CN111631652A - Machine of sweeping floor keeps away barrier structure and machine of sweeping floor - Google Patents
Machine of sweeping floor keeps away barrier structure and machine of sweeping floor Download PDFInfo
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- CN111631652A CN111631652A CN202010621814.2A CN202010621814A CN111631652A CN 111631652 A CN111631652 A CN 111631652A CN 202010621814 A CN202010621814 A CN 202010621814A CN 111631652 A CN111631652 A CN 111631652A
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- sweeper
- end wall
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- infrared
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- 238000010408 sweeping Methods 0.000 title description 15
- 241001417527 Pempheridae Species 0.000 claims abstract description 59
- 238000004140 cleaning Methods 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 239000011324 bead Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 abstract description 17
- 230000007246 mechanism Effects 0.000 description 5
- 238000009826 distribution Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
- 238000002161 passivation Methods 0.000 description 1
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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
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses an obstacle avoidance structure for a sweeper, which comprises a plurality of first infrared sensors; installing a plurality of first infrared sensors at the lower end position of the front end wall of the sweeper at intervals along the periphery of the front end wall of the sweeper, wherein the sensing ends face upwards; therefore, the induction area covering the front end wall of the sweeper can be formed, and suspended obstacles can be flexibly identified and induced. The induction direction is more comprehensive, the walking safety of the sweeper is improved, and the number of the sensors is saved. The application also discloses a sweeper. Have above-mentioned obstacle-avoiding structure to have the unsettled barrier ability of response, the obstacle discernment is more comprehensive, and the walking security is better, improves user experience.
Description
Technical Field
The application relates to the technical field of sweeping robots, in particular to a sweeping machine obstacle avoidance structure and a sweeping machine.
Background
The sweeper is a sweeping robot, 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 by means of certain artificial intelligence. The structure of the current sweeping robot mainly comprises a main body framework, a walking device, a laser radar module, a cleaning device, an obstacle avoidance device and the like, wherein the obstacle avoidance device mainly comprises a collision induction mechanism, an infrared induction module and the like; the collision sensing mechanism is generally installed at a lower end of a front end wall of the main body structure for sensing a collision condition, and the infrared sensing modules are distributed on the front end wall of the main body structure. However, the current sweeper is difficult to cover the obstacle detection of the whole front end wall only by means of the infrared induction module and the collision induction mechanism, and a sensing blind area is easily formed between the top of the front end wall and the infrared induction module, so that part of suspended obstacles cannot be sensed, and the situation of collision and damage is easily caused. Particularly, for a commercial sweeper with larger volume, the sensing blind area is easier to exist. Although the mode that adopts to be covered with the infrared induction module from bottom to top on the front end wall can reduce the response blind area, but required infrared induction module is more, and is with high costs.
Disclosure of Invention
In view of this, the first purpose of this application is to provide a machine of sweeping floor keeps away barrier structure, can significantly reduce even avoid the existence of response blind area, can respond to unsettled barrier, improves the quick-witted walking security of sweeping floor and economy.
The second purpose of this application is to provide a sweeper, can respond to unsettled barrier, the security is good.
To achieve the above technical object, the present application provides a display device including a plurality of first infrared sensors;
the first infrared sensors are arranged at the lower end of the front end wall of the sweeper and distributed at intervals around the periphery of the front end wall of the sweeper;
the sensing end of the first infrared sensor is arranged upwards.
The automobile bumper further comprises a collision front bumper and a mechanical switch arranged on the collision front bumper;
the plurality of first infrared sensors are arranged at the top of the collision front bumper and distributed at intervals along the length direction of the collision front bumper.
Furthermore, a plurality of mounting grooves are formed in the top of the collision front bumper;
and the first infrared sensors are arranged in the mounting groove in a one-to-one correspondence manner.
Furthermore, the mounting groove upper cover is provided with a transparent blocking sheet.
Further, the first infrared sensor is specifically an infrared sensing lamp bead.
Further, an upward sensing area formed by the first infrared sensor is gradually increased from bottom to top.
The application also discloses a sweeper, which comprises a main body, a sweeping device, a traveling device, a laser radar and the obstacle avoidance structure;
the obstacle avoidance structure is arranged at the bottom end of the front end wall of the main body.
Further, the ultrasonic sensor is also included;
the ultrasonic sensor is mounted to a front end wall of the main body.
Further, the device also comprises a PSD sensor;
the PSD sensor is installed on the front end wall of the main body and is located below the ultrasonic sensor.
Further, a second infrared sensor is also included;
the second infrared sensor is mounted on the front end wall of the main body and is positioned below the PSD sensor;
the ultrasonic sensor, the PSD sensor and the second infrared sensor are distributed at intervals from top to bottom along the same straight line direction.
