CN114073469A

CN114073469A - Floor sweeping robot

Info

Publication number: CN114073469A
Application number: CN202010835669.8A
Authority: CN
Inventors: 徐连斌
Original assignee: Suzhou 3600 Robot Technology Co ltd
Current assignee: Suzhou 3600 Robot Technology Co ltd
Priority date: 2020-08-21
Filing date: 2020-08-21
Publication date: 2022-02-22
Also published as: WO2022036791A1

Abstract

The invention discloses a sweeping robot, which comprises a robot body and a laser radar, wherein a laser emergent port is formed in the side wall of the robot body; the laser radar is arranged in the machine body and can be exposed through the laser exit port, so that a signal emitted by the laser radar is emitted through the laser exit port. According to the technical scheme, the sweeping robot can avoid the laser radar from being damaged by collision, and the protection of the laser radar is enhanced.

Description

Floor sweeping robot

Technical Field

The invention relates to the technical field of living electric appliances, in particular to a sweeping robot.

Background

With the development of science and technology, the sweeping robot enters thousands of households, and due to the unique convenience in cleaning the ground, the sweeping robot is favored by users. Among the correlation technique, the robot of sweeping the floor all sends laser signal through setting up lidar and carries out the perception and keep away the barrier, however, this kind of robot of sweeping the floor's lidar sets up the top at the organism usually, and in the use like this, convex lidar drops and damages because of collision or other article easily, and the design of protectiveness to lidar is urgent need to solve.

Disclosure of Invention

The invention mainly aims to provide a sweeping robot, aiming at avoiding the collision damage of laser radars and enhancing the protection of the laser radars.

In order to achieve the above object, the invention provides a sweeping robot, comprising:

the laser shooting device comprises a machine body, wherein a laser emergent port is formed in the side wall of the machine body; and

the laser radar is arranged in the machine body and can be exposed through the laser exit port, so that the signal sent by the laser radar is emitted through the laser exit port.

Optionally, the laser radar is located at a position corresponding to the middle of the laser exit port.

Optionally, the body has a cylindrical shape, and the laser exit port extends in a circumferential direction of the body.

Optionally, the laser exit port has a first side and a second side in the circumferential direction of the body, and a connection line between the center of the position of the laser radar and the first side is defined as a first connection line, a connection line between the laser radar and the second side is defined as a second connection line, an included angle formed by the first connection line and the second connection line is α, and a range value of α is: alpha is more than or equal to 180 degrees and less than or equal to 270 degrees.

Optionally, a distance between the laser exit port and the top wall of the body is smaller than a distance between the laser exit port and the bottom wall of the body.

Optionally, the body includes a lower body and an upper body covering the lower body, the upper body and the lower body enclose to form the laser exit port, and the laser radar is disposed on the lower body and exposed through the laser exit port.

Optionally, a mounting hole is concavely formed in the surface of one side, facing the upper machine body, of the lower machine body, and the laser radar is partially located in the mounting hole, partially extends out of the mounting hole, and is exposed through the laser emitting port.

Optionally, the sweeping robot further comprises a first detection module, wherein the first detection module is arranged on the side wall of the machine body and is arranged at intervals along the circumferential direction of the machine body along the laser emitting port.

Optionally, the floor sweeping robot further comprises a second detection module, the second detection module is arranged on the side wall of the machine body, and the second detection module is arranged corresponding to the laser radar and located below the laser emitting port.

Optionally, the robot of sweeping the floor still includes the buffer board, the buffer board movably locates the lateral wall of organism, and be located one side of laser exit port, the buffer board corresponds the laser exit port has been seted up and has been dodged the mouth, the buffer board is relative the lateral wall activity of organism, with the lateral wall of organism laminates mutually or looks interval.

