CN109795687A - Sweeping robot - Google Patents
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- CN109795687A CN109795687A CN201910070691.5A CN201910070691A CN109795687A CN 109795687 A CN109795687 A CN 109795687A CN 201910070691 A CN201910070691 A CN 201910070691A CN 109795687 A CN109795687 A CN 109795687A
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Abstract
The present invention relates to a kind of sweeping robots, including fuselage, controller, walking mechanism, backup power source, main power source, wireless communications devices and camera；Fuselage is additionally provided at least one set of two symmetrical notches, is provided with aviation mechanism in each notch；Aviation mechanism includes rotary components, linear movement component and flight component；Main power source is detachably arranged with fuselage；The ambient enviroment that controller is acquired according to camera, determines the form of sweeping robot, and generates motor control instruction, to control the metamorphosis of sweeping robot；When the electricity for detecting main power source is less than power supply replacement threshold value, replacement instruction is sent to power supply more exchange device by wireless communications devices, to replace to main power source；And if detecting, sweeping robot is state of flight, in main power source replacement process, after taking electricity from backup power source, is powered to flight motor, improves the practicability of sweeping robot.
Description
Technical field
The present invention relates to automated cleaning technical fields, and in particular to a kind of sweeping robot.
Background technique
Sweeping robot also known as sweeps machine, intelligent dust suction, robot cleaner etc. automatically, is the one of controlling intelligent household appliances
Kind, floor cleaning work can be completed in the room automatically.
In the prior art, it in order to make sweeping robot clean the room various places, can be set on sweeping robot
Aviation mechanism and walking mechanism are set, when needing to clean ground, can use walking mechanism in ground running, and from floor
The foreign matters such as dust are sucked, when needing to clean wardrobe top equal-height position position, sweeping robot can be by flying
Row mechanism rises, then the foreign matters such as sucking dust at the top of wardrobe.
But sweeping robot can be potentially encountered different flight environment of vehicle in flight course, for example, wardrobe at the top of with
Pore size between roof is different, and existing sweeping robot structure be mostly it is fixed, this will lead to machine of sweeping the floor
People can not adapt to different flight environment of vehicle, in addition, when sweeping robot is because of main power source not enough power supply, if to main power source
Charge, can interrupt the operation of sweeping robot, the charging waiting time is longer, and if sweeping robot in flight course,
It may result in sweeping robot in the case where continuing to run to fall, damage sweeping robot, therefore, existing sweeper
Device people's practicability is poor.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of sweeping robot, with solve existing sweeping robot without
The problem of method adapts to different flight environment of vehicle, and the operation of terminal sweeping robot is needed when needing to charge.
In order to achieve the above object, the present invention provides a kind of sweeping robot, including it is fuselage, controller, walking mechanism, standby
With power supply, main power source, wireless communications devices and camera；
The controller, walking mechanism, backup power source, main power source, wireless communications devices and camera are arranged at described
On fuselage；
The fuselage is additionally provided at least one set of two symmetrical notches, is provided in each notch winged
Row mechanism；
The aviation mechanism includes rotary components, linear movement component and flight component；
The rotary components include first rotating shaft, first motor and shell, and the first rotating shaft is horizontally set on described lack
In mouthful, the first motor is arranged on the fuselage, and the first motor drives the first rotating shaft rotation, the shell
It is connect with the first rotating shaft, the side of the shell is provided with opening；
The linear movement component includes the second motor, lead screw and sliding block, and second motor and the lead screw are respectively provided with
In the shell, the output shaft and the lead screw of second motor are coaxially disposed and are sequentially connected, one end of the sliding block
In the shell, the other end of the sliding block stretches out the shell through the opening, slides described in second motor driven
Block is along the lead screw axial-movement, and on the slide block, the flight component is located at the shell for the flight component setting
It is external；
The flight component includes two side plates, the second shaft, third motor, connecting rod, supporting plate, flight motor and rotor,
Two side plates are oppositely arranged on the slide block, and second shaft is horizontally disposed, and the both ends of second shaft pass through
Bearing is connect with two side plates respectively, and the third motor is disposed therein on the side plate, the third motor
Second shaft is driven to rotate, the supporting plate is horizontally disposed, and the side of the supporting plate passes through the connecting rod and described second turn
Axis connection, the other side of the supporting plate are connect with the flight motor, and the output shaft of the flight motor is vertically arranged, described
Rotor is set on the output shaft of the flight motor, rotor rotational described in the flight motor driven；
The backup power source is connected with the flight motor, the flight motor, the first motor, second electricity
Machine, the third motor are connected with the main power source respectively；
The walking mechanism, the backup power source, the main power source, the wireless communications devices, the flight motor,
The first motor, second motor, the third motor are connected with the controller respectively；
The main power source is detachably arranged with the fuselage；
The camera is for acquiring ambient condition information；
The controller is used to determine the form of the sweeping robot according to the ambient enviroment, be swept the floor according to described
The form generating motor control instruction of robot, to control the metamorphosis of the sweeping robot；The motor control refers to
Enable includes at least one of first motor control instruction, the second motor control instruction and third motor control instruction；
The controller is also used to when the electricity for detecting the main power source is less than power supply replacement threshold value, by described
Wireless communications devices send replacement instruction to power supply more exchange device, so that the power supply more exchange device is moved to the sweeper
Device people replaces the main power source behind position；And the sweeping robot is state of flight if detecting,
In the main power source replacement process, after taking electricity from the backup power source, the flight motor is powered.