According to the technical scheme, the obstacle avoidance structure for the sweeper comprises a plurality of first infrared sensors; installing a plurality of first infrared sensors at the lower end position of the front end wall of the sweeper at intervals along the periphery of the front end wall of the sweeper, wherein the sensing ends face upwards; therefore, the induction area covering the front end wall of the sweeper can be formed, and suspended obstacles can be flexibly identified and induced. The induction direction is more comprehensive, the walking safety of the sweeper is improved, and the number of the sensors is saved.
The application still provides a machine of sweeping floor, has the aforesaid and keeps away the barrier structure to have the unsettled barrier ability of response, the obstacle discernment is more comprehensive, and the walking security is better, improves user experience.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic structural view of an obstacle avoidance structure for a sweeper in a suspended obstacle sensing state;
fig. 2 is an axial view of a sweeper provided in the present application;
fig. 3 is a top view of a sweeper provided in the present application;
fig. 4 is a schematic structural diagram of the sweeper provided in the present application in an induction state;
figure 5 is a cross-sectional view of a sweeper provided herein;
fig. 6 is a cross-sectional view of a sweeper provided in the present application in a zero-induction state;
in the figure: 11. collision front bumper; 111. mounting grooves; 12. a mechanical switch; 13. a first infrared sensor; 2. a transparent blocking sheet; 100. an obstacle object; 200. a main body; 300. a laser radar; 400. a traveling device; 401. a driving wheel set; 402. a universal wheel; 500. a cleaning device; 501. a recovery box; 502. a fan; 503. rolling and brushing; 504. side brush; 601. an ultrasonic sensor; 602. a PSD sensor; 603. a second infrared sensor; 700. a power supply device.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
The embodiment of the application discloses machine of sweeping floor keeps away barrier structure.
Referring to fig. 1, an embodiment of an obstacle avoidance structure for a sweeper provided in an embodiment of the present application includes:
a plurality of first infrared sensors 13; the first infrared sensors 13 are arranged at the lower end of the front end wall of the sweeper and are distributed at intervals around the periphery of the front end wall of the sweeper; the sensing end of the first infrared sensor 13 is arranged upward.
According to the technical scheme, the obstacle avoidance structure for the sweeper comprises a plurality of first infrared sensors 13; installing a plurality of first infrared sensors 13 at the lower end position of the front end wall of the sweeper at intervals along the periphery of the front end wall of the sweeper, wherein the sensing ends face upwards; this allows the sensing area formed to cover the front end wall of the sweeper as shown in figure 1 to be used to flexibly identify and sense airborne obstacles. The induction direction is more comprehensive, the walking safety of the sweeper is improved, and the number of the sensors is saved.
The above is an embodiment of the obstacle avoidance structure for a sweeper provided in the present application, and the following is an embodiment of the obstacle avoidance structure for a sweeper provided in the present application, specifically please refer to fig. 1.
An obstacle avoidance structure for a sweeper comprises a plurality of first infrared sensors 13; the first infrared sensors 13 are arranged at the lower end of the front end wall of the sweeper and are distributed at intervals around the periphery of the front end wall of the sweeper; the sensing end of the first infrared sensor 13 is arranged upward.
Further, the automobile bumper further comprises a front collision bumper 11, a mechanical switch 12 installed on the front collision bumper 11, and a plurality of first infrared sensors 13; the plurality of first infrared sensors 13 are arranged at the top of the collision front bumper 11 and are distributed at intervals along the length direction of the collision front bumper 11; the sensing end of the first infrared sensor 13 is arranged upward.
Specifically, in the present embodiment, the first infrared sensor is coupled 13 to the front structure, thereby solving the installation location and making the obstacle detection capability more comprehensive. Installing a plurality of first infrared sensors 13 on the top of the collision front bumper 11 along the length direction of the collision front bumper 11 at intervals, wherein the sensing ends face upwards; not only have the collision response function like this in low high horizontal direction, but also can utilize a plurality of infrared sensor 13 that set up upwards to form the response region that covers the quick-witted front end wall of sweeping the floor to unsettled barrier is sensed in discernment that can be nimble. The induction direction is more comprehensive, the walking safety of the sweeper is improved, and the number of the sensors is saved. Taking fig. 1 as an example, the upper end of one side wall of the obstacle 100 has a protrusion, and the protrusion forms a suspended obstacle. At this time, although the mechanical switch 12 of the front bumper 11 cannot be touched, the sensing area formed upwards by the plurality of first infrared sensors 13 can sense the suspended obstacle in advance, so that the obstacle can be avoided in time.
