CN109998427A - A kind of intelligent sweeping machine cleans induction structure along wall - Google Patents
A kind of intelligent sweeping machine cleans induction structure along wall Download PDFInfo
- Publication number
- CN109998427A CN109998427A CN201910355311.2A CN201910355311A CN109998427A CN 109998427 A CN109998427 A CN 109998427A CN 201910355311 A CN201910355311 A CN 201910355311A CN 109998427 A CN109998427 A CN 109998427A
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- CN
- China
- Prior art keywords
- sweeper
- ranging channel
- push
- range finder
- pull rod
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Induction structure is cleaned along wall the invention discloses a kind of intelligent sweeping machine, including sweeper ontology and the laser range finder that sweeper upper end is arranged in, sweeper ontology two sides symmetrically offer the first ranging channel, and first is removably connected with angle adjusting mechanism in ranging channel, angle adjusting mechanism includes adjusting main body and adjusting accessory body, it adjusts main body built-in type and laser sensor is installed, it adjusts body rear and is hinged with adjusting accessory body, it adjusts accessory body built-in type and the first push-pull rod is installed, and first push-pull rod and adjust body rear face it is hinged, it adjusts accessory body rear end and is provided with the second push-pull rod, and it adjusts accessory body and is connect by the second push-pull rod with the first ranging channel, first ranging channel offers the second ranging channel on one side, laser sensor is installed in second ranging channel, first push-pull rod, second push-pull rod, laser sensing Device and laser range finder are electrically connected with the intrinsic control unit of sweeper.
Description
Technical field
The present invention relates to sweeper technical field, specially a kind of intelligent sweeping machine cleans induction structure along wall.
Background technique
With the improvement of living standards, people's lives rhythm is also accelerated gradually, in order to reduce the housework workload of family,
Also for present quick rhythm of life is catered to, intelligent sweeping machine progresses into every household, reduces the workload of user, and
For existing intelligent sweeping machine when being cleaned along wall walking, it is i.e. infrared by (three that many types are confined to internal range measurement principle
Horn cupping) ranging, it often is offset corner, then needs often to correct, foundation part is influenced and cleans coverage rate.
The above problem is the common fault of existing intelligent sweeping machine, usually only with the single or multiple laser for ranging
Sensor or infrared sensor are not separately provided with for the laser sensor or infrared sensor along wall walking ranging, and
Even if some high-end sweepers use the sensor for cleaning along wall, but receiver is at an angle, cannot be free
It adjusts, sweeper can not be accurately judged at a distance from metope, due to the unlike material of metope, shape and sunlight intensity
When big, signal can be lost, and intelligent sweeping machine can deviate from foundation, need to correct sweep-out pattern again.
It is therefore desirable to design it is a kind of used the accurate range measurement principle of TOF, to clean coverage rate high and is applicable to each
The intelligent sweeping machine of kind environment cleans induction structure along wall.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, induction structure is cleaned along wall the present invention provides a kind of intelligent sweeping machine, solved
The intelligent sweeping machine that current people use along corner when cleaning, due to being confined to internal range measurement principle and not
Same environment causes sweeper often to be offset corner, clean the infull problem of coverage rate.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of intelligent sweeping machine it is clear along wall
Sweep induction structure, which is characterized in that including sweeper ontology, the first range finder module and the second range finder module:
The sweeper ontology is arranged in D font, and driving unit is provided in the sweeper ontology, cleaning unit,
Control unit and power unit, sweeper ontology upper end are provided with the first range finder module, and first range finder module includes
Laser range finder, sweeper ontology both ends are provided with the second range finder module, first range finder module and the second ranging
Module is electrically connected with the intrinsic control unit of sweeper.
Preferably, second range finder module includes being provided with the first ranging channel and second of sweeper this body side surface to survey
Away from channel, laser sensor is provided in first ranging channel and second ranging channel, first ranging is logical
Angle adjusting mechanism is removably connected in road, the angle adjusting mechanism includes adjusting main body and adjusting accessory body, the laser
For sensor installation by adhering in the adjusting main body, the adjusting body rear is hinged with the adjusting accessory body, the adjusting
Accessory body built-in type is equipped with the first push-pull rod, and first push-pull rod and the adjusting body rear face are hinged, the tune
Section accessory body rear end is provided with the second push-pull rod, and second push-pull rod passes through first ranging channel and sweeper ontology connects
It connects.
Preferably, the laser sensor is the laser sensor based on TOF measurement principle.
Preferably, the laser sensor includes laser emitter and photodetector, and the photodetector front end can
Dismantling connection has concavees lens.
Preferably, the laser emitter and the photodetector are electrically connected with described control unit.
Preferably, first ranging channel is set to sweeper ontology two sides leading portion, the setting of second ranging channel
In sweeper ontology two sides back segment.
(3) beneficial effect
Induction structure is cleaned along wall the present invention provides a kind of intelligent sweeping machine.Have following beneficial effect:
The distance between laser sensor real-time measurement sweeper and foundation that the present invention is arranged by two sides, pass through comparison
The data of laser sensor transmission in two ranging channels of the same side, so that the walking path of sweeper is more accurate.