Sweeping robot of the invention can acquire ambient condition information by the camera being arranged on fuselage；By controlling
Device processed determines the form of sweeping robot according to ambient enviroment, according to the form generating motor control instruction of sweeping robot,
To control the metamorphosis of sweeping robot, sweeping robot is made to can adapt to different flight environment of vehicle；And work as detection
To main power source electricity be less than power supply replacement threshold value when, from controller by wireless communications devices to power supply more exchange device send
Replacement instruction, so that power supply more exchange device replaces main power source after being moved to sweeping robot position, and is being replaced
In the process, after taking electricity from backup power source, flight motor is powered, prevents sweeping robot from falling, also avoided interrupting and sweep
The operation of floor-washing robot.Using technical solution of the present invention, the practicability of sweeping robot can be improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of sweeping robot embodiment of the invention；
Fig. 2 is another structural schematic diagram of sweeping robot embodiment of the invention；
Fig. 3 is the front view of Fig. 2；
Fig. 4 is the structural schematic diagram of aviation mechanism 17 in Fig. 2；
Fig. 5 is the cross-sectional view of the corresponding power supply of sweeping robot more exchange device of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained institute without making creative work
There is other embodiment, belongs to the range that the present invention is protected.
Fig. 1 is a kind of structural schematic diagram of sweeping robot embodiment of the invention, and Fig. 2 is machine of sweeping the floor of the invention
Another structural schematic diagram of people's embodiment, Fig. 3 are the front view of Fig. 2, and Fig. 4 is the structural representation of aviation mechanism 17 in Fig. 2
Figure；As Figure 1-Figure 4, the sweeping robot of the present embodiment includes fuselage 1, controller 11, walking mechanism 12, backup power source
13, main power source 14, wireless communications devices 15 and camera 16.In the present embodiment, to this hair by taking fuselage is square structure as an example
Bright technical solution is illustrated, but in practical application, is not restricted to square, such as circle.
Wherein, controller 11, walking mechanism 12, backup power source 13, main power source 14, wireless communications devices 15 and camera
16 are respectively provided on the fuselage 1.Fuselage 1 is additionally provided at least one set of two symmetrical notches, is provided in each notch
Aviation mechanism 17；Wherein, aviation mechanism 17 includes rotary components 171, linear movement component 172 and flight component 173.This reality
It applies in example, technical solution of the present invention is described for four aviation mechanisms 17 are set.
During a specific implementation, rotary components 171 include first rotating shaft 1711, first motor 1712 and shell
1713, first rotating shaft 1711 is horizontally set in notch, and first motor 1712 is arranged on fuselage 1, and first motor 1712 drives
First rotating shaft 1711 rotates, and shell 1713 is connect with first rotating shaft 1711, and the side of shell 1713 is provided with opening.
Linear movement component 172 includes the second motor 1721, lead screw 1722 and sliding block 1723, the second motor 1721 and silk
Thick stick 1722 is arranged in shell 1713, and the output shaft and lead screw 1722 of the second motor 1721 are coaxially disposed and are sequentially connected, sliding
One end of block 1723 is located in shell 1713, and the other end of sliding block 1723 stretches out shell 1713 through opening, and the second motor 1721 drives
Movable slider 1723 is arranged on sliding block 1723 along 1722 axial-movement of lead screw, flight component 173, and flight component 173 is located at shell
Outside body 1713.
