CN109795687B - Floor sweeping robot - Google Patents
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- CN109795687B CN109795687B CN201910070691.5A CN201910070691A CN109795687B CN 109795687 B CN109795687 B CN 109795687B CN 201910070691 A CN201910070691 A CN 201910070691A CN 109795687 B CN109795687 B CN 109795687B
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Abstract
The invention relates to a sweeping robot, which comprises a robot body, a controller, a traveling mechanism, a standby power supply, a main power supply, a wireless communication device and a camera, wherein the main power supply is connected with the controller; the aircraft body is also provided with at least one group of two mutually symmetrical gaps, and each gap is internally provided with a flying mechanism; the flying mechanism comprises a rotating assembly, a linear moving assembly and a flying assembly; the main power supply and the machine body are detachably arranged; the controller determines the form of the sweeping robot according to the surrounding environment collected by the camera and generates a motor control instruction so as to control the form change of the sweeping robot; when the electric quantity of the main power supply is detected to be smaller than a power supply replacement threshold value, a replacement instruction is sent to power supply replacement equipment through a wireless communication device so as to replace the main power supply; and if the sweeping robot is detected to be in a flying state, in the main power supply replacement process, after the standby power supply is used for taking power, the flying motor is powered, and the practicability of the sweeping robot is improved.
Description
Technical Field
The invention relates to the technical field of automatic cleaning, in particular to a sweeping robot.
Background
The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room.
In the prior art, in order to enable the sweeping robot to sweep various places in a room, a flying mechanism and a traveling mechanism can be arranged on the sweeping robot, when the ground needs to be cleaned, the traveling mechanism can be utilized to travel on the ground, and foreign matters such as dust and the like can be sucked from the ground, when high positions such as the top of a wardrobe need to be cleaned, the sweeping robot can be lifted through the flying mechanism, and then the foreign matters such as dust and the like can be sucked from the top of the wardrobe.
However, the robot of sweeping the floor is at the flight in-process, can meet different flight environment, for example, the space size difference between wardrobe top and the roof, and current robot structure of sweeping the floor is fixed mostly, this will lead to the robot of sweeping the floor can't adapt to different flight environment, in addition, under the robot of sweeping the floor because of the main power supply electric quantity not enough condition, if charge to the main power supply, can interrupt the operation of the robot of sweeping the floor, the latency of charging is longer, and if the robot of sweeping the floor is at the flight in-process, can lead to the robot of sweeping the floor to fall under the condition of continuation operation, make the robot of sweeping the floor damage, consequently, current robot of sweeping the floor practicality is relatively poor.
Disclosure of Invention
In view of this, the present invention provides a sweeping robot to solve the problem that the existing sweeping robot cannot adapt to different flight environments and needs to operate a terminal sweeping robot when charging is needed.
In order to achieve the above purpose, the invention provides a sweeping robot, which comprises a robot body, a controller, a traveling mechanism, a standby power supply, a main power supply, a wireless communication device and a camera;
the controller, the travelling mechanism, the standby power supply, the main power supply, the wireless communication device and the camera are all arranged on the machine body;
the aircraft body is also provided with at least one group of two mutually symmetrical notches, and each notch is internally provided with a flying mechanism;
the flying mechanism comprises a rotating assembly, a linear moving assembly and a flying assembly;
the rotating assembly comprises a first rotating shaft, a first motor and a shell, the first rotating shaft is horizontally arranged in the gap, the first motor is arranged on the machine body and drives the first rotating shaft to rotate, the shell is connected with the first rotating shaft, and an opening is formed in one side of the shell;
the linear moving assembly comprises a second motor, a lead screw and a sliding block, the second motor and the lead screw are arranged in the shell, an output shaft of the second motor is coaxially arranged with the lead screw and is in transmission connection with the lead screw, one end of the sliding block is positioned in the shell, the other end of the sliding block extends out of the shell through the opening, the second motor drives the sliding block to move along the axis of the lead screw, the flying assembly is arranged on the sliding block, and the flying assembly is positioned outside the shell;
the flying assembly comprises two side plates, a second rotating shaft, a third motor, a connecting rod, a support plate, a flying motor and a rotor wing, wherein the two side plates are oppositely arranged on the sliding block, the second rotating shaft is horizontally arranged, two ends of the second rotating shaft are respectively connected with the two side plates through bearings, the third motor is arranged on one side plate, the third motor drives the second rotating shaft to rotate, the support plate is horizontally arranged, one side of the support plate is connected with the second rotating shaft through the connecting rod, the other side of the support plate is connected with the flying motor, an output shaft of the flying motor is vertically arranged, the rotor wing is sleeved on the output shaft of the flying motor, and the flying motor drives the rotor wing to rotate;