Further, the plurality of first infrared sensors 13 are uniformly distributed at equal intervals along the length direction of the front collision bumper 11 itself. Even distribution can form even response region, and the effect of response discernment unsettled barrier also can be better. The specific distribution density condition can be properly adjusted and changed according to actual needs without limitation.
Further, a plurality of mounting grooves 111 are formed in the top of the collision front bumper 11; the plurality of first infrared sensors 13 are installed in the installation groove 111 in a one-to-one correspondence. Set up mounting groove 111 and make things convenient for first infrared sensor 13 installation fixed, fixed mode can be fixed in mounting groove 111 through fasteners such as screws, also can be fixed through gluing glutinous mode, does not specifically do the restriction.
In this application, first infrared sensor 13 can be angle regulation's installation on the fender 11 top before the collision to the mounting groove 111 of seting up is the example, can set up adjustable turned angle's fixing base (not shown in the figure) in mounting groove 111, also is that the fixing base is the articulated cooperation of passivation bottom mounting groove 111, can rotate the fixing base in order to adjust turned angle, and then adjusts first infrared sensor 13 inclination up, with the distribution range of regulation control induction area. Those skilled in the art can make appropriate changes based on the above without limitation.
Further, in order to better protect the first infrared sensor 13, the transparent blocking piece 2 can be covered on the mounting groove 111, and the first infrared sensor 13 can be protected without affecting the emission of infrared signals. The transparent blocking sheet 2 can be made of glass or acrylic material, and is not limited specifically.
Further, the first infrared sensor 13 may specifically be an infrared sensing lamp bead, and those skilled in the art may make appropriate changes based on this, which is not specifically limited.
Further, the upward sensing area formed by the first infrared sensor 13 gradually increases from bottom to top. Because the dead zone of the area which is closer to the top of the front end wall of the sweeper is more serious, the induction range which is gradually increased from bottom to top is arranged to have better induction identification effect. Of course, those skilled in the art can make appropriate changes based on the above without limitation.
As shown in fig. 2 to 6, the present application further discloses a sweeper, which includes a main body 200, a cleaning device 500, a traveling device 400, a laser radar 300, and an obstacle avoidance structure; the obstacle avoidance structure is installed at the bottom end of the front end wall of the main body 200.
Specifically, as shown in fig. 5 and 6, the main body 200 may include a chassis, a casing, a power supply device, and a controller, the chassis and the casing are used for carrying various mechanisms and components, and the specific shape structure is not limited. The controller can comprise a control chip, a control circuit, a software program and the like and is used as a control center of the sweeper. The cleaning device 500 may include a blower 502, a recycling box 501, a rolling brush 503, a side brush 504, and the like, to clean and recycle the garbage. The walking device 400 is used for driving the sweeper to travel/cross obstacles according to a planned path, and specifically may include a driving wheel set 401 and a universal wheel 402. The power supply device 700 may include a lithium battery, a power supply control module, and the like, for supplying power to each mechanism part. The above structural composition can be appropriately changed according to actual needs, and details are not described. The obstacle avoidance structure can be elastically mounted at the bottom of the front end wall of the main body 200 through a related elastic component, so that collision potential energy can be buffered and absorbed during collision, and the collision potential energy is not limited specifically. In addition, the structure of the front collision bumper 11 may be changed according to the main structure, for example, as in the arc structure in fig. 2 to 3, and the corresponding first infrared sensors 13 are distributed along the arc length direction of the front collision bumper 11.
Specifically, when the sweeper is in the condition shown in fig. 4 and 5, the suspended obstacle can be timely identified through the first infrared sensor 13 and fed back to the controller, and the controller controls the traveling device 400 to avoid the obstacle for traveling.
In order to avoid signal disorder caused by shielding of the first infrared sensor 13 after collision of the front bumper 11 as shown in fig. 6, the signal of the mechanical switch 12 and the sensing signal of the first infrared sensor 13 can be processed by using an "OR" closed logic relationship to process signal linkage, so that the problem of mutual interference of signals is solved. Those skilled in the art can make appropriate changes based on the above without limitation.
Further, in order to further improve the sensing and identification capability, an ultrasonic sensor 601 may be further included; the ultrasonic sensor 601 is mounted to the front end wall of the main body 200. The front end wall may be disposed at a position on a vertical center line of the front end wall, and is not particularly limited.
Similarly, a PSD sensor 602, i.e. a PSD position sensor, can be further included, which is an optical detector capable of measuring the continuous position of the light spot on the detector surface; the PSD sensor 602 is mounted on the front end wall of the main body 200 and located below the ultrasonic sensor 601. A second infrared sensor 603; the second infrared sensor 603 is mounted on the front end wall of the main body 200 and located below the PSD sensor 602; the ultrasonic sensor 601, the PSD sensor 602, and the second infrared sensor 603 are spaced from top to bottom along the same straight line direction. The use of the first infrared sensor 13 is matched in this way, the sensing and identifying capability of the middle-high position can be further enhanced, and the good sensing and identifying obstacle capability of the low-height/middle-high and high-height positions is realized. The distribution positions of the ultrasonic sensor 601/PSD sensor 602 and the second infrared sensor 603 may also be adjusted, and are not limited specifically.