Flight component 173 includes two side plates 1731, the second shaft 1732, third motor 1733, connecting rod 1734, supporting plate
1735, flight motor 1736 and rotor 1737, two side plates 1731 are oppositely arranged on sliding block 1723,1732 water of the second shaft
The both ends of flat setting, the second shaft 1732 are connect with two side plates 1731 respectively by bearing, and third motor 1733 is arranged at it
In on a side plate 1731, third motor 1733 drives the rotation of the second shaft 1732, and supporting plate 1735 is horizontally disposed, supporting plate 1735
Side connect with the second shaft 1732 by connecting rod 1734, the other side of supporting plate 1735 is connect with flight motor 1736, is flown
The output shaft of motor 1736 is vertically arranged, and rotor 1737 is set on the output shaft of flight motor 1736, flight motor 1736
Rotor 1737 is driven to rotate.
In the present embodiment, backup power source 13 is connected with flight motor 1736, flight motor 1736, first motor 1712,
Two motors 1721, third motor 1733 are connected with main power source 14 respectively, walking mechanism 12, backup power source 13, main power source 14, nothing
Line communication device 15, flight motor 1736, first motor 1712, the second motor 1721, third motor 1733 respectively with controller
11 are connected；Main power source 14 and fuselage 1 are detachably arranged.
In order to enable sweeping robot to fly in different flight environment of vehicle, in the present embodiment, camera 16 can use
Ambient condition information is acquired, and ambient condition information is sent to controller 11.Controller 11 is swept according to ambient enviroment, determination
The form of floor-washing robot, according to the form generating motor control instruction of sweeping robot, to control the form of sweeping robot
Variation；Wherein, motor control instruction includes 1712 control instruction of first motor, 1721 control instruction of the second motor and third electricity
At least one of 1733 control instruction of machine.
Specifically, controller 11 can analyze ambient condition information based on modes such as machine learning, to determine week
Enclose whether environmental information can be such that the sweeping robot of current form flies over, if the sweeping robot of current form cannot be made to fly
It crosses, can determine the form that sweeping robot needs to change, the switching in the form of controlling sweeping robot and carry out.Specific switching is former
Reason are as follows:
Under sweeping robot original state, fuselage 1, shell 1713, sliding block 1723 are all in the same horizontal plane, and are flown
Component 173 is arranged on sliding block 1723, and the supporting plate 1735 in flight component 173 keeps horizontal, to guarantee rotor 1737 in level
It is rotated in face, it is highly minimum state that the overall width of the sweeping robot, which is maximum rating, at this time, in this case, if because
The width of sweeping robot is too wide to be passed through, then linear movement component 172 is started to work, principle are as follows: the second motor
1721 driving screw rod rotations, make 1723 retraction shell 1713 of sliding block, the overall width of sweeping robot reduces at this time.If at this time
Can not still it pass through, rotary components 171 are started to work, principle are as follows: first motor 1712 drives first rotating shaft 1711 to rotate, and makes
Shell 1713, sliding block 1723 and flight component 173 are located on same vertical line from bottom to up, and sweeping robot is in most at this time
Big height, width are minimum.
In addition, when in order to make sweeping robot that need not wait longer because of charging in the case where 14 not enough power supply of main power source
Between can just reuse sweeping robot, and in order to avoid sweeping robot may in the case where flight course continues to run
It will lead to the phenomenon that sweeping robot falls, damages sweeping robot, in the present embodiment, can use the detection of controller 11
To the electricity of main power source 14, and when the electricity for detecting main power source 14 is less than power supply replacement threshold value, pass through wireless communications devices
15 send replacement instruction to power supply more exchange device, so that power supply more exchange device is moved to behind sweeping robot position to master
Power supply 14 is replaced.And sweeping robot is state of flight if detecting, in 14 replacement process of main power source, from spare
After power supply 13 takes electricity, flight motor 1736 is powered, so that sweeping robot is in flight course, flight motor 1736
Always there can be electricity, prevent sweeping robot from falling.In practical applications, after the completion of the replacement of main power source 14, controller 11 is also
It after electricity being taken from main power source 14, charges to backup power source 13, to prevent backup power source 13 from feeding.