the standby power supply is connected with the flight motor, and the flight motor, the first motor, the second motor and the third motor are respectively connected with the main power supply;
the traveling mechanism, the standby power supply, the main power supply, the wireless communication device, the flight motor, the first motor, the second motor and the third motor are respectively connected with the controller;
the main power supply is detachably arranged with the machine body;
the camera is used for collecting surrounding environment information;
the controller is used for determining the form of the sweeping robot according to the surrounding environment and generating a motor control instruction according to the form of the sweeping robot so as to control the form change of the sweeping robot; the motor control command comprises at least one of a first motor control command, a second motor control command and a third motor control command;
the controller is further used for sending a replacement instruction to power supply replacement equipment through the wireless communication device when detecting that the electric quantity of the main power supply is smaller than a power supply replacement threshold value, so that the main power supply is replaced after the power supply replacement equipment moves to the position of the sweeping robot; and if the sweeping robot is detected to be in a flying state, supplying power to the flying motor after the standby power supply gets power in the main power supply replacement process.
The sweeping robot can acquire surrounding environment information through the camera arranged on the robot body; the controller determines the form of the sweeping robot according to the surrounding environment, and generates a motor control instruction according to the form of the sweeping robot so as to control the form change of the sweeping robot, so that the sweeping robot can adapt to different flying environments; and when detecting that the electric quantity of the main power supply is smaller than a power supply replacement threshold value, sending a replacement instruction to the power supply replacement equipment through the wireless communication device by the controller so that the power supply replacement equipment replaces the main power supply after moving to the position of the sweeping robot, supplying power to the flying motor after power is taken from the standby power supply in the replacement process, preventing the sweeping robot from falling, and avoiding interrupting the operation of the sweeping robot. By adopting the technical scheme, the practicability of the sweeping robot can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a sweeping robot according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of the sweeping robot according to the embodiment of the present invention;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a schematic structural diagram of the flying mechanism 17 of FIG. 2;
fig. 5 is a cross-sectional view of a power supply replacement device corresponding to the sweeping robot of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
Fig. 1 is a schematic structural view of a sweeping robot according to an embodiment of the present invention, fig. 2 is another schematic structural view of the sweeping robot according to the embodiment of the present invention, fig. 3 is a front view of fig. 2, and fig. 4 is a schematic structural view of a flying mechanism 17 in fig. 2; as shown in fig. 1 to 4, the sweeping robot of the present embodiment includes a body 1, a controller 11, a traveling mechanism 12, a standby power supply 13, a main power supply 14, a wireless communication device 15, and a camera 16. In this embodiment, the technical solution of the present invention is described by taking the case that the body has a square structure as an example, but in practical application, the invention is not limited to a square, such as a circle.
Wherein, the controller 11, the traveling mechanism 12, the standby power supply 13, the main power supply 14, the wireless communication device 15 and the camera 16 are all arranged on the machine body 1. The fuselage 1 is also provided with at least one group of two mutually symmetrical notches, and each notch is internally provided with a flying mechanism 17; the flying mechanism 17 includes a rotating assembly 171, a linear moving assembly 172, and a flying assembly 173. In this embodiment, the technical solution of the present invention will be described by taking four flying mechanisms 17 as an example.
In a specific implementation process, the rotating assembly 171 includes a first rotating shaft 1711, a first motor 1712 and a housing 1713, the first rotating shaft 1711 is horizontally disposed in the notch, the first motor 1712 is disposed on the machine body 1, the first motor 1712 drives the first rotating shaft 1711 to rotate, the housing 1713 is connected with the first rotating shaft 1711, and an opening is disposed on one side of the housing 1713.
The linear moving assembly 172 comprises a second motor 1721, a lead screw 1722 and a sliding block 1723, the second motor 1721 and the lead screw 1722 are both disposed in the housing 1713, an output shaft of the second motor 1721 is coaxially disposed with the lead screw 1722 and is in transmission connection with the lead screw 1722, one end of the sliding block 1723 is disposed in the housing 1713, the other end of the sliding block 1723 extends out of the housing 1713 through an opening, the second motor 1721 drives the sliding block 1723 to move along the axis of the lead screw 1722, the flying assembly 173 is disposed on the sliding block 1723, and the flying assembly 173 is disposed outside the housing 1713.