According to the floor sweeping robot, the laser radar is arranged in the robot body, so that the laser radar can be hidden in the robot body, the robot body can protect the laser radar, the phenomenon that the laser radar is damaged due to collision is effectively avoided, and the protection of the laser radar is greatly enhanced. And further, the laser exit port is formed in the side wall of the machine body, and the laser radar is exposed through the laser exit port, so that a signal sent by the laser radar can be directly emitted through the laser exit port, the laser signal in a related scheme is prevented from being emitted through some transparent materials, the phenomenon that the emission of the laser signal is influenced due to dust deposition of the transparent materials is avoided, and the smoothness of a laser light path is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a sweeping robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a sweeping robot according to another embodiment of the present invention;

fig. 3 is a schematic structural view of a sweeping robot according to another embodiment of the present invention;

FIG. 4 is a schematic diagram of the exploded structure of FIG. 2;

fig. 5 is a schematic view of the sweeping robot of the present invention with a portion of the structure removed.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Machine body	11	Laser exit
111	The first side edge	112	Second side edge
				12	Upper body	13	Lower body
131	Mounting hole	20	First detection module
				30	Second detection module	40	Buffer board
41	Dodging port	100	Floor sweeping robot

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

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.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The present invention provides a sweeping robot 100.

Referring to fig. 1 to 5, in the embodiment of the present invention, the sweeping robot 100 includes a body 10 and a laser radar (not shown). A laser emergent port 11 is formed in the side wall of the machine body 10; the laser radar is disposed in the machine body 10 and exposed through the laser exit port 11, so that a signal emitted by the laser radar exits through the laser exit port 11.

The body 10 is formed as a main structure of the sweeping robot 100, and in general, the body 10 is further provided with a mounting cavity for mounting a driving assembly, an electric control assembly, a water tank, a dust box assembly and the like, and the bottom of the body 10 is provided with a driving wheel, a universal wheel, a side brush, a rolling brush, a floor mopping structure and the like, so that the sweeping robot 100 can mop the floor and clean the floor in the traveling process.

In this application, the direction that robot 100 gos forward is swept to the definition is the front side direction, and laser exit port 11 sets up in the front side direction of organism 10 lateral wall, and laser radar then can be located organism 10 and near the front side direction setting, so sets up for laser radar is shorter in the light path of organism 10, can realize more accurate obstacle avoidance. And the laser exit 11 in the front direction enables the laser radar to send out a laser signal to directly sense the obstacle to the front side in the traveling process of the sweeping robot 100, so that the map route can be replaced and planned in time, and obstacle avoidance is effectively achieved.

It should be understood that, in the present application, the laser radar is exposed through the laser exit 11, and may be completely exposed through the laser exit 11, or may be partially exposed through the laser exit 11, and a part of the laser radar is embedded in the body 10, so as to ensure that the laser signal can exit through the laser exit 11, which is not limited in this application.

Therefore, according to the sweeping robot 100 provided by the technical scheme of the invention, the laser radar is arranged in the robot body 10, so that the laser radar can be embedded and hidden, the robot body 10 can form protection for the laser radar, the phenomenon that the laser radar is damaged due to collision is effectively avoided, and the protection for the laser radar is greatly enhanced. Furthermore, the laser exit port 11 is formed in the side wall of the machine body 10, and the laser radar is exposed through the laser exit port 11, so that a signal emitted by the laser radar can be directly emitted through the laser exit port 11, and the laser signal is prevented from being emitted through some transparent materials in related schemes, thereby preventing the emission of the laser signal from being influenced by the dust deposition of the transparent materials, and ensuring the smoothness of a laser light path.

In order to enable the sweeping robot 100 to accurately and comprehensively sense obstacles in the traveling process, in an embodiment of the present application, the laser radar is located in a position corresponding to the middle of the laser exit port 11. So set up for laser signal that laser radar sent can follow the outgoing laser mouth 11 outgoing of equalling, thereby make robot 100 of sweeping the floor can be more comprehensive perception barrier on the direction of advance at the in-process of advancing, avoid colliding.

In an embodiment of the present application, the body 10 has a cylindrical shape, and the laser exit port 11 extends in a circumferential direction of the body 10.

In this embodiment, the machine body 10 may be a flat cylindrical structure, and the laser exit 11 extends along the circumferential direction of the side wall of the machine body 10, that is, the laser exit 11 forms an arc-shaped opening on the side wall of the machine body 10, and thus, a laser radar in the machine body 10 can emit a fan-shaped laser plane through the arc-shaped opening, so that the sweeping robot 100 can sense obstacles in a wider range when moving forward, which is more beneficial to obstacle avoidance.

