CN113384192A

CN113384192A - Intelligent direction adjusting and detecting device for floor sweeping robot

Info

Publication number: CN113384192A
Application number: CN202110685327.7A
Authority: CN
Inventors: 王利鹏; 周强; 郭现立
Original assignee: Stratospheric Shenzhen Robot Technology Co ltd
Current assignee: Stratospheric Shenzhen Robot Technology Co ltd
Priority date: 2021-06-21
Filing date: 2021-06-21
Publication date: 2021-09-14
Also published as: WO2022267716A1

Abstract

The invention discloses an intelligent direction adjustment detection device for a sweeping robot. The opening and closing of the rotating body are realized through the driving device, the environment with a short distance and a long distance in the advancing direction of the sweeping robot is detected through arranging the plurality of sensors in the rotating body, the avoidance of the obstacle and the fault-tolerant ground is realized without depending on collision, the obstacle and the fault-tolerant ground can be detected in advance by the sweeping robot in the operation, the sensing capability of the sweeping robot to the environment is improved and enhanced, and the obstacle can be avoided timely and accurately; preventing falling, achieving the high-quality cleaning effect and ensuring the safe operation of the machine.

Description

Intelligent direction adjusting and detecting device for floor sweeping robot

Technical Field

The invention relates to the technical field of environment perception, in particular to an intelligent direction adjusting and detecting device for a sweeping robot.

Background

At present, with the development of science and technology, more and more intelligent household appliances enter our lives, an intelligent floor sweeping robot is taken as one of the necessary intelligent household appliances of modern families, and the intelligent function depends on the algorithm of developers and also needs a detection and induction system of the intelligent floor sweeping robot.

However, the detection devices of the existing sweeping robot are all installed at the bottom and the side of the robot shell, so that a lot of limitations exist on the detection of environment acquisition information, and the peripheral environment is sensed by the blind collision of a machine body and an obstacle. When a cross section or a tunnel exists, the direction can not be changed by blind collision, so that the sweeping robot falls and is damaged

Therefore, how to detect the obstacle and the ground with the fault in advance can avoid the obstacle timely and accurately, and the falling prevention is a problem that needs to be solved urgently by technical personnel in the field.

Disclosure of Invention

In view of the above, the present invention provides an intelligent direction adjustment detecting device for a sweeping robot, which is configured to open and close a rotating body through a driving device, detect a short-distance environment and a long-distance environment in an advancing direction of the sweeping robot through arranging a plurality of sensors in the rotating body, avoid obstacles and a fault ground without depending on collision, and achieve no dead angle coverage in the detection direction.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent direction adjustment detection device for a sweeping robot, comprising: the device comprises a body, a rotating body, a driving module and a control module;

the front end of body is equipped with the recess, the rotator sets up in the recess, control module pass through drive module with the rotator is connected for control the rotator is rotatory, be provided with a plurality of sensors in the rotator, the sensor is used for monitoring the direction of advance be provided with a plurality of positioner in the recess, positioner is used for injecing the rotation angle of rotator.

Preferably, the sensor includes a horizontal detecting sensor and a vertical detecting sensor which are horizontally distributed, the horizontal detecting sensor is used for detecting a long-distance environment, and the vertical detecting sensor is used for detecting a short-distance environment.

Preferably, a first positioning device is arranged at the top end of the groove, a second positioning device is arranged on the side wall of the groove, the first positioning device is used for positioning the fully closed state of the rotating body, and the second positioning device is used for positioning the fully unfolded state of the rotating body

Preferably, the driving module comprises a motor and a connecting belt, and the motor is connected with the rotating body through the connecting belt.

According to the technical scheme, compared with the prior art, the intelligent direction adjusting and detecting device for the sweeping robot is disclosed, the rotating body is opened and closed through the driving device, the multiple sensors are arranged in the rotating body to detect the close-distance and long-distance environment in the advancing direction of the sweeping robot, the obstacles and the broken and poor ground are avoided without depending on collision, and no dead angle coverage in the detection direction is realized. The detection of the sweeping robot on the distance, the depth, the position and the obstacle is realized, the sweeping robot can detect the obstacle and the fault ground in advance during the operation, the sensing capability of the sweeping robot on the environment is improved and enhanced, and the obstacle can be avoided in time and accurately; preventing falling, achieving the high-quality cleaning effect and ensuring the safe operation of the machine.

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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a sweeping robot device provided by the invention.

Fig. 2 is a schematic structural diagram of a sweeping robot system provided by the invention.

