CN114098524A - Floor sweeping robot - Google Patents

Floor sweeping robot Download PDF

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Publication number
CN114098524A
CN114098524A CN202010876805.8A CN202010876805A CN114098524A CN 114098524 A CN114098524 A CN 114098524A CN 202010876805 A CN202010876805 A CN 202010876805A CN 114098524 A CN114098524 A CN 114098524A
Authority
CN
China
Prior art keywords
ground detection
sweeping robot
mounting
housing
ground
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.)
Pending
Application number
CN202010876805.8A
Other languages
Chinese (zh)
Inventor
徐连斌
杨永斌
韦绥均
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou 3600 Robot Technology Co ltd
Original Assignee
Suzhou 3600 Robot Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou 3600 Robot Technology Co ltd filed Critical Suzhou 3600 Robot Technology Co ltd
Priority to CN202010876805.8A priority Critical patent/CN114098524A/en
Publication of CN114098524A publication Critical patent/CN114098524A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a sweeping robot, which comprises a shell and a ground detection assembly, wherein the shell comprises a front side wall facing to the advancing direction; the ground detection assembly is arranged at a position, close to the front side wall, of the shell and comprises two ground detection sensors which are arranged at intervals, and the projection areas of the emission fields of the two ground detection sensors on the surface to be cleaned are not overlapped. According to the technical scheme, the sweeping robot can effectively avoid light crosstalk of detection signals and improve the detection effect.

Description

Floor sweeping robot
Technical Field
The invention relates to the technical field of household appliance dust removal, in particular to a sweeping robot.
Background
The floor sweeping robot is an intelligent household appliance capable of automatically sucking dust on the ground, and the intelligent household appliance gradually enters general family life along with improvement of living standard. At present, in order to prevent the phenomenon of turning on one's side of the robot sweeping on the large step face of the fall, the robot sweeping is generally provided with a ground detection sensor, the terrain is detected through the sensor, and when the terrain with the height difference is encountered, the robot can turn or retreat by itself, so that the robot is effectively prevented from falling from a high place. However, the ground detection sensor with the detection height has high sensitivity and is easily interfered by other components, so that the detection effect is poor, and the detection reaction time is not ensured.
Disclosure of Invention
The invention mainly aims to provide a sweeping robot, and aims to obtain a sweeping robot capable of effectively reducing crosstalk and improving detection effect.
In order to achieve the above object, the sweeping robot provided by the present invention comprises:
a housing including a front sidewall facing in a forward direction; and
the ground detection assembly is arranged at a position, close to the front side wall, of the shell and comprises two ground detection sensors which are arranged at intervals, and the projection areas of the emission fields of the two ground detection sensors on the surface to be cleaned are not overlapped.
In an alternative embodiment, the housing is defined to have a left-right direction parallel to the front side wall, the two ground detection sensors are arranged at intervals in the left-right direction, each ground detection sensor comprises an emitting element, and the two emitting elements of the two ground detection sensors respectively emit detection signals in a direction away from each other.
In an optional embodiment, the emission angle of the emission element is arranged at an included angle with respect to a vertical line, and the included angles between the two emission elements of the two ground detection sensors and the vertical direction are the same.
In an alternative embodiment, the housing is formed with at least two mounting grooves, the openings of the mounting grooves face the surface to be cleaned, and each ground detection sensor is arranged in one of the mounting grooves.
In an optional embodiment, the ground detection sensor further comprises an installation seat, an installation cavity and a transmitting port communicated with the installation cavity are formed in the installation seat, the transmitting element is arranged in the installation cavity, the transmitting end of the transmitting element faces the transmitting port, and the installation seat is detachably connected to the installation groove.
In an optional embodiment, the mounting seat comprises a first buckle plate and a second buckle plate which are detachably connected, and the first buckle plate and the second buckle plate are enclosed to form the mounting cavity and the emitting opening.
In an optional embodiment, the ground detection sensor further includes a receiving element disposed in the mounting cavity, the receiving element and the transmitting element are disposed at an interval, and the mounting seat is provided with a receiving opening avoiding a receiving end of the receiving element.
In an optional embodiment, the ground detection sensor further comprises a light-transmitting cover, and the light-transmitting cover is connected to the mounting seat and covers the emitting opening and the receiving opening.