The flying assembly 173 includes two side plates 1731, a second rotating shaft 1732, a third motor 1733, a connecting rod 1734, support plates 1735, a flying motor 1736 and a rotor 1737, the two side plates 1731 are oppositely arranged on the sliding block 1723, the second rotating shaft 1732 is horizontally arranged, two ends of the second rotating shaft 1732 are respectively connected with the two side plates 1731 through bearings, the third motor 1733 is arranged on one of the side plates 1731, the third motor 1733 drives the second rotating shaft 1732 to rotate, the support plates 1735 are horizontally arranged, one side of the support plates 1735 is connected with the second rotating shaft 1732 through the connecting rod 1734, the other side of the support plates 1735 is connected with the flying motor 1736, an output shaft of the flying motor 1736 is vertically arranged, the rotor 1737 is sleeved on the output shaft of the flying motor 1736, and the flying motor 1736 drives the rotor 1737 to rotate.
In this embodiment, the standby power supply 13 is connected to the flying motor 1736, the first motor 1712, the second motor 1721 and the third motor 1733 are respectively connected to the main power supply 14, and the traveling mechanism 12, the standby power supply 13, the main power supply 14, the wireless communication device 15, the flying motor 1736, the first motor 1712, the second motor 1721 and the third motor 1733 are respectively connected to the controller 11; the main power supply 14 is detachably provided with the body 1.
In order to enable the sweeping robot to fly in different flying environments, in the embodiment, the camera 16 may be used to collect the ambient environment information and send the ambient environment information to the controller 11. The controller 11 determines the form of the sweeping robot according to the surrounding environment, and generates a motor control instruction according to the form of the sweeping robot so as to control the form change of the sweeping robot; the motor control command includes at least one of a first motor 1712 control command, a second motor 1721 control command, and a third motor 1733 control command.
Specifically, the controller 11 may analyze the ambient environment information based on machine learning or the like to determine whether the ambient environment information enables the sweeping robot in the current form to fly through, and if the sweeping robot in the current form cannot fly through, may determine a form that the sweeping robot needs to change to control the sweeping robot to perform form switching. The specific switching principle is as follows:
in the initial state of the sweeping robot, the robot body 1, the housing 1713 and the sliding block 1723 are all in the same horizontal plane, the flying assembly 173 is disposed on the sliding block 1723, the support plate 1735 in the flying assembly 173 is kept horizontal to ensure that the rotor 1737 rotates in the horizontal plane, at this time, the whole width of the sweeping robot is in the maximum state, and the height is in the minimum state, in this state, if the width of the sweeping robot is too wide to pass through, the linear moving assembly 172 starts to operate, and the principle is as follows: the second motor 1721 drives the screw rod to rotate, so that the sliding block 1723 retracts into the shell 1713, and the whole width of the sweeping robot is reduced at the moment. If the user still fails, the rotating component 171 starts to work, and the principle is as follows: the first motor 1712 drives the first rotating shaft 1711 to rotate, so that the housing 1713, the sliding block 1723 and the flying assembly 173 are located on the same vertical line from bottom to top, and at the moment, the sweeping robot is at the maximum height and has the minimum width.
In addition, in order to enable the sweeping robot to be reused without waiting for a long time due to charging under the condition that the electric quantity of the main power supply 14 is insufficient, and to avoid the phenomenon that the sweeping robot may fall down and be damaged when the sweeping robot continues to operate in the flying process, in this embodiment, the electric quantity of the main power supply 14 can be detected by using the controller 11, and when the electric quantity of the main power supply 14 is detected to be smaller than a power supply replacement threshold value, a replacement instruction is sent to the power supply replacement equipment through the wireless communication device 15, so that the power supply replacement equipment moves to the position of the sweeping robot and then replaces the main power supply 14. And if the sweeping robot is detected to be in a flying state, in the replacement process of the main power supply 14, after the standby power supply 13 takes power, the flying motor 1736 is powered, so that the flying motor 1736 can always have power in the flying process of the sweeping robot, and the sweeping robot is prevented from falling. In practical applications, after the main power supply 14 is replaced, the controller 11 may also charge the backup power supply 13 after the power is supplied from the main power supply 14, so as to prevent the backup power supply 13 from feeding power.