Referring to fig. 5, in the embodiment of the sweeping robot 100 of the present application, the laser exit port 11 is provided with a first side 111 and a second side 112 in the circumferential direction of the machine body 10, and defines that the position center of the laser radar and the connection line between the first side 111 are a first connection line, the laser radar and the connection line between the second side 112 are a second connection line, an included angle formed by the first connection line and the second connection line is α, and a range value of α is: alpha is more than or equal to 180 degrees and less than or equal to 270 degrees.

The value of the included angle alpha should not be too large or too small. If the curvature of the laser emitting port 11 is too large, the radian formed by the laser emitting port 11 is also large, and at this time, the first side 111 and the second side 112 are located more laterally and rearwardly relative to the laser emitting port 11, so that laser signals emitted from the edges of the laser emitting port 11 close to the first side 111 and the second side 112 cannot help to sense obstacles on the front-side travel route, but more dust falls easily through the laser emitting port 11 with the large radian, and difficulty is increased for cleaning work and daily maintenance of a user; if the value of the included angle α is too small, the radian formed by the laser exit port 11 is small, and the laser plane emitted by the laser radar from the laser exit port 11 is also narrow, so that it is difficult to sufficiently sense the obstacle on the traveling route, and the sweeping robot 100 is prone to collision and falling risks. Therefore, in the embodiment of the present application, the value of the included angle α is designed to be in the range of not less than 180 ° and not more than 270 °.

It is understood that, in practical applications, a specific value of the included angle α may be 180 °, 190 °, 200 °, 210 °, 215 °, 220 °, 225 °, 230 °, 240 °, 250 °, or 270 °.

Further, in an embodiment of the present application, a distance between the laser emitting port 11 and a top wall of the machine body 10 is smaller than a distance between the laser emitting port 11 and a bottom wall of the machine body 10. So set up for laser plane that launches at laser radar is higher from ground, thereby can the higher barrier of perception, and the robot 100 that sweeps floor of being convenient for calculates whether can sweep some specific position, for example calculate whether can get into position such as the table bottom, the tea table bottom, the sofa bottom and clean, in order to plan in time and clean the route.

In the embodiment of this application, organism 10 includes organism 13 down and covers in organism 13's last organism 12 down, go up organism 12 with enclose between organism 13 down and close and be formed with laser exit port 11, lidar locates organism 13 down, and via laser exit port 11 and show.

Specifically, the upper body 12 may be detachably connected and fixed to the lower body 13, in practical applications, a sinking platform (not labeled) is formed at a recessed position on the front side of the top of the lower body 13, and after the upper body 12 is covered on the lower body 13, a top wall portion of the front side of the upper body 12 and the sinking platform enclose and form the laser exit port 11, and the laser radar may be directly installed on the sinking platform. So for installation to laser radar is comparatively convenient, and the dismouting of being convenient for carries out routine maintenance, and the covering of last organism 12 has ensured that laser radar can be protected, prevents that the collision is impaired. Of course, in another embodiment, the upper body 12 and the lower body 13 may be an integrally formed structure, such that the upper body 12 and the lower body 13 are integrally formed.

Further, in an embodiment of the present application, a side surface of the lower body 13 facing the upper body 12 is concavely provided with a mounting hole 131, and the laser radar is partially located in the mounting hole 131, partially extends out of the mounting hole 131, and is exposed through the laser exit port 11.

In the above-described embodiment, the mounting hole 131 is formed recessed in the surface of the counter sink in the lower body 13, and the shape, diameter, depth, and the like of the mounting hole 131 should be designed to be compatible with the shape and size of the laser radar. The position of the mounting hole 131 corresponds to the middle position of the laser exit port 11 so that the laser radar after mounting can fall on the middle position of the laser exit port 11. Through setting up mounting hole 131 for laser radar can be spacing and fixed by mounting hole 131, and the stability of installation is good, can not rock easily at the in-process that advances, ensures that the laser signal who sends is stable.

Referring to fig. 1, in an embodiment of the present application, the sweeping robot 100 further includes a first detection module 20, where the first detection module 20 is disposed on a side wall of the machine body 10, and is spaced apart from the laser emitting port 11 along a circumferential direction of the machine body 10. In this embodiment, the forward direction of the sweeping robot 100 is defined as a front direction, and the laser emitting port 11 is opened in the front direction of the side wall of the machine body 10, so that the first detecting module 20 can be disposed on the left side or the right side of the machine body 10, or disposed on both the left side and the right side. Particularly, first detection module 20 can be some laser module or line laser module, through setting up first detection module 20 for robot 100 of sweeping the floor can also send laser signal through first detection module 20 when marcing, thereby also can carry out the perception in the side of the route of marcing and keep away the barrier, avoids leaning on the wall.