In an optional embodiment, two side walls of the casing in the left-right direction are respectively provided with two ground detection assemblies, and the two ground detection assemblies in the left-right direction are symmetrically arranged by taking a center line of the casing in the left-right direction as a reference.
In an optional embodiment, the sweeping robot further comprises a laser radar, the laser radar is arranged in the shell, and a laser emitting port is formed in the side wall of the shell; the laser radar can be exposed through the laser exit port, so that the signal emitted by the laser radar exits through the laser exit port.
The sweeping robot comprises a shell and a ground detection assembly, wherein the shell comprises a front side wall, and the ground detection assembly is arranged close to the front side wall, so that the reaction time after the suspension is detected can be prolonged, and the suspension rollover probability of the sweeping robot is reduced. Simultaneously, the ground is examined the subassembly and is included two spaced ground and examine the sensor, can increase the detection range of preceding lateral wall department to also can prevent the unsettled side of robot that sweeps floor and turn on one's side. And the emission ranges of the two ground detection sensors facing the cleaning surface are not overlapped, so that the emission signal of one ground detection sensor can be prevented from being interfered and offset by the emission signal of the other ground detection sensor, the occurrence of crosstalk is reduced, the detection effect is effectively improved, and the suspended prevention capability is further improved.
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 of the present invention;
fig. 2 is a top view of the sweeping robot shown in fig. 1;
fig. 3 is a schematic view of detection of the sweeping robot shown in fig. 1 during operation;
fig. 4 is a partial schematic structural view of the sweeping robot shown in fig. 1;
FIG. 5 is an enlarged view taken at A in FIG. 4;
fig. 6 is a schematic structural view of the sweeping robot shown in fig. 4 from another view angle;
fig. 7 is a schematic structural view of a ground detection sensor in the sweeping robot shown in fig. 1;
FIG. 8 is a schematic view of the sensor shown in FIG. 7 from another perspective;
fig. 9 is an exploded view of the ground detection sensor shown in fig. 7.
The reference numbers illustrate:
100 floor sweeping robot 313 Mounting seat
10 Shell body 313a Transmitting port
10a Laser exit 313b Receiving port
11 Front side wall 3131 First buckle plate
13 Middle shell 3133 Second buckle
131 Mounting groove 315 Receiving element
15 Base plate 317 Light-transmitting cover
30 Ground detection assembly 70 Water tank
31 Ground detection sensor 80 Steering wheel
311 Radiating element 90 Driving wheel
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, 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 3, in an embodiment of the present invention, the sweeping robot 100 includes:
a housing 10, said housing 10 comprising a front side wall 11 facing in a forward direction; and
the ground detection assembly 30 is arranged at a position of the housing 10 close to the front side wall 11, the ground detection assembly 30 comprises two ground detection sensors 31 arranged at intervals, and the emission fields of the two ground detection sensors 31 do not overlap in the projection area of the surface to be cleaned.
In this embodiment, the floor sweeping robot 100 has a dust removing function and a floor mopping function, so the housing 10 includes a device for removing dust, a water tank 70, a pump body, etc., water is stored in the water tank 70, which can provide a water source for the ground cleaning cloth of the floor sweeping robot 100, and the pump body pumps out the water inside the water tank and delivers the water to the cleaning cloth, so as to achieve the floor mopping function. In order to protect and divide the internal devices, the housing 10 includes a middle case 13 formed with various chambers and grooves, so that each component is installed, and the installation layout of each component is reasonable. The housing 10 further includes a top cover, side walls, and a bottom plate 15, which respectively cover the upper and lower surfaces and the peripheral side surfaces of the middle case 13, so that it is possible to protect components that do not need to be exposed, and to improve the visibility. The outer shape of the shell 10 can be disc-shaped, the appearance is attractive, the periphery is smooth, sharp collision or impact is not easy to occur, and the safety is improved.
