CN110123211A - A kind of distance measuring structure of intelligent sweeping machine - Google Patents
A kind of distance measuring structure of intelligent sweeping machine Download PDFInfo
- Publication number
- CN110123211A CN110123211A CN201910406344.5A CN201910406344A CN110123211A CN 110123211 A CN110123211 A CN 110123211A CN 201910406344 A CN201910406344 A CN 201910406344A CN 110123211 A CN110123211 A CN 110123211A
- Authority
- CN
- China
- Prior art keywords
- rotating disk
- mounting plate
- sweeper
- laser
- distance measuring
- Prior art date
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of distance measuring structure of intelligent sweeping machine, including sweeper ontology, laser ranging module is provided in sweeper ontology, laser ranging module includes mounting plate, mounting plate bottom avris is equipped with rotation motor, the rotating bar of rotation motor passes through mounting plate in being arranged with belt pulley on mounting plate, rotation is provided with rotating disk in the middle part of mounting plate, rotating disk is connect by belt with belt pulley, and rotation plate edge upwardly extends and is provided with edge, rotating disk is arranged with upper cover on edge, mounting base is installed between rotating disk and upper cover, fastening plates are provided in mounting base, laser range sensor is provided between mounting base and fastening plates, edge and upper cover avris correspond to laser source and receiver offers opening, and laser source and receiver are the same as partially passing through sweeper bodies top in being arranged with protection outside sweeper in rotating disk Cover is monitored sweeper ontology surrounding environment by single or a small amount of laser range sensor realization, effectively reduces cost.
Description
Technical field
The present invention relates to sweeper ontology device people field more particularly to a kind of distance measuring structures of intelligent sweeping machine.
Background technique
With the long-term high speed development of society, people's lives rhythm has become very very fast, and Chang Wuli is in processing
Some trifling things in life, to save the time, for the prior thing such as working or learning, therefore this has been expedited the emergence of very
The business opportunity on more peripheries improves the life efficiency of large quantities of people, eliminates and come up away if the fast development of industry is taken out in food and drink
It goes to buy vegetables the time cooked, and the development of sweeper ontology is similarly social high speed development of benefiting, and now major part is swept
Ground machine ontology has all stamped the title of intelligent sweeping machine because it has very powerful automation function, but this kind of after all sweeps the floor
Machine ontology needs very high scientific and technological content and needs time check, therefore there are the still incomplete feelings of function of a part automation
Condition, such as common supersonic sounding or using infrared distance measurement on sweeper ontology now, and supersonic sounding and infrared distance measurement are then
It needs to be provided with multiple related sensors on sweeper ontology, and needs to acquire and handle a large amount of data, this causes to sweep
Ground machine ontology is slow in ranging Comparision, and the reaction of sweeper ontology is more blunt, and manufacturing cost is also opposite relatively high.
It is a kind of using laser ranging module progress Multidirectional sweeping it is therefore desirable to provide, realize sweeper ontology walking ground
The distance measuring structure of the intelligent sweeping machine of figure Fast Drawing.
Summary of the invention
The present invention provides a kind of utilization laser ranging module Multidirectional sweeping, realizes the drafting of sweeper ontology walking map
Intelligent sweeping machine distance measuring structure.By utilizing rotating disk and rotation motor, realization passes through single or a small amount of Laser Measuring
It is realized away from sensor and drafting walking map efficiently is monitored to sweeper ontology surrounding environment, promote the anti-of sweeper ontology
Speed is answered, and is effectively reduced cost.