After the laser signal emitted by the laser radar is emitted from the laser exit 11, it can only sense an obstacle higher than the laser plane of the laser exit 11. In order to sense the obstacle more comprehensively, the sweeping robot 100 is prevented from colliding and falling. In an embodiment of the present application, the robot 100 of sweeping the floor still includes the second detection module 30, the second detection module 30 is located the lateral wall of the machine body 10, the second detection module 30 with the laser radar corresponds the setting, and is located the below of the laser emitting port 11.

The second detection module 30 may be a line laser module as shown in fig. 3 or a depth camera as shown in fig. 2, and the second detection module 30 is arranged to sense an obstacle lower than the laser exit 11, so that the obstacle can be avoided more comprehensively, a cleaning route can be planned in time, and the reliability of the operation of the sweeping robot 100 can be ensured.

In this application robot 100's an embodiment of sweeping floor, robot 100 still includes buffer board 40, buffer board 40 movably locates the lateral wall of organism 10 is and is located one side of laser exit port 11, buffer board 40 corresponds laser exit port 11 has been seted up and has been dodged mouth 41, buffer board 40 is relative the lateral wall activity of organism 10, with the lateral wall of organism 10 laminates mutually or looks interval.

In this embodiment, the buffer board 40 may be an arc board adapted to the radian of the side wall of the machine body 10, and understandably, the buffer board 40 is further provided with a position-giving opening (not labeled) corresponding to the first detection module 20 and the second detection module 30, so that the first detection module 20 and the second detection module 30 can be exposed. In order to enable the buffer plate 40 to move relative to the body 10, the side wall of the body 10 is provided with elastic pieces (not labeled), the elastic pieces are located at two sides of the second detection module 30, and the buffer plate 40 is abutted against the side wall of the body 10 through the elastic pieces. So, when the buffer board 40 received the collision, can pressfitting shell fragment buffering collision's energy to combine to utilize laser radar, first detection module 20 and second detection module 30 to keep away the barrier jointly, the effectual impaired phenomenon of collision that appears in robot 100 of having avoided sweeping the floor.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:

2. The sweeping robot of claim 1, wherein the lidar is positioned at a position corresponding to the middle of the laser exit port.

3. The sweeping robot of claim 1, wherein the body is cylindrical in shape, and the laser exit port extends in a circumferential direction of the body.

4. The sweeping robot of claim 3, wherein the laser exit port has a first side edge and a second side edge in the circumferential direction of the machine body, a connection line between the center of the laser radar and the first side edge is defined as a first connection line, a connection line between the laser radar and the second side edge is defined as a second connection line, an included angle formed by the first connection line and the second connection line is α, and a range value of α is: alpha is more than or equal to 180 degrees and less than or equal to 270 degrees.

5. The sweeping robot of claim 3, wherein a distance between the laser emitting port and a top wall of the body is smaller than a distance between the laser emitting port and a bottom wall of the body.

6. The sweeping robot of claim 1, wherein the body comprises a lower body and an upper body covering the lower body, the upper body and the lower body enclose the laser exit port, and the laser radar is disposed on the lower body and exposed through the laser exit port.

7. The sweeping robot of claim 6, wherein a mounting hole is concavely formed in a side surface of the lower body facing the upper body, and the laser radar is partially located in the mounting hole, partially extends out of the mounting hole, and is exposed through the laser emitting port.

8. The sweeping robot according to any one of claims 1 to 7, further comprising a first detection module, wherein the first detection module is disposed on a side wall of the machine body and spaced from the laser exit port along a circumferential direction of the machine body.

9. The sweeping robot of claim 8, further comprising a second detection module disposed on a side wall of the body, wherein the second detection module is disposed corresponding to the laser radar and below the laser exit port.

10. A sweeping robot according to any one of claims 1 to 7, further comprising a buffer plate movably disposed on the side wall of the machine body and located at one side of the laser exit port, wherein an avoidance port is disposed on the buffer plate corresponding to the laser exit port, and the buffer plate is movable relative to the side wall of the machine body to be attached to or spaced apart from the side wall of the machine body.