Specifically, the bottom of the sweeping robot 100 is provided with a driving wheel 90 and a steering wheel 80 for driving the robot to walk and steer along the ground. In order to prevent the robot 100 from turning over when encountering a step terrain in a suspended manner, the robot 100 further comprises a ground detection assembly 30, the ground detection assembly 30 comprises two ground detection sensors 31 arranged at intervals, the principle of the ground detection sensors 31 can be that ultrasonic detection signals are transmitted, so that the distance between the bottom of the ground detection assembly and the ground is detected, when the distance exceeds a preset value, the ground detection sensors 31 can send out suspended signals, and the robot 100 is controlled to turn or retreat. Of course, the ground detection sensor 31 may be a tactile sensor, an infrared sensor, a sonar sensor, or the like, and is not limited thereto. Here, there is a front side wall 11 in the side wall of the housing 10, that is, the side wall of the sweeping robot 100 facing the forward direction in the normal operation process, and an anti-collision plate may be further provided, and the anti-collision plate can move between a position far away from and a position close to the front side wall 11, and the two ground detection sensors 31 are disposed on the middle shell 13 and at a position close to the front side wall 11, and can detect when the gravity center of the sweeping robot 100 does not reach the suspension position, so that the sweeping robot 100 can avoid danger in time, and cannot roll over.
Meanwhile, when the two ground detection sensors 31 transmit detection signals, the area in which the detection signals are diffused is the transmission field, the transmission field is gradually enlarged from the ground detection sensors 31 towards the ground, here, the projection areas of the transmission fields of the two ground detection sensors 31 projected to the surface to be detected are not overlapped, the cross section area of the surface to be detected, namely the ground, is not overlapped when the transmission fields of the two ground detection sensors reach the ground, so that the detection signals transmitted by each ground detection sensor 31 can be abutted against the ground to finish the transmission of the signals, and the signals are reflected back to the ground detection sensors 31 through the ground to be received, thereby realizing the complete detection process.
According to the technical scheme, the sweeping robot 100 comprises a shell 10 and a ground detection assembly 30, the shell 10 comprises a front side wall 11, and the ground detection assembly 30 is arranged close to the front side wall 11, so that the reaction time after the suspension is detected can be prolonged, and the probability of the sweeping robot 100 that the suspension turns on one side is reduced. Meanwhile, the ground detection assembly 30 comprises two spaced ground detection sensors 31, which can increase the detection range of the front side wall 11, so that the robot 100 can be prevented from turning on its side in a suspended manner. And the emission ranges of the two ground detection sensors 31 facing the cleaning surface are not overlapped, so that the emission signal of one ground detection sensor 31 can be prevented from being interfered and offset by the emission signal of the other ground detection sensor 31, thereby reducing the occurrence of crosstalk, effectively improving the detection effect and further improving the capability of preventing suspension.
In an alternative embodiment, the housing 10 is defined to have a left-right direction parallel to the front sidewall 11, the two ground detection sensors 31 are disposed at intervals in the left-right direction, each ground detection sensor 31 includes a transmitting element 311, and the two transmitting elements 311 of the two ground detection sensors 31 respectively transmit detection signals in directions away from each other.
In this embodiment, because casing 10 is discoid setting, its preceding lateral wall 11 is circular-arc setting, and the left and right directions that is on a parallel with preceding lateral wall 11 here does, with the tangent tangential direction in the middle part of preceding lateral wall 11, examines sensor 31 interval setting on the left and right directions two, and is close to preceding lateral wall 11, can set up here and examine sensor 31 two and use the tangent plane of perpendicular to preceding lateral wall 11 as the plane of symmetry setting to can more evenly detect the topography of robot 100 front side of sweeping the floor. Specifically, each ground detection sensor 31 includes a transmitting element 311, and the transmitting element 311 includes a transmitting end and a wire connected to the rear side of the transmitting end, and the wire is used for connecting a control system, so that the signal transmission of the transmitting element 311 is controlled by the control system. Because of two ground examine the distance that sensor 31 set up nearer, the direction that sets up two emission element 311 of two ground examine sensor 31 all deviates from the other side, and the emission end orientation of one emission element 311 deviates from the direction slope setting of another emission element 311 promptly to obtain the transmission angle of slope, so, can effectively avoid two ground to examine the emission signal mutual interference between the sensor 31, thereby improve unsettled accuracy and the stability of detecting.
Referring to fig. 4 and fig. 5, in an alternative embodiment, the emitting angle of the emitting element 311 is set to form an included angle with respect to a vertical line, and the included angles between the two emitting elements 311 of the two ground detection sensors 31 and the vertical direction are the same.