It should be noted that, because the relative distance between the sweeping robot and the power supply replacement device changes with the change of time, if the power supply replacement threshold is set to a fixed value, the power supply replacement threshold may be a phenomenon that the power supply 14 is fed because the distance between the sweeping robot and the power supply replacement device is relatively long and the electric quantity of the main power supply 14 of the sweeping robot is consumed before the power supply replacement device arrives, in this embodiment, the sweeping robot and the power supply replacement device are both provided with positioning mechanisms, and the controller 11 can obtain the first positioning information of the sweeping robot and the second positioning information of the power supply replacement device, at this time, the controller 11 can obtain the distance between the sweeping robot and the power supply replacement device according to a preset calculation formula and the like, determine the time required for the power supply replacement device to move to the sweeping robot according to the distance between the sweeping robot and determine the power supply replacement threshold according to the time, so that the electric quantity of the sweeping robot can insist on that the, preventing main battery feed.
In this embodiment, when the main power supply 14 needs to be replaced, a replacement instruction is sent to the power supply replacement device, and the power supply replacement device moves to the position of the floor-sweeping robot to complete replacement, instead of the floor-sweeping robot returning to charge the electric pile or moving to the power supply replacement device, in this way, before the power supply replacement device moves to the position of the floor-sweeping robot, the floor-sweeping robot can still operate near the current position, and the operation efficiency is improved.
Fig. 5 is a cross-sectional view of a power supply replacement device corresponding to the sweeping robot of the present invention, and as shown in fig. 5, the power supply replacement device of this embodiment may include a flying device 20, a lifting mechanism 21, a power storage assembly 22, and a power supply replacement mechanism 23. The power storage assembly comprises a storage shell 221 and a power storage plate 222, wherein a power storage position is formed on the upper surface of the power storage plate 222; the power storage plate 222 is mounted on the storage casing 221 and can move along the X-axis direction relative to the storage casing 221; the lifting mechanism 21 is used for driving the power storage plate 222 to move; the power supply replacement mechanism 23 includes a gripper and a dual-axis driving mechanism, which is mounted on the storage casing 221 and is configured to drive the gripper to move along the Y-axis and the X-axis directions. Therefore, when the main power supply 14 of the sweeping robot is replaced, the mechanical claw is firstly adopted to take out the main power supply 14 of the sweeping robot, the lifting mechanism 21 drives the power supply storage plate 222 to move downwards along the X-axis direction, and the power storage plate 222 is moved to a position below the gripper, and then the gripper is driven by the dual-axis driving mechanism to move in the directions of the Y axis and the X axis, so that the gripper can move to the position of the power storage plate 222 where the power is placed, and after the gripper grips the power of the power storage plate 222, the mechanical claw is driven by the double-shaft linkage mechanism or the flying component 173 to move to the position opposite to the power grid of the sweeping robot, and the power supply on the mechanical claw is installed in the power supply grid of the sweeping robot after the power supply on the mechanical claw is driven by the flying component 173 to descend along the X-axis direction or the sweeping robot ascends along the X-axis direction, and the power supply replacing mechanism 23 is simple in structure and easy to operate.
The sweeping robot of the embodiment can acquire surrounding environment information through the camera 16 arranged on the robot body 1; the controller 11 determines the form of the sweeping robot according to the surrounding environment, and generates a motor control instruction according to the form of the sweeping robot so as to control the form change of the sweeping robot, so that the sweeping robot can adapt to different flying environments; and when detecting that the electric quantity of the main power supply 14 is smaller than the power supply replacement threshold value, the controller 11 sends a replacement instruction to the power supply replacement equipment through the wireless communication device 15, so that the power supply replacement equipment moves to the position of the sweeping robot and then replaces the main power supply 14, and in the replacement process, after power is taken from the standby power supply 13, the flying motor 1736 is supplied with power, the sweeping robot is prevented from falling, and the operation of the sweeping robot is prevented from being interrupted. By adopting the technical scheme, the practicability of the sweeping robot can be improved.