It is asked to solve above-mentioned technology, the technical scheme is that
A kind of distance measuring structure of intelligent sweeping machine, including sweeper ontology are provided with Laser Measuring in the sweeper ontology
Away from module, the laser ranging module includes mounting plate, and mounting plate bottom avris is equipped with rotation motor, the rotation horse
The rotating bar reached passes through mounting plate in being arranged with belt pulley on mounting plate, and rotation is provided with rotating disk in the middle part of the mounting plate, institute
It states rotating disk to connect by belt with the belt pulley, and rotation plate edge upwardly extends and is provided with edge, the rotating disk side
It is arranged with upper cover on edge, mounting base is installed between the rotating disk and upper cover, fastening plates are provided in the mounting base, it is described
Be provided with laser range sensor between mounting base and fastening plates, the edge and upper cover avris correspond to the laser source with
And receiver offers opening, and the laser source and receiver are the same as partially passing through the sweeper bodies top in rotating disk
It is arranged with protective cover outside in sweeper.
The preferably described laser range sensor includes laser source and receiver.
The recess for accommodating laser source and receiver is provided between the preferably described mounting base and fastening plates.
The preferably described mounting plate is installed in the sweeper ontology by screw.
The preferably described rotating disk bottom avris is arranged with a circle groove, the belt be set to groove and belt pulley it
Between.
The avris of the preferably described protective cover is transparent.
The control core of the preferably described rotation motor and the sweeper ontology is electrically connected.
The preferably described laser ranging module is LDS laser ranging module.
The preferably described rotating disk is rotatably dispose on mounting plate by bearing.
Compared with prior art, the invention has the advantages that:
1, for the present invention by driving rotating disk by belt using rotation motor, realization passes through single or a small amount of Laser Measuring
It is realized away from module and drafting walking map efficiently is monitored to sweeper ontology surrounding environment, promote the reaction of sweeper ontology
Speed, and effectively reduce cost.
2, the present invention reduces the frictional force between rotating disk and mounting plate using bearing, so that the rotation of rotating disk is more flowed
Freely, and rotation motor is promoted to the transmission efficiency between rotating disk.
Detailed description of the invention
Fig. 1 is sweeper body interior schematic diagram of the present invention；
Fig. 2 is agent structure schematic diagram of the present invention；
Fig. 3 is enlarged diagram at A of the present invention.
Appended drawing reference: 1, sweeper ontology, 2, rotating disk, 3, mounting plate, 4, mounting base, 5, fastening plates, 6, laser source, 7,
Receiver, 8, edge, 9, upper cover, 10, protective cover, 11, belt, 12, rotation motor, 13, belt pulley.
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.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
A kind of distance measuring structure of intelligent sweeping machine in conjunction with shown in Fig. 1-3, including sweeper ontology 1, institute's sweeper ontology 1
It is inside provided with laser ranging module, the laser ranging module includes mounting plate 3, and the 3 bottom avris of mounting plate, which is equipped with, to be turned
Dynamic motor 12, the rotating bar of the rotation motor 12 pass through mounting plate 3 in being arranged with belt pulley 13, the installation on mounting plate 3
Rotation is provided with rotating disk 2 in the middle part of plate 3, and the rotating disk 2 is connect by belt 11 with the belt pulley 13, and rotating bar motor is logical
It crosses belt 11 and drives rotating disk rotation, carry out multi-angle ranging using laser to realize, and 2 edge of rotating disk is upwardly extended and set
It is equipped with edge 8, upper cover 9 is arranged on 2 edge 8 of rotating disk, mounting base 4 is installed between the rotating disk 2 and upper cover 9,
It is provided with fastening plates 5 in the mounting base 4, is provided with laser range sensor between the mounting base 4 and fastening plates 5, this swashs
Optical sensor includes laser source 6 and receiver 7, and the edge 8 and 9 avris of upper cover correspond to the laser source 6 and connect
It receives device 7 and offers opening, the laser that laser source 6 emits is projected from corresponding opening to the external world, and the extraneous laser reflected is from correspondence
Opening exposes on receiver 7, and the laser source 6 and receiver 7 are electrically connected with the control core of sweeper ontology 1, control
Core controls the transmitting of 6 laser of laser source, also handles the received laser signal of receiver 7, and the laser source 6 and receiver