In this embodiment, it can be understood that the ground detection sensor 31 is used for detecting a direct distance from the ground, so that the housing 10 is provided with an avoiding hole, the emission element 311 of the ground detection sensor 31 emits a signal towards the ground direction, and because the emission end of the emission element 311 is obliquely arranged relative to the other emission element 311, an included angle is formed between the emission end of the emission element 311 and the vertical line, so as to prevent the detection area from being missed and interference from occurring, the sizes of the included angles between the emission ends of the emission elements 311 of the two ground detection sensors 31 and the vertical line are the same, so that the emission fields of the two emission elements 311 can approach to the ground as much as possible, the situation that the detection cannot be performed in a large area is avoided, and the detection effect of the ground detection assembly 30 is effectively improved. Meanwhile, the emitting ends of the emitting elements 311 have the same inclination angle, which is convenient for processing and manufacturing, and also convenient for layout design of the later structural space.
Referring to fig. 6, in an alternative embodiment, the housing 10 is formed with at least two mounting slots 131, an opening of the mounting slot 131 faces a surface to be cleaned, and each ground detection sensor 31 is disposed in one of the mounting slots 131.
In this embodiment, in order to fixedly mount the floor sensor 31, the housing 10 is formed with a mounting groove 131, and an opening of the mounting groove 131 faces a surface to be cleaned, i.e., a floor surface, so that after the floor sensor 31 is mounted in the mounting groove 131, a signal can be transmitted through the opening of the mounting groove 131. Of course, when the bottom plate 15 covers the middle shell 13, it also needs to be provided with a hole to allow the emission and reception of the detection signal. Meanwhile, the bottom wall and the side wall of the mounting groove 131 both block the ground detection sensor 31, so that the emission signal of the emission element 311 can only exit from the notch of the mounting groove 131, and partial signal is prevented from being dispersed into the shell 10, thereby improving the emission efficiency of the emission element 311; and interference between the two ground detection sensors 31 can be further avoided, and the detection accuracy is improved.
Referring to fig. 6 and 7, in an alternative embodiment, the ground detection sensor 31 further includes an installation seat 313, an installation cavity and an emission port 313a communicated with the installation cavity are formed in the installation seat 313, the emission element 311 is disposed in the installation cavity, an emission end of the emission element 311 is disposed toward the emission port 313a, and the installation seat 313 is detachably connected to the installation groove 131.
In this embodiment, in order to conveniently and detachably detect the sensor 31, the sensor 31 includes an installation seat 313, the installation seat 313 is formed with an installation cavity and an emission port 313a communicated with the installation cavity, the emission port 313a is communicated with the notch of the installation groove 131, the emission element 311 is arranged in the accommodation cavity, and the emission end is arranged towards the emission port 313a, so that the detection signal can be emitted out through the emission port 313a and the notch of the installation groove 131. The mounting seat 313 is detachably connected to the mounting groove 131, and here, may be a snap connection, a screw connection, or a plug connection, and is not limited herein. The installation seat 313 can provide a protection space for the emitting element 311, and when the emitting element 311 needs to be repaired and replaced, the shell 10 can be detached directly by releasing the connection of the installation seat 313, so that the emitting element 311 is prevented from being damaged due to the direct fit connection of the emitting element 311 and the installation groove 131, and the performance stability and the disassembly and assembly convenience of the ground detection sensor 31 are improved.
Referring to fig. 7 to 9, in an alternative embodiment, the mounting seat 313 includes a first fastening plate 3131 and a second fastening plate 3133 detachably connected to each other, and the first fastening plate 3131 and the second fastening plate 3133 enclose the mounting cavity and the emitting opening 313 a.
In this embodiment, the mounting seat 313 includes a first fastening plate 3131 and a second fastening plate 3133 detachably connected to each other, which are fastened to form a mounting cavity and a transmitting opening 313a, where the first fastening plate 3131 and the second fastening plate 3133 may be made of plastic, so that the mounting seat 313 formed by splitting may be convenient for processing and demolding, and on the other hand, the transmitting element 311 may be conveniently mounted in the mounting cavity for fixing. Specifically, a snap hole is formed at an edge of the first fastening plate 3131, and a buckle is formed at a corresponding edge of the second fastening plate 3133, so that the first fastening plate 3131 and the second fastening plate 3133 can be stably connected through the matching of the buckle and the snap hole. Of course, in other embodiments, the first buckle plate 3131 is formed with a fixing portion for engaging with the emitting element 311, and the second buckle plate 3133 is formed with a groove for avoiding the emitting element 311, so that the emitting element 311 can be easily replaced by detaching the two, thereby improving convenience.