In a specific implementation process, the body 1 needs to be kept stable during the switching of the form of the sweeping robot, so in this embodiment, a gyroscope may be disposed on the support plate 1735; the gyroscope is connected to a third motor 1733. When the mode is switched, the rotating component 171 drives the linear moving component 172 to rotate for a certain degree, and the rotation is collected by the gyroscope and sent to the controller 11. Since the flying assembly 173 is disposed on the linear moving assembly 172, the controller 11 needs to control the third motor 1733 to adjust the supporting plate 1735 to be always kept horizontal according to the degree collected by the gyroscope during the rotation process, so as to ensure the stability of the fuselage 1.
In this embodiment, a main power supply 14 box and a main power supply 14 fixing component may be provided in the body 1; the main power supply 14 fixing component is connected with the controller 11; the main power supply 14 is disposed within the main power supply 14 box; the controller 11 controls the opening and closing of the main power supply 14 fixing component to realize the removal or installation of the main power supply 14. For example, in this embodiment, a fastening ring capable of being tightened or loosened may be used as the main power supply 14 fixing component, when the main power supply 14 is placed in the main power supply 14 box, the fastening ring is driven by the corresponding motor to fix the main power supply 14, and when the main power supply 14 needs to be replaced, the corresponding motor is reversed to loosen the fastening ring, so that the power supply replacement device completes replacement of the main power supply 14.
As shown in fig. 1, in this embodiment, the main body 1 is further provided with a landing assembly, and the landing assembly is telescopically arranged with the main body 1; when the fuselage 1 lands, the landing assembly extends out of the fuselage 1 to allow the fuselage 1 to land safely. For example, the landing assembly of the present embodiment includes a gas generator and an airbag: the gas generator is connected with the controller 11; when the fuselage 1 lands, the controller 11 controls the gas generator to inflate the airbag so that the airbag protrudes out of the fuselage 1. Among them, the gas generator preferably generates gas by a chemical method to inflate the airbag.
In a specific implementation process, a sweeping robot can be used for safe cruising, and as shown in fig. 1, the machine body 1 of the embodiment is further provided with an early warning device. The controller 11 is further configured to detect whether an abnormal event exists according to the ambient environment information acquired by the camera 16, and output early warning information through the early warning device if the abnormal event exists.
In order to enable the camera 16 to acquire clear ambient environment information, the camera 16 in this embodiment is provided with a photoreceptor and a light supplement element; the photoreceptor and the light supplementing element are respectively connected with the controller 11; the control sends the control command generated according to the ambient light intensity sensed by the photosensitive device to the light supplementing element to adjust the visibility of the camera 16.
The robot of sweeping floor of this embodiment can also carry out data interaction through wireless communication ware and remote terminal to make the user carry out remote control to the robot of sweeping floor, learn the safety monitoring information of robot of sweeping floor etc. in real time.
In a specific implementation process, the traveling mechanism 12 of the sweeping robot of the embodiment includes a traveling motor, a traveling wheel and a retractable obstacle crossing component; in the walking process of the walking wheels, when the controller 11 determines that an obstacle exists according to the surrounding environment information, the walking motor is controlled to drive the obstacle crossing component to extend out of the robot body 1, and when the controller 11 determines that the obstacle does not exist according to the surrounding environment information, the walking motor is controlled to drive the obstacle crossing component to retract into the robot body. Wherein, stride the barrier part and include two at least walking legs.