7 with 1 top of sweeper ontology is partially passed through in being arranged with protective cover 10 outside sweeper in rotating disk 2, the mounting plate 3 is logical
It crosses screw to be installed in the sweeper ontology 1, the 2 bottom avris of rotating disk is arranged with a circle groove, and the belt 11 is set
It is placed between groove and belt pulley 13, the avris of the protective cover 10 is transparent, in the feelings of protection laser source 6 and receiver 7
Laser source 6 is enabled to launch outward laser through 10 avris of protective cover under condition, but also receiver 7 can receive the external world instead
The control core of the laser penetrated, sweeper ontology 1 can be according to the transmitting and received laser signal control of its laser range sensor
Sweeper ontology 1 processed makes a response to external environment, be provided between the mounting base 4 and fastening plates 5 accommodate laser source 6 and
The recess of receiver 7 reduces the vibration of laser source 6 and receiver 7, and improving laser source 6 and the running of receiver 7 are stablized, no
The situation of distance measuring signal shakiness can occur with the walking swept the floor, the control of the rotation motor 12 and the sweeper ontology 1
Core is electrically connected, the start and stop of the control core control rotation motor 12 of sweeper ontology 1 and revolving speed, the laser ranging mould
Block is LDS laser ranging module.Laser ranging module has fast response time, data phase relative to other kinds of range finder module
To less advantage, therefore the scanning in multiple orientation can be realized by one or a small amount of laser range sensor, and LDS
Comparatively laser ranging module is easier to minimize, be more suitable for this kind of small intelligent machine such as sweeper and use.
The working principle of the invention: by come ranging, and carrying laser ranging using rotating disk 2 using laser ranging module
Sensor carries out multiple orientation and is scanned, and obtains range data, and the data are by the control core control as sweeper ontology 11
1 movement velocity of sweeper ontology processed, the direction of motion or the important evidence of start and stop, and rotation motor 12 is then that rotating disk 2 is driven to revolve
The component turned, the control core ontology of sweeper can regulate and control the revolving speed of rotation motor 12, so that the revolving speed of rotating disk 2 can basis
The different travel speed of sweeper ontology 1 changes automatically, and laser ranging module is made to meet actual use state, such as
The revolving speed of disk 2 is spun up under fast state, to improve the renewal frequency of the scan data of laser range sensor, to guarantee to sweep
Ground machine ontology 1 grasps fast-changing surrounding enviroment in time, and when sweeper ontology 1 senses obvious obstruction after, can reduce
2 revolving speed of rotating disk gives sweeper sheet so that laser range sensor scanning is more sufficiently careful to provide more detail datas
(control core refers to that control sweeper controls the maincenter of each part runs to the control core of body 1, is certainly existed in intelligent sweeping machine
A core component), for its avoid program (manipulation sweeper avoiding obstacles core algorithm, be sweeper field in
Algorithms most in use) operation accurate strong reference data is provided.
The innovation of the invention consists in that: a kind of using laser ranging module Multidirectional sweeping, realization sweeper sheet is provided
The distance measuring structure of the intelligent sweeping machine of the drafting of the walking map of body 1.It is utilized by being realized using rotating disk 2 and rotation motor 12
Single or a small amount of laser sensor, which is realized, is efficiently monitored drafting walking map to 1 surrounding environment of sweeper ontology, mentions
The reaction speed of sweeper ontology 1 is risen, and is effectively reduced cost.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of distance measuring structure of intelligent sweeping machine, including sweeper ontology, it is characterised in that: setting in the sweeper ontology
There is laser ranging module, the laser ranging module includes mounting plate, and mounting plate bottom avris is equipped with rotation motor, institute
The rotating bar for stating rotation motor passes through mounting plate in being arranged with belt pulley on mounting plate, and rotation is provided with rotation in the middle part of the mounting plate
Turntable, the rotating disk are connect by belt with the belt pulley, and rotation plate edge upwardly extends and is provided with edge, the rotation
It is arranged with upper cover on turntable edge, mounting base is installed between the rotating disk and upper cover, fastening is provided in the mounting base
Plate, is provided with laser range sensor between the mounting base and fastening plates, described in the edge and upper cover avris are corresponding
Laser source and receiver offer opening, and the laser source and receiver are the same as partially passing through the sweeper in rotating disk
Bodies top is arranged with protective cover in sweeper outside.
2. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the laser ranging sensing
Device includes laser source and receiver.
3. a kind of distance measuring structure of intelligent sweeping machine according to claim 2, it is characterised in that: the mounting base and fastening
The recess for accommodating laser source and receiver is provided between plate.
4. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the mounting plate passes through spiral shell
Silk is installed in the sweeper ontology.
5. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the rotating disk bottom sides
Side is arranged with a circle groove, and the belt is set between groove and belt pulley.
6. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the avris of the protective cover
It is transparent.
7. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the rotation motor and institute
The control core for stating sweeper ontology is electrically connected.
8. a kind of distance measuring structure of intelligent sweeping machine according to claim 1, it is characterised in that: the laser ranging module
For LDS laser ranging module.
9. a kind of ranging mechanism of intelligent sweeping machine according to claim 1, it is characterised in that: the rotating disk passes through axis
It holds and is rotatably dispose on mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406344.5A CN110123211A (en) | 2019-05-15 | 2019-05-15 | A kind of distance measuring structure of intelligent sweeping machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910406344.5A CN110123211A (en) | 2019-05-15 | 2019-05-15 | A kind of distance measuring structure of intelligent sweeping machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110123211A true CN110123211A (en) | 2019-08-16 |
Family
ID=67574455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910406344.5A Pending CN110123211A (en) | 2019-05-15 | 2019-05-15 | A kind of distance measuring structure of intelligent sweeping machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110123211A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022213401A1 (en) * | 2021-04-07 | 2022-10-13 | 深圳市欢创科技有限公司 | Distance measuring apparatus and floor sweeping robot |
| CN115486765A (en) * | 2022-09-26 | 2022-12-20 | 茅台学院 | Self-moving robot and correction method thereof |
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| WO2009012474A1 (en) * | 2007-07-19 | 2009-01-22 | Neato Robotics, Inc. | Distance sensor system and method |
| CN205671988U (en) * | 2015-11-05 | 2016-11-09 | 广东雷洋智能科技股份有限公司 | A kind of Intelligent cleaning robot |
| CN106772396A (en) * | 2016-12-12 | 2017-05-31 | 成都育芽科技有限公司 | A kind of automatic obstacle-avoiding unmanned plane |
| CN206745315U (en) * | 2017-01-12 | 2017-12-15 | 苏州爱普电器有限公司 | Robot for cleaning floor |
| CN109124496A (en) * | 2018-09-20 | 2019-01-04 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping robot and cleaning equipment |
-
2019
- 2019-05-15 CN CN201910406344.5A patent/CN110123211A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009012474A1 (en) * | 2007-07-19 | 2009-01-22 | Neato Robotics, Inc. | Distance sensor system and method |
| CN205671988U (en) * | 2015-11-05 | 2016-11-09 | 广东雷洋智能科技股份有限公司 | A kind of Intelligent cleaning robot |
| CN106772396A (en) * | 2016-12-12 | 2017-05-31 | 成都育芽科技有限公司 | A kind of automatic obstacle-avoiding unmanned plane |
| CN206745315U (en) * | 2017-01-12 | 2017-12-15 | 苏州爱普电器有限公司 | Robot for cleaning floor |
| CN109124496A (en) * | 2018-09-20 | 2019-01-04 | 小狗电器互联网科技（北京）股份有限公司 | Sweeping robot and cleaning equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022213401A1 (en) * | 2021-04-07 | 2022-10-13 | 深圳市欢创科技有限公司 | Distance measuring apparatus and floor sweeping robot |
| CN115486765A (en) * | 2022-09-26 | 2022-12-20 | 茅台学院 | Self-moving robot and correction method thereof |
| CN115486765B (en) * | 2022-09-26 | 2023-06-27 | 茅台学院 | Self-moving robot and correction method thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20190816 |