In an optional embodiment, the ground detection sensor 31 further includes a receiving element 315 disposed in the mounting cavity, the receiving element 315 and the transmitting element 311 are disposed at an interval, and the mounting seat 313 is opened with a receiving opening 313b avoiding a receiving end of the receiving element 315.
It is understood that the ground detection sensor 31 further includes a receiving element 315, and the receiving element 315 is used for receiving a signal reflected by the ground from the detection signal sent by the transmitting element 311, so as to perform a terrain analysis judgment. In this embodiment, the receiving element 315 and the emitting element 311 are both installed in the installation cavity, and the installation seat 313 is provided with the receiving opening 313b, so that the structure can be compact, and the internal space of the housing 10 can be saved. Specifically, the first pinch plate 3131 is provided with a partition plate, and the partition plate is arranged between the receiving element 315 and the transmitting element 311, so that crosstalk and interference between a transmitting signal and a receiving signal can be effectively blocked, and the detection accuracy of the ground fault sensor 31 is improved. Of course, in other embodiments, the receiving element 315 may not be in the same mounting cavity as the transmitting element 311, or may be separately disposed.
In an optional embodiment, the ground detection sensor 31 further includes a light-transmitting cover 317, and the light-transmitting cover 317 is connected to the mounting seat 313 and covers the emitting opening 313a and the receiving opening 313 b.
In this embodiment, in order to protect the emitting element 311 and the receiving element 315 in the mounting seat 313 and prevent impurities on the surface to be cleaned from entering the mounting cavity, the floor-mounted sensor 31 further includes a light-transmitting cover 317, the light-transmitting cover 317 is disposed in a plate shape and has a size matched with the emitting opening 313a and the receiving opening 313b, and the emitting opening 313a and the receiving opening 313b can be covered, so that the mounting cavity is closed, foreign objects are effectively prevented from entering, and the good use performance of the floor-mounted sensor 31 is ensured. The material of the light-transmitting cover 317 is a light-transmitting material, which ensures that the transmission signal of the transmission element 311 and the reception signal of the reception element 315 can pass through, and does not reduce the material, thereby ensuring that the detection performance of the ground detection sensor 31 is good. Here, two light-transmissive covers 317 are provided, one light-transmissive cover 317 is fitted to the emission opening 313a, and the other light-transmissive cover 317 is fitted to the reception opening 313 b.
With reference to fig. 2, in order to further improve the suspended risk avoiding capability of the sweeping robot 100, in an alternative embodiment, two side walls of the housing 10 in the left-right direction are respectively provided with two ground detection assemblies 30, and the two ground detection assemblies 30 in the left-right direction are symmetrically arranged with reference to a center line of the housing 10 in the left-right direction.
In this embodiment, the ground detection assemblies 30 are also disposed on the two side walls of the housing 10 in the left-right direction, and each ground detection assembly 30 also includes two ground detection sensors 31, so that the detection range of the floor sweeping robot 100 on the surrounding terrain can be effectively increased, the floor sweeping robot is prevented from moving in the left-right direction or turning over on one side in a suspension manner during the turning process, and the self-protection performance of the floor sweeping robot is further improved. The structure of each floor-detecting sensor 31 is set with reference to the structure of the above-described embodiment, so that the cross-talk phenomenon can be avoided, and the detection accuracy and the usability of each floor-detecting component 30 can be ensured.
Referring to fig. 1 again, in addition, in order to further improve the risk avoiding capability of the sweeping robot 100, in an optional embodiment, the sweeping robot 100 further includes a laser radar (not shown) disposed in the housing 10, and a laser exit port 10a is formed in a side wall of the housing 10; the laser radar can be exposed through the laser exit port 10a, so that the signal emitted by the laser radar exits through the laser exit port 10 a.