Wherein, 1 is a body, 2 is a rotating body, 3 is a driving module, 4 is a control module, 11 is a groove, 12 is a positioning device, 21 is a sensor, 31 is a motor, 32 is a connecting belt, 121 is a first positioning device, 122 is a second positioning device, 211 is a horizontal detecting sensor, 212 is a vertical detecting sensor,

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention discloses an intelligent direction adjustment detection device for a sweeping robot, which comprises: the device comprises a body 1, a rotating body 2, a driving module 3 and a control module 4;

the front end of body 1 is equipped with recess 11, and rotator 2 sets up in recess 11, and control module 4 is connected with rotator 2 through drive module 3 for control rotator 2 is rotatory, is provided with a plurality of sensors 21 in the rotator 2, and sensor 21 is used for monitoring the direction of advance, is provided with a plurality of positioner 12 in the recess 11, and positioner 12 is used for injecing the rotation angle of rotator 2.

In order to further optimize the above technical solution, the sensor 21 includes a horizontal detecting sensor 211 and a vertical detecting sensor 212 which are horizontally distributed, the horizontal detecting sensor 211 is used for detecting a long-distance environment, and the vertical detecting sensor 212 is used for detecting a short-distance environment.

In order to further optimize the above technical solution, the positioning device 12 comprises a first positioning device 121 and a second positioning device 122, the first positioning device 121 is disposed at the top end of the groove 11, the second positioning device 122 is disposed at the side wall of the groove 11, the first positioning device 121 is used for positioning the fully closed state of the rotating body 2, and the second positioning device 122 is used for positioning the fully unfolded state of the rotating body 2

In order to further optimize the above technical solution, the driving module 3 includes a motor 31 and a connecting belt 31, and the motor 31 is connected with the rotating body 2 through the connecting belt 32.

The user activates the sweeping robot, the control module sends a driving signal to the driving module after receiving the activation signal, a motor in the driving module drives the rotating body to rotate through the connecting belt, when the rotating body senses the second positioning device, the rotating body is judged to be completely unfolded, the judgment signal is sent to the control module, the control module sends a stop signal to the driving module, the electrode stops working, and simultaneously sends a start signal to the horizontal detection sensor and the vertical detection sensor, after the sensors are started, whether an obstacle or a broken ground exists in the advancing direction is judged in real time, when the environment abnormity is detected, an abnormal signal and an abnormal point position are sent to the control module, the control module controls the sweeping robot to avoid or return the abnormal point, the detection of the sweeping robot on the distance, the depth, the position and the obstacle is realized, and the sweeping robot can detect the obstacle and the broken ground in advance in the running process, the perception capability of the sweeping robot to the environment is improved and enhanced, and obstacles can be avoided timely and accurately; preventing falling, achieving the high-quality cleaning effect and ensuring the safe operation of the machine. When the cleaning task is completed, the control module sends a closing signal to the horizontal detection sensor and the vertical detection sensor, and simultaneously sends a driving signal to the driving module, a motor in the driving module controls the rotating body to rotate in the opposite direction through the connecting belt, when the rotating body detects the first positioning device, a complete closing signal is sent to the control module, the control module sends a stopping signal to the driving module, the motor stops working, and retraction of the rotating body is achieved.

The detection of the sweeping robot on the distance, the depth, the position and the obstacle is realized, the sweeping robot can detect the obstacle and the fault ground in advance during the operation, the sensing capability of the sweeping robot on the environment is improved and enhanced, and the obstacle can be avoided in time and accurately; preventing falling, achieving the high-quality cleaning effect and ensuring the safe operation of the machine.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides an intelligent direction adjustment detection device for sweeping floor robot which characterized in that includes: the device comprises a body (1), a rotating body (2), a driving module (3) and a control module (4);

the front end of body (1) is equipped with recess (11), rotator (2) set up in recess (11), control module (4) pass through drive module (3) with rotator (2) are connected, are used for control rotator (2) are rotatory, be provided with a plurality of sensors (21) in rotator (2), sensor (21) are used for monitoring the direction of advance, be provided with a plurality of positioner (12) in recess (11), positioner (12) are used for injecing the rotation angle of rotator (2).

2. The device according to claim 1, wherein the sensor (21) comprises a horizontal sensor (211) and a vertical sensor (212) which are horizontally distributed, the horizontal sensor (211) is used for detecting a long-distance environment, and the vertical sensor (212) is used for detecting a short-distance environment.

3. The device according to claim 1, wherein the positioning device (12) comprises a first positioning device (121) and a second positioning device (122), the first positioning device (121) is disposed at the top end of the groove (11), the second positioning device (122) is disposed at the sidewall of the groove (11), the first positioning device (121) is used for positioning the rotating body (2) in the fully closed state, and the second positioning device (122) is used for positioning the rotating body (2) in the fully expanded state.

4. The device for detecting the adjustment of the intelligent direction of a sweeping robot according to claim 1, wherein the driving module (3) comprises a motor (31) and a connecting belt (32), and the motor (31) is connected to the rotating body (2) through the connecting belt (32).