It should be noted that since the relative distance between sweeping robot and power supply more exchange device can be with the time
Change and changes, may be because of the two distance farther out if power supply replacement threshold value is set as fixed value, the main electricity of sweeping robot
The electricity in source 14 runs out of before the arrival of power supply more exchange device, and main power source 14 is caused to feed phenomenon, therefore, in the present embodiment,
Sweeping robot and power supply more exchange device are provided with positioning mechanism, and controller 11 is available to the first of sweeping robot
Second location information of location information and power supply more exchange device, at this point, controller 11 can according to preset calculation formula etc.,
Know distance between the two, and according to distance between the two, determines that power supply more exchange device is moved to needed for sweeping robot
Time, and according to the time determine power supply replace threshold value, so as to enable the electricity of sweeping robot adhere to power supply replace
Equipment replacement main battery, prevents main battery from feeding.
It is to send replacement to power supply more exchange device to refer in the present embodiment when sweeping robot needs replacing main power source 14
Enable, power supply more exchange device be moved to sweeping robot position complete replacement, rather than sweeping robot return charging pile or
It is moved to power supply more exchange device, in this way, power supply more exchange device is moved to before the position of sweeping robot, sweeping robot is still
Operation can be carried out near current location, improve operating efficiency.
Fig. 5 is the cross-sectional view of the corresponding power supply of sweeping robot more exchange device of the invention, as shown in figure 5, the present embodiment
Power supply more exchange device may include flight instruments 20, elevating mechanism 21, power storage component 22 and power supply replacement mechanism 23.
Power supply storage assembly for storing includes storage case 221, power supply storage plate 222, and the upper surface of power supply storage plate 222 is formed with power supply storage
Position；Power supply storage plate 222 is mounted in storage case 221 and can move in the X-axis direction with respect to storage case 221；Elevating mechanism 21 is used
It is moved in drive power supply storage plate 222；It includes gripper and Two-shaft drive mechanism, Two-shaft drive mechanism that power supply, which replaces mechanism 23,
It is mounted in storage case 221, and for driving gripper to move along Y-axis and X-direction.In this way, in replacement sweeping robot
Main power source 14 when, first using gripper take out sweeping robot main power source 14, elevating mechanism 21 drive power supply storage plate
222 move down along the x axis, and power supply storage plate 222 is made to be moved to the position below gripper, are driven later by twin shaft
Motivation structure drives gripper mobile in the direction of Y-axis and X-axis, and gripper is moved to the power supply storage plate for being placed with power supply
222 position, after gripper grabs the power supply of power supply storage plate 222, gripper is in double shaft linkage mechanism or flight component 173
Drive under be moved to the positions of face sweeping robot power supply lattice, and under the drive of flight component 173 along the x axis under
Drop or sweeping robot rise along the x axis, complete to be packed into the power supply on gripper in the power supply lattice of sweeping robot, should
The structure that power supply replaces mechanism 23 is simple, easy to operate.
The sweeping robot of the present embodiment, can be by being arranged the acquisition ambient enviroment letter of camera 16 on the fuselage 1
Breath；By controller 11 according to ambient enviroment, the form of sweeping robot is determined, according to the form generating motor of sweeping robot
Control instruction makes sweeping robot can adapt to different flight environment of vehicle to control the metamorphosis of sweeping robot；With
And when the electricity for detecting main power source 14 is less than power supply replacement threshold value, wireless communications devices 15 are passed through to electricity from controller 11
Source more exchange device sends replacement instruction, so that power supply more exchange device is moved to behind sweeping robot position to main power source 14
It is replaced, and in replacement process, after taking electricity from backup power source 13, flight motor 1736 is powered, sweeper is prevented
Device people falls, and also avoids the operation for interrupting sweeping robot.Using technical solution of the present invention, machine of sweeping the floor can be improved
The practicability of people.
During a specific implementation, during sweeping robot switches form, need that fuselage 1 is kept to stablize, because
This, in the present embodiment, can be arranged gyroscope on supporting plate 1735；The gyroscope is connected with third motor 1733.In switching shape
When state, rotary components 171 drive linear movement component 172 to rotate certain degree, and are collected by gyroscope, are sent to control
Device 11.Since flight component 173 is arranged on linear moving assembly 172, in rotary course, controller 11 needs root
According to the degree that gyroscope acquires, control third motor 1733 adjusts supporting plate 1735 and remains horizontal, to guarantee the steady of fuselage 1
It is fixed.