In this embodiment, laser radar can send laser to when running in-process when meetting the barrier, can reflect the laser back, thereby carry out the distance detection with the barrier, and can make corresponding action of keeping away dangerous simultaneously. Here, the laser radar is arranged in the shell 10, so that the collision of the protruding structure in the advancing process can be avoided, and the protection performance of the laser radar is improved; and the dust and sundries can be effectively reduced without being exposed, so that the influence on the emergence of laser signals is avoided, and the detection performance of the laser radar is effectively improved. By arranging the laser exit port 10a on the side wall of the housing 10, the laser radar is partially exposed through the laser exit port 10a, so that a signal emitted by the laser radar can be directly emitted through the laser exit port 10a, and the smoothness of a laser light path is ensured.
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 (10)

1. A robot of sweeping floor for clean the face of waiting to clean, its characterized in that includes:
a housing including a front sidewall facing in a forward direction; and
the ground detection assembly is arranged at a position, close to the front side wall, of the shell and comprises two ground detection sensors which are arranged at intervals, and the projection areas of the emission fields of the two ground detection sensors on the surface to be cleaned are not overlapped.
2. The sweeping robot of claim 1, wherein the housing is defined to have a left-right direction parallel to the front wall, the two ground detection sensors are spaced apart in the left-right direction, each ground detection sensor includes a transmitting element, and the two transmitting elements of the two ground detection sensors respectively transmit detection signals in directions away from each other.
3. The sweeping robot of claim 2, wherein the emitting angle of the emitting element is arranged at an included angle relative to the vertical line, and the included angles between the two emitting elements of the two ground detection sensors and the vertical direction are the same.
4. A sweeping robot according to any one of claims 1 to 3, wherein the housing is formed with at least two mounting slots, the mounting slots opening to the surface to be cleaned, each said ground detection sensor being disposed in one said mounting slot.
5. The sweeping robot of claim 4, wherein the ground detection sensor further comprises a mounting seat, a mounting cavity and a transmitting port communicated with the mounting cavity are formed in the mounting seat, the transmitting element is arranged in the mounting cavity, the transmitting end of the transmitting element is arranged towards the transmitting port, and the mounting seat is detachably connected to the mounting groove.
6. The sweeping robot of claim 5, wherein the mounting base comprises a first buckle plate and a second buckle plate which are detachably connected, and the first buckle plate and the second buckle plate enclose to form the mounting cavity and the emitting opening.
7. The sweeping robot of claim 5, wherein the ground detection sensor further comprises a receiving element disposed in the mounting cavity, the receiving element and the emitting element are disposed at an interval, and the mounting seat is provided with a receiving opening avoiding a receiving end of the receiving element.
8. The sweeping robot of claim 7, wherein the ground detection sensor further comprises a light-transmissive cover connected to the mounting base and covering the emitting opening and the receiving opening.
9. A sweeping robot according to any one of claims 1 to 3, wherein two floor test assemblies are respectively provided on both side walls of the housing in the left-right direction, and the two floor test assemblies in the left-right direction are symmetrically arranged with respect to a center line of the housing in the left-right direction.
10. The sweeping robot of claim 1, further comprising a laser radar, wherein the laser radar is disposed in the housing, and a laser exit port is formed in a side wall of the housing; the laser radar can be exposed through the laser exit port, so that the signal emitted by the laser radar exits through the laser exit port.
CN202010876805.8A 2020-08-27 2020-08-27 Floor sweeping robot Pending CN114098524A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN202010876805.8A CN114098524A (en) 2020-08-27 2020-08-27 Floor sweeping robot

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CN114098524A true CN114098524A (en) 2022-03-01

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Application Number Title Priority Date Filing Date
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230355064A1 (en) * 2021-09-23 2023-11-09 Yunjing Intelligence (Shenzhen) Co., Ltd. Cleaning robot, bristle control method and device, and computer storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230355064A1 (en) * 2021-09-23 2023-11-09 Yunjing Intelligence (Shenzhen) Co., Ltd. Cleaning robot, bristle control method and device, and computer storage medium
US11889971B2 (en) * 2021-09-23 2024-02-06 Yunjing Intelligence (Shenzhen) Co., Ltd. Cleaning robot, bristle control method and device, and computer storage medium

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