Generally speaking, the sweeper disclosed can identify the problems of being clamped by a suspended obstacle and the like in a high-complexity obstacle scene, has better obstacle avoidance performance, and improves the use experience of a user.
The obstacle avoidance structure for a sweeper and the sweeper provided by the present application are described in detail above, and for those skilled in the art, according to the idea of the embodiment of the present application, there are changes in the specific implementation manner and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. An obstacle avoidance structure for a sweeper is characterized by comprising a plurality of first infrared sensors;
the first infrared sensors are arranged at the lower end of the front end wall of the sweeper and distributed at intervals around the periphery of the front end wall of the sweeper;
the sensing end of the first infrared sensor is arranged upwards.
2. The obstacle avoidance structure for the sweeper according to claim 1, further comprising a front collision bumper and a mechanical switch mounted on the front collision bumper;
the plurality of first infrared sensors are arranged at the top of the collision front bumper and distributed at intervals along the length direction of the collision front bumper.
3. The obstacle avoidance structure for the sweeper according to claim 2, wherein a plurality of mounting grooves are formed in the top of the collision front bumper;
and the first infrared sensors are arranged in the mounting groove in a one-to-one correspondence manner.
4. The obstacle avoidance structure for a sweeper according to claim 3, wherein the mounting groove is covered with a transparent blocking piece.
5. The obstacle avoidance structure for the sweeper according to claim 1, wherein the first infrared sensor is specifically an infrared sensing lamp bead.
6. The obstacle avoidance structure for the sweeper according to claim 1, wherein an upward sensing area formed by the first infrared sensor is gradually increased from bottom to top.
7. A sweeper comprises a main body, a cleaning device, a traveling device and a laser radar, and is characterized by further comprising an obstacle avoidance structure according to any one of claims 1 to 6;
the obstacle avoidance structure is arranged at the bottom end of the front end wall of the main body.
8. The sweeper of claim 7, further comprising an ultrasonic sensor;
the ultrasonic sensor is mounted to a front end wall of the main body.
9. The sweeper of claim 8, further comprising a PSD sensor;
the PSD sensor is installed on the front end wall of the main body and is located below the ultrasonic sensor.
10. The sweeper of claim 9, further comprising a second infrared sensor;
the second infrared sensor is mounted on the front end wall of the main body and is positioned below the PSD sensor;
the ultrasonic sensor, the PSD sensor and the second infrared sensor are distributed at intervals from top to bottom along the same straight line direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010621814.2A CN111631652A (en) | 2020-07-01 | 2020-07-01 | Machine of sweeping floor keeps away barrier structure and machine of sweeping floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010621814.2A CN111631652A (en) | 2020-07-01 | 2020-07-01 | Machine of sweeping floor keeps away barrier structure and machine of sweeping floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111631652A true CN111631652A (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010621814.2A Pending CN111631652A (en) | 2020-07-01 | 2020-07-01 | Machine of sweeping floor keeps away barrier structure and machine of sweeping floor |
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| CN (1) | CN111631652A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| CN114625116A (en) * | 2021-05-06 | 2022-06-14 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| CN114668342A (en) * | 2022-05-06 | 2022-06-28 | 瑞信塑胶电子(深圳)有限公司 | Energy-saving intelligent sweeping robot capable of automatically avoiding obstacles and method thereof |
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
-
2020
- 2020-07-01 CN CN202010621814.2A patent/CN111631652A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113189993A (en) * | 2021-04-27 | 2021-07-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| CN113189993B (en) * | 2021-04-27 | 2023-08-29 | 北京石头创新科技有限公司 | Obstacle avoidance method and device for self-walking equipment, medium and electronic equipment |
| CN114625116A (en) * | 2021-05-06 | 2022-06-14 | 北京石头世纪科技股份有限公司 | Self-walking equipment obstacle avoidance method, device, medium and electronic equipment |
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
| CN114668342A (en) * | 2022-05-06 | 2022-06-28 | 瑞信塑胶电子(深圳)有限公司 | Energy-saving intelligent sweeping robot capable of automatically avoiding obstacles and method thereof |
| CN114668342B (en) * | 2022-05-06 | 2023-03-10 | 瑞信塑胶电子(深圳)有限公司 | Energy-saving intelligent sweeping robot capable of automatically avoiding obstacles and method thereof |
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