In the present embodiment, 14 box of main power source and 14 fixation kit of main power source can be set in fuselage 1；Main power source 14 is fixed
Component is connected with controller 11；Main power source 14 is arranged in 14 box of main power source；Controller 11 controls 14 fixation kit of main power source
Folding, to realize dismounting or installation to main power source 14.It, can be by tight loop conduct that can be elastic for example, in the present embodiment
14 fixation kit of main power source, after main power source 14 is placed on 14 box of main power source, by corresponding motor driven tight loop by main electricity
Source 14 is fixed, when needing replacing main power source 14, corresponding motor reversal, so that tight loop loosens, so that power supply replacement is set
The standby replacement for completing main power source 14.
As shown in Figure 1, fuselage 1 is additionally provided with landing component, landing component and the scalable setting of fuselage 1 in this implementation；
When fuselage 1 lands, landing component stretches out fuselage 1, so that 1 safe landing of fuselage.For example, the landing component packet of the present embodiment
Include gas generator and air bag: gas generator is connected with controller 11；When fuselage 1 lands, controller 11 controls gas
Device thinks that air bag is inflated, so that air bag stretches out fuselage 1.Wherein, it is gas that gas generator, which generates gas preferably by chemical method,
Capsule is inflated.
During a specific implementation, safe cruise can also be carried out using sweeping robot, as shown in Figure 1, this reality
The fuselage 1 for applying example is additionally provided with source of early warning.Controller 11 is also used to the ambient condition information acquired according to camera 16, inspection
It surveys and whether there is anomalous event, the anomalous event, exports warning information by source of early warning if it exists.
In order to enable camera 16 can collect clearly ambient condition information, the camera 16 in the present embodiment is set
It is equipped with photoreceptor and light filling element；Photoreceptor and light filling element are connect with controller 11 respectively；Control will be according to sensor devices sense
The control instruction that the ambient light intensity answered generates is sent to light filling element, to adjust the visibility of camera 16.
The sweeping robot of the present embodiment can also carry out data interaction by wireless communication device and remote terminal, so that
User can remotely control sweeping robot, know security monitoring information of sweeping robot etc. in real time.
During a specific implementation, the walking mechanism 12 of the sweeping robot of the present embodiment includes movable motor, row
Walk wheel and telescopic across barrier component；In the process of walking, controller 11 determines there is barrier according to ambient condition information to traveling wheel
When hindering object, the driving of control movable motor stretches out fuselage 1 across barrier component, and controller 11 is not present according to ambient condition information determination
When barrier, the driving of control movable motor takes in robot body across barrier component.It wherein, include at least two rows across barrier component
Walk leg.
It should be noted that needing cut-through object when sweeping robot encounters barrier, flying machine can also be utilized
Structure 17 increases sweeping robot, thus cut-through object.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that in the description of the present invention, term " first ", " second " etc. are used for description purposes only, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present invention, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of sweeping robot, which is characterized in that including fuselage, controller, walking mechanism, backup power source, main power source, wireless
Communication device and camera；
The controller, walking mechanism, backup power source, main power source, wireless communications devices and camera are arranged at the fuselage
On；
The fuselage is additionally provided at least one set of two symmetrical notches, is provided with flying machine in each notch
Structure；
The aviation mechanism includes rotary components, linear movement component and flight component；
The rotary components include first rotating shaft, first motor and shell, and the first rotating shaft is horizontally set in the notch,
The first motor is arranged on the fuselage, and the first motor drives the first rotating shaft rotation, the shell with it is described
First rotating shaft connection, the side of the shell is provided with opening；
The linear movement component includes the second motor, lead screw and sliding block, and second motor and the lead screw are arranged at institute
It states in shell, the output shaft and the lead screw of second motor are coaxially disposed and are sequentially connected, and one end of the sliding block is located at
In the shell, the other end of the sliding block stretches out the shell, sliding block edge described in second motor driven through the opening
The lead screw axial-movement, on the slide block, the flight component is located at the hull outside for flight component setting；
The flight component include two side plates, the second shaft, third motor, connecting rod, supporting plate, flight motor and rotor, two
The side plate is oppositely arranged on the slide block, and second shaft is horizontally disposed, and the both ends of second shaft pass through bearing
It is connect respectively with two side plates, the third motor is disposed therein on the side plate, the third motor driven