The present invention enables to sweeper in face of unlike material by the auxiliary of angle adjusting mechanism and laser range finder
Foundation when also accurately straight line can be kept to walk.
Detailed description of the invention
Fig. 1 is one structural schematic diagram of working condition of the present invention；
Fig. 2 is two structural schematic diagram of working condition of the present invention；
Fig. 3 is angle adjusting mechanism schematic front view of the present invention；
Fig. 4 is angle adjusting mechanism structural schematic diagram of the present invention；
Fig. 5 is angle adjusting mechanism structure perspective diagram of the present invention.
In figure, 1 sweeper ontology, 2 laser range finders, 3 first ranging channels, 4 adjust main body, 5 adjusting accessory bodies, 6 first
Push-pull rod, 7 second push-pull rods, 8 second ranging channels, 9 laser sensors.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-5, the embodiment of the present invention provides a kind of technical solution: a kind of intelligent sweeping machine incudes along wall cleaning
Structure, which is characterized in that including sweeper ontology 1, the first range finder module and the second range finder module:
The sweeper ontology 1 is arranged in D font, and driving unit is provided in the sweeper ontology 1, and cleaning is single
Member, control unit and power unit, 1 upper end of sweeper ontology are provided with the first range finder module, first range finder module
Including laser range finder 2, laser range finder 2 can provide an auxiliary data reference, the sweeper when sweeper is walked
1 both ends of ontology are provided with the second range finder module, and first range finder module and the second range finder module are and in sweeper ontology 1
Control unit be electrically connected.
Second range finder module includes that the first ranging channel 3 for being provided with 1 side of sweeper ontology and the second ranging are led to
Laser sensor 9 is provided in road 8, first ranging channel 3 and second ranging channel 8, first ranging is logical
Angle adjusting mechanism is removably connected in road 3, angle adjusting mechanism can be pushed away out of first ranging channel 3 by the second push-pull rod 7
Out, then by the second push-pull rod 7 adjusting main body 4 is pushed to rotate, so that adjusting the laser sensor 9 installed in main body 4 by surveying
Amount the distance between sweeper and foundation are changed into front of measurement sweeper or road conditions, the angle adjusting mechanism include in front of side
It adjusts main body 4 and adjusts accessory body 5,9 installation by adhering of laser sensor is in the adjusting main body 4, the adjusting main body 4
Rear end is hinged with the adjusting accessory body 5, and 5 built-in type of adjusting accessory body is equipped with the first push-pull rod 6, and first push-and-pull
Bar 6 and 4 rear end faces of the adjusting main body are hinged, the linear motion of the first push-pull rod 6 be able to drive adjust main body 4 by hinged shaft with
It adjusts accessory body 5 to rotate, 5 rear end of adjustings accessory body is provided with the second push-pull rod 7, and second push-pull rod 7 is across described the
One ranging channel 3 connect with sweeper ontology 1 (angle adjusting mechanism in running order two, the adjusting main body 4
9 position of the laser sensor installed in the laser sensor 9 of interior installation and affiliated second channel 8 is consistent, and is protected
Demonstrate,prove when sweeper it is in running order two when the same side channel Liang Ge in the data that measure of laser sensor 9 i.e. with foundation
Distance is consistent).
The laser sensor 9 is the laser sensor 9 based on TOF measurement principle.
The laser sensor 9 includes laser emitter and photodetector, and the photodetector front end detachably connects
It is connected to concavees lens.
The laser emitter and the photodetector are electrically connected with described control unit.
First ranging channel 3 is set to 1 two sides leading portion of sweeper ontology, and second ranging channel 8 is set to institute
State 1 two sides back segment of sweeper ontology.
The working principle of the invention: walk along wall clean when, sweeper is along two of wall side based on TOF measuring principle
Laser sensor 9 by real-time measurement to data be transmitted to sweeper ontology control unit (control unit be intelligent floor-sweeping
Machine routine techniques), the distance between two laser sensors 9 and foundation i.e. sweeper ontology 1 is obtained by calculation in control unit
The distance between rear and front end and foundation, when the data and distance value difference initially set that control unit obtains, control is single
Member is adjusted according to transmission data laser sensor 9 devious come the route walked to sweeper, until adjusting to two
The distance between laser sensor 9 and foundation are initial set value.
Sweeper is placed in the room or corridor for needing to clean by user, after starting sweeper, inside sweeper
Control unit manipulation sweeper starts running, and when not walking along wall, sweeper uses the first working condition, the tune that two sides are stretched out
Section main body 4 can be scanned the road surface in front of sweeper, so that the linear rows to sweeper are walked to assist；In sweeper
When cleaning along wall, the adjusting main body 4 that control unit controls along wall side resets, and in running order two, at this time along the adjusting of wall side
Main body 4 is located in the first ranging channel 3, and the laser sensor 9 in the adjusting main body 4 of wall side with along the second of wall side
The position of laser sensor 9 in ranging channel 8 is consistent, i.e., the two is transmitted to the sweeper ontology 1 that control unit obtains
The distance between foundation is equal, and the adjusting main body 4 of the sweeper other side remain unchanged in running order one, in conjunction with sweeper sheet
The laser range finder 2 of 1 upper end of body setting carries out subsidiary to the track route of sweeper.