It should be noted that when the sweeping robot encounters an obstacle, the robot needs to bypass the obstacle, and the flying mechanism 17 can be used to lift the sweeping robot so as to bypass the obstacle.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. A sweeping robot is characterized by comprising a robot body, a controller, a traveling mechanism, a standby power supply, a main power supply, a wireless communication device and a camera;
the controller, the travelling mechanism, the standby power supply, the main power supply, the wireless communication device and the camera are all arranged on the machine body;
the aircraft body is also provided with at least one group of two mutually symmetrical notches, and each notch is internally provided with a flying mechanism;
the flying mechanism comprises a rotating assembly, a linear moving assembly and a flying assembly;
the rotating assembly comprises a first rotating shaft, a first motor and a shell, the first rotating shaft is horizontally arranged in the gap, the first motor is arranged on the machine body and drives the first rotating shaft to rotate, the shell is connected with the first rotating shaft, and an opening is formed in one side of the shell;
the linear moving assembly comprises a second motor, a lead screw and a sliding block, the second motor and the lead screw are arranged in the shell, an output shaft of the second motor is coaxially arranged with the lead screw and is in transmission connection with the lead screw, one end of the sliding block is positioned in the shell, the other end of the sliding block extends out of the shell through the opening, the second motor drives the sliding block to move along the axis of the lead screw, the flying assembly is arranged on the sliding block, and the flying assembly is positioned outside the shell; the flying assembly comprises two side plates, a second rotating shaft, a third motor, a connecting rod, a support plate, a flying motor and a rotor wing, wherein the two side plates are arranged on the two sides of the flying assembly
The side plates are oppositely arranged on the sliding block, the second rotating shaft is horizontally arranged, two ends of the second rotating shaft are respectively connected with the two side plates through bearings, the third motor is arranged on one side plate, the third motor drives the second rotating shaft to rotate, the support plate is horizontally arranged, one side of the support plate is connected with the second rotating shaft through the connecting rod, the other side of the support plate is connected with the flying motor, an output shaft of the flying motor is vertically arranged, the rotor wing is sleeved on the output shaft of the flying motor, and the flying motor drives the rotor wing to rotate;
the standby power supply is connected with the flight motor, and the flight motor, the first motor, the second motor and the third motor are respectively connected with the main power supply;
the traveling mechanism, the standby power supply, the main power supply, the wireless communication device, the flight motor, the first motor, the second motor and the third motor are respectively connected with the controller;
the main power supply is detachably arranged with the machine body; the camera is used for collecting surrounding environment information;
the controller is used for determining the form of the sweeping robot according to the surrounding environment and generating a motor control instruction according to the form of the sweeping robot so as to control the form change of the sweeping robot; the motor control command comprises at least one of a first motor control command, a second motor control command and a third motor control command;
the controller is further used for sending a replacement instruction to power supply replacement equipment through the wireless communication device when detecting that the electric quantity of the main power supply is smaller than a power supply replacement threshold value, so that the main power supply is replaced after the power supply replacement equipment moves to the position of the sweeping robot; if the sweeping robot is detected to be in a flying state, the flying motor is powered after the standby power supply is powered in the main power supply replacement process;
the fuselage is also provided with a landing assembly; the landing assembly and the machine body are arranged in a telescopic manner; when the fuselage lands, the landing component extends out of the fuselage to enable the fuselage to land safely; the landing assembly includes a gas generator and an airbag: the gas generator is connected with the controller; when the fuselage lands, the controller controls the gas generator to inflate the airbag so that the airbag extends out of the fuselage; the gas generator chemically generates gas to inflate the airbag.
2. The sweeping robot of claim 1, wherein the controller is further configured to set the power replacement threshold according to first positioning information of the sweeping robot and second positioning information of the power replacement device.
3. The sweeping robot of claim 1, wherein the support plate is provided with a gyroscope; and the gyroscope is connected with the third motor.
4. The sweeping robot of claim 1, wherein the body is further provided with a main power supply box and a main power supply fixing assembly;
the main power supply fixing component is connected with the controller; the main power supply is arranged in the main power supply box;
the controller controls the opening and closing of the main power fixing component to achieve the dismounting or mounting of the main power.
5. The sweeping robot according to claim 1, wherein the camera is provided with a photoreceptor and a light supplement element;
the light sensor and the light supplementing element are respectively connected with the controller;
and the control device sends a control instruction generated according to the ambient light intensity sensed by the photosensitive device to the light supplementing element so as to adjust the visibility of the camera.
6. The sweeping robot according to claim 1, wherein the body is further provided with an early warning device;
the controller is further used for detecting whether an abnormal event exists according to the ambient environment information, and outputting early warning information through the early warning equipment if the abnormal event exists.
7. A sweeping robot according to any one of claims 1-6, wherein the wireless communication device is further adapted to interact with a remote terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070691.5A CN109795687B (en) | 2019-01-24 | 2019-01-24 | Floor sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910070691.5A CN109795687B (en) | 2019-01-24 | 2019-01-24 | Floor sweeping robot |
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| CN109795687A CN109795687A (en) | 2019-05-24 |
| CN109795687B true CN109795687B (en) | 2020-12-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204159584U (en) * | 2014-10-17 | 2015-02-18 | 华北电力大学（保定） | A kind of flight of the novel intelligent for solar panel dedusting deduster |
| 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 |
| CN106927042B (en) * | 2017-03-29 | 2019-05-24 | 天津萤火虫航空科技有限公司 | 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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