The second shaft rotation, the supporting plate is horizontally disposed, and the side of the supporting plate is connected by the connecting rod and second shaft
It connects, the other side of the supporting plate is connect with the flight motor, and the output shaft of the flight motor is vertically arranged, the rotor set
It is located on the output shaft of the flight motor, rotor rotational described in the flight motor driven；
The backup power source is connected with the flight motor, the flight motor, the first motor, second motor, institute
Third motor is stated to be connected with the main power source respectively；
The walking mechanism, the backup power source, the main power source, the wireless communications devices, the flight motor, described
One motor, second motor, the third motor are connected with the controller respectively；
The main power source is detachably arranged with the fuselage；
The camera is for acquiring ambient condition information；
The controller is used to the form of the sweeping robot is determined, according to the machine of sweeping the floor according to the ambient enviroment
The form generating motor control instruction of people, to control the metamorphosis of the sweeping robot；The motor control instruction packet
Include at least one of first motor control instruction, the second motor control instruction and third motor control instruction；
The controller is also used to pass through the channel radio when the electricity for detecting the main power source is less than power supply replacement threshold value
It interrogates device and sends replacement instruction to power supply more exchange device, so that the power supply more exchange device is moved to where the sweeping robot
The main power source is replaced behind position；And the sweeping robot is state of flight if detecting, in the main power source
In replacement process, after taking electricity from the backup power source, the flight motor is powered.
2. sweeping robot according to claim 1, which is characterized in that the controller is also used to according to the sweeper
The first location information of device people and the second location information of the power supply more exchange device set the power supply replacement threshold value.
3. sweeping robot according to claim 1, which is characterized in that be provided with gyroscope on the supporting plate；
The gyroscope is connected with the third motor.
4. sweeping robot according to claim 1, which is characterized in that the fuselage is additionally provided with main power source box and main electricity
Source fixation kit；
The main power source fixation kit is connected with the controller；
The main power source is arranged in the main power source box；
The controller controls the folding of the main power source fixation kit, to realize dismounting or installation to the main power source.
5. sweeping robot according to claim 1, which is characterized in that the fuselage is additionally provided with landing component；
The landing component and the scalable setting of the fuselage；
When the aberdeen cutlet, the landing component stretches out the fuselage, so that the fuselage safe landing.
6. sweeping robot according to claim 5, which is characterized in that the landing component includes that gas generator is gentle
Capsule:
The gas generator is connected with the controller；
When the aberdeen cutlet, the controller controls the gas generator and thinks the air bag inflation, so that the air bag is stretched
The fuselage out.
7. sweeping robot according to claim 6, which is characterized in that the gas generator is generated by chemical method
Gas is that the air bag is inflated.
8. sweeping robot according to claim 1, which is characterized in that the camera is provided with photoreceptor and light filling member
Part；
The photoreceptor and the light filling element are connect with the controller respectively；
The control instruction generated according to the ambient light intensity of the light sensors sense is sent to the light filling member by the control
Part, to adjust the visibility of the camera.
9. sweeping robot according to claim 1, which is characterized in that the fuselage is additionally provided with source of early warning；
The controller is also used to according to the ambient condition information, is detected whether there are anomalous event, if it exists the exception
Event exports warning information by the source of early warning.
10. -9 described in any item sweeping robots according to claim 1, which is characterized in that the wireless communications devices are also used
In with remote terminal carry out data interaction.
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| CN201910070691.5A CN109795687B (en) | 2019-01-24 | 2019-01-24 | Floor sweeping robot |
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|---|---|---|---|
| CN201910070691.5A CN109795687B (en) | 2019-01-24 | 2019-01-24 | Floor sweeping robot |
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| CN109795687B CN109795687B (en) | 2020-12-29 |
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| CN106025403A (en) * | 2016-07-13 | 2016-10-12 | 广东工业大学 | Floor sweeping robot and control method thereof |
| CN106510558A (en) * | 2017-01-03 | 2017-03-22 | 上海量明科技发展有限公司 | Flying cleaning robot and cleaning method thereof |
| CN106927042A (en) * | 2017-03-29 | 2017-07-07 | 深圳市雷凌广通技术研发有限公司 | A kind of unmanned plane of changeable form |
| CN107253529A (en) * | 2017-06-23 | 2017-10-17 | 深圳市雷凌广通技术研发有限公司 | A kind of unmanned plane for sea garbage-cleaning based on Internet of Things |
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