Due to the laser sensor 9 of the ipsilateral front and back of sweeper ontology 1 setting, so that before control unit is to sweeper ontology 1
The distance between both ends and foundation can calculate afterwards, so control is single after the track route of sweeper deviates
Member can quickly react, and accurately adjust by adjusting traveling wheel that the sensor side of data deviation occur
Along wall straight line track route and the distance between sweeper and foundation, and accurately, route walking ability represents sweeper
It is higher to clean coverage rate.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of intelligent sweeping machine cleans induction structure along wall, which is characterized in that including sweeper ontology (1), the first ranging
Module and the second range finder module:
The sweeper ontology (1) is arranged in D font, and driving unit is provided in the sweeper ontology, cleaning unit, control
Unit and power unit processed, sweeper ontology upper end are provided with the first range finder module, and first range finder module includes swashing
Optar (2), sweeper ontology (1) both ends are provided with the second range finder module, first range finder module and second
Range finder module is electrically connected with the control unit in sweeper ontology (1).
2. a kind of intelligent sweeping machine according to claim 1 cleans induction structure along wall, device is characterized in that, described second
Range finder module includes the first ranging channel (3) and the second ranging channel (8) for being provided with this body side surface of sweeper, and described first surveys
It, can in first ranging channel (3) away from being provided with laser sensor (9) in channel (3) and second ranging channel (8)
The angled regulating mechanism of dismantling connection, the angle adjusting mechanism include adjusting main body (4) and adjusting accessory body (5), the laser
Sensor (9) installation by adhering is hinged with the adjusting accessory body in the adjusting body front end, adjusting main body (4) rear end
(5), adjusting accessory body (5) built-in type is equipped with the first push-pull rod (6), and first push-pull rod (6) and the adjusting
Main body (4) rear end face is hinged, and adjusting accessory body (5) rear end is provided with the second push-pull rod (7), and second push-pull rod (7)
It is connect across first ranging channel (3) with sweeper ontology (1).
3. a kind of intelligent sweeping machine according to claim 1 cleans induction structure along wall, it is characterised in that: the laser
Sensor (9) is the laser sensor (9) based on TOF measurement principle.
4. a kind of intelligent sweeping machine according to claim 1 cleans induction structure along wall, it is characterised in that: the laser
Sensor (9) includes laser emitter and photodetector, and the photodetector front end is removably connected with concavees lens.
5. a kind of intelligent sweeping machine according to claim 3 cleans induction structure along wall, it is characterised in that: the laser
Transmitter and the photodetector are electrically connected with described control unit.
6. a kind of intelligent sweeping machine according to claim 1 cleans induction structure along wall, it is characterised in that: described first
Ranging channel (3) is set to sweeper ontology (1) two sides leading portion, and second ranging channel (8) is set to the sweeper sheet
Body (1) two sides back segment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910355311.2A CN109998427A (en) | 2019-04-29 | 2019-04-29 | A kind of intelligent sweeping machine cleans induction structure along wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910355311.2A CN109998427A (en) | 2019-04-29 | 2019-04-29 | A kind of intelligent sweeping machine cleans induction structure along wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109998427A true CN109998427A (en) | 2019-07-12 |
Family
ID=67175294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910355311.2A Pending CN109998427A (en) | 2019-04-29 | 2019-04-29 | A kind of intelligent sweeping machine cleans induction structure along wall |
Country Status (1)
| Country | Link |
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| CN (1) | CN109998427A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111297266A (en) * | 2020-02-25 | 2020-06-19 | 微思机器人(深圳)有限公司 | Wall-following walking control system and method for sweeper and sweeper |
| CN112386189A (en) * | 2019-08-15 | 2021-02-23 | 深圳市扬哲科技有限公司 | Two laser radar three-dimensional scanning barrier distance's of intelligence machine of sweeping floor device |
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| DE102012108802A1 (en) * | 2012-09-19 | 2014-03-20 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor cleaning device and method for operating a floor cleaning device |
| CN103909514A (en) * | 2013-01-05 | 2014-07-09 | 科沃斯机器人科技(苏州)有限公司 | Control assembly for movement of long-side works of self-moving robot, and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112386189A (en) * | 2019-08-15 | 2021-02-23 | 深圳市扬哲科技有限公司 | Two laser radar three-dimensional scanning barrier distance's of intelligence machine of sweeping floor device |
| CN111297266A (en) * | 2020-02-25 | 2020-06-19 | 微思机器人(深圳)有限公司 | Wall-following walking control system and method for sweeper and sweeper |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190712 |
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| RJ01 | Rejection of invention patent application after publication |