of sweeping robot is detected, and carries out processing of getting rid of poverty；
S3: control sweeping robot retreats preset strokes and sentences if the absolute angle angle value B for sensing sweeping robot is not reduced
The fixed sweeping robot is stranded, enters step S4；If absolute angle angle value B is reduced, the heeling condition of the sweeping robot is determined
Generate variation；
S4: processing of getting rid of poverty；Magnitude of angular velocity and time value when by acquisition sweeping robot left-right rotation, are calculated sweeper
The rotational angle of device people is then defined as sweeping when the angle difference that the angle and gyroscope that grating calculates calculate reaches setting value
Floor-washing robot or so cannot be swung, and enter step S5；If not up to predetermined value, determine that sweeping robot can swing；
S5: control sweeping robot reinforcing retreats preset distance, and then left-right rotation judges whether to swing again；If cannot put
It is dynamic, then left and right reinforcing swing is until get rid of poverty；When detecting that left and right can be swung, then controls left and right twisting and retreat until getting rid of poverty；
S6: sweeping robot attitude detection and processing of getting rid of poverty are completed.
2. a kind of sweeping robot based on gyroscope, it is characterised in that: including robot main body and be set to the machine
Power supply, control circuit board, dust cleaning case, UV bactericidal lamp, Gyro Assembly inside device people's main body are deposited for carrying out data information
The data storage of storage, is installed on the outside of robot main body for receiving the infrared of external infrared remote-controlled signal fan assembly
Sensor, for carrying out the wireless communication transmission unit of communication connection, water-storing tank with external mobile terminal and installing in machine
The side brush assemblies and left and right sidesing driving wheel component of device people's main body lower part；Temperature and humidity is additionally provided with inside the robot main body
Sensor, alarm and the radiator fan for improving equipment internal heat dissipating performance；The dust cleaning case, UV bactericidal lamp, gyroscope
Component, data storage, fan assembly, infrared sensor, wireless communication transmission unit, water-storing tank, side brush assemblies, left and right are driven
Drive wheel assemblies, Temperature Humidity Sensor, alarm, radiator fan and control circuit board are electrically connected.
3. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: the robot main body
Inside is separately provided for controlling the operation of left and right sidesing driving wheel component, receives the pwm control signal from controller
Left and right wheels control drive circuit unit, the left and right wheel speed that is measured in real time for the operating rate to left and right sidesing driving wheel component
The side brush drive circuit unit that degree detection circuit unit and the operation for opposite side brush assemblies are controlled；In the robot
The fan drive circuit unit controlled for the operation to fan assembly, outstanding for detecting is correspondingly provided with inside main body
Precipice height prevents detecting along wall for the control ground detection circuit unit that robot falls and the distance for detecting Robot wall
Circuit unit；The left and right wheels control drive circuit unit, left and right wheels velocity checking circuits unit, side brush drive circuit unit, wind
Drive circuit unit is controlled ground detection circuit unit and is electrically connected along wall detection circuit unit and control circuit board.
4. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: the wireless communication transmission
Unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application, for remotely controlling the operation of sweeping robot.
5. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: the robot main body
Side position is additionally provided with camera, and robot main body front is provided with multiple function control buttons；The camera with
Function control button and control circuit board are electrically connected.
6. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: the robot main body
Inside is also installed on the air quality sensor for detecting indoor environment air quality；The air quality sensor and control electricity
Road plate is electrically connected；Robot main body side offers ventilation hole, and air quality sensor is arranged close to the ventilation hole.
7. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: inside the water-storing tank
It is additionally provided with water level sensor.
8. a kind of sweeping robot based on gyroscope as claimed in claim 2, it is characterised in that: the left and right sidesing driving wheel group
Part position is additionally provided with the height adjustment assembly for adjusting the robot main body road clearance.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811592980.3A CN109512342B (en) | 2018-12-25 | 2018-12-25 | Sweeping robot based on gyroscope and attitude detection and escaping method |
| PCT/CN2019/077547 WO2020133708A1 (en) | 2018-12-25 | 2019-03-08 | Gyroscope-based floor mopping robot and posture detection and rescuing method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811592980.3A CN109512342B (en) | 2018-12-25 | 2018-12-25 | Sweeping robot based on gyroscope and attitude detection and escaping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109512342A true CN109512342A (en) | 2019-03-26 |
| CN109512342B CN109512342B (en) | 2022-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811592980.3A Active CN109512342B (en) | 2018-12-25 | 2018-12-25 | Sweeping robot based on gyroscope and attitude detection and escaping method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109512342B (en) |
| WO (1) | WO2020133708A1 (en) |
Cited By (10)
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| CN110193828A (en) * | 2019-04-18 | 2019-09-03 | 广东宝乐机器人股份有限公司 | Method and device for identifying state of mobile robot |
| CN110192814A (en) * | 2019-06-20 | 2019-09-03 | 深圳市银星智能科技股份有限公司 | It gets rid of poverty method and from mobile device from mobile device |
| CN110353576A (en) * | 2019-07-16 | 2019-10-22 | 深圳市云鼠科技开发有限公司 | A kind of high new intelligent sweeping robot equipment of low cost |
| CN111002346A (en) * | 2019-12-17 | 2020-04-14 | 小狗电器互联网科技（北京）股份有限公司 | Robot trapped detection method and robot |
| CN111504254A (en) * | 2020-04-28 | 2020-08-07 | 深圳市云鼠科技开发有限公司 | Sweeper angle measuring and calculating method based on six-axis gyroscope |
| CN112971618A (en) * | 2021-02-07 | 2021-06-18 | 深圳市无限动力发展有限公司 | Method and device for getting rid of difficulties of sweeping robot and computer equipment |
| CN113377100A (en) * | 2021-04-13 | 2021-09-10 | 深圳市云鼠科技开发有限公司 | Robot small space escaping method and device, computer equipment and storage medium |
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| CN112971618B (en) * | 2021-02-07 | 2022-10-11 | 深圳市无限动力发展有限公司 | Method and device for getting rid of difficulties of sweeping robot and computer equipment |
| CN113377100A (en) * | 2021-04-13 | 2021-09-10 | 深圳市云鼠科技开发有限公司 | Robot small space escaping method and device, computer equipment and storage medium |
| CN113940590A (en) * | 2021-10-18 | 2022-01-18 | 深圳市云鼠科技开发有限公司 | Method and device for getting rid of difficulties of sweeping robot |
| CN114532901A (en) * | 2022-01-31 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Drop handling method and device for cleaning robot |
| CN114532901B (en) * | 2022-01-31 | 2023-03-10 | 深圳市云鼠科技开发有限公司 | Drop handling method and device for cleaning robot |
| CN114831545A (en) * | 2022-05-18 | 2022-08-02 | 陀螺人工智能(山东)有限公司 | Cleaning robot based on gyroscope collision detection |
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| CN109512342B (en) | 2022-03-25 |
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