CN201404156Y - Mobile intelligent robot - Google Patents
Mobile intelligent robot Download PDFInfo
- Publication number
- CN201404156Y CN201404156Y CN2009200395956U CN200920039595U CN201404156Y CN 201404156 Y CN201404156 Y CN 201404156Y CN 2009200395956 U CN2009200395956 U CN 2009200395956U CN 200920039595 U CN200920039595 U CN 200920039595U CN 201404156 Y CN201404156 Y CN 201404156Y
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- intelligent robot
- inductive switch
- driving wheel
- movably
- main body
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Abstract
The utility model provides a mobile intelligent robot which comprises a main body, a collision plate, a driving component and a control unit. The control unit controls the driving component, an approach inductive switch is arranged on the main body, and an approach inductive element is arranged on the collision plate. When the approach inductive element approaches the approach inductive switch andis induced by the approach inductive switch, the approach inductive switch transmits a signal to the control unit, and the control unit leads the robot to change the moving direction once receiving the signal transmitted by the approach inductive switch. The approach induction between the approach inductive switch and the approach inductive element cannot be interfered by dust, which ensures accuracy of a collision plate signal and improves the cleaning efficiency. Moreover, an approach induction signal between the approach inductive switch and the approach inductive element is provided for the control unit to confirm the appearing of barriers; therefore, the structure of an entire system is simpler, and the installation is more convenient.
Description
Technical field
The utility model relates to a kind of movably intelligent robot, especially move the movably intelligent robot hit plate a kind of having, and described movably intelligent robot further relates to automatic cleaner, sweeper, the similar movably intelligent robot such as machine that mops floor automatically automatically.
Background technology
Existing intelligent robot comprises that a main body can hit plate relative to what main body moved with one, can provide a signal and give the control module of intelligent robot after hitting plate to run into barrier, control module can send instruction indication intelligent robot avoidance or get around this barrier.In existing robot product and technology, the infrared induction that hits feeding of partitioned signal and mainly be by between the optocoupler is realized.When robot collides barrier, hit Board position and move, cut off the infrared induction between two optocouplers, control module responds signal and determines that barrier occurs, and then the traffic direction of change robot is with avoiding obstacles.
But, especially unavoidablely on the eyeglass of optocoupler in the dust suction or the course of work of sweeping the floor more or less can be stained with the just many more of dust, particularly working time dust accumulation of a specified duration more because robot is a kind of floor treatment instrument.Because optocoupler is positioned at robot main frame inside, be difficult to eyeglass is cleared up simultaneously.Therefore the infrared induction between the optocoupler may make control module think that barrier occurs, and makes robot maloperation occur by mistake because eyeglass is covered by dust.
The utility model content
The purpose of this utility model is to solve above-mentioned technical problem, provides a kind of simple in structure, impingement plate signal to feed the movably intelligent robot that disturbed by dust.
The purpose of this utility model is achieved through the following technical solutions:
A kind of movably intelligent robot comprises: main body; Can hit plate relative to what main body moved; Driver part is arranged on the main body and moves in order to drive described movably intelligent robot; Control module, the control signal output of this control module connects the controlled end of described driver part, in order to control described driver part; At least be provided with one on the described main body near inductive switch, described hitting is provided with one at least near sensing element on the plate; Described signal output part near inductive switch connects the induced signal input of described control module, in order to when described near sensing element near near inductive switch and make when sensing near inductive switch, should give described control module near inductive switch transmission induced signal, thereby control described driver part, order about intelligent robot and change traffic direction.
Further, described is Hall element near inductive switch, and described is magnetic element near sensing element.Perhaps, described is magnetron near inductive switch, and described is magnetic element near sensing element.Perhaps, described near inductive switch be metal near switch, described is hardware near sensing element.
Again further, described driver part comprises the left driving wheel that is arranged on the intelligent robot base, right driving wheel and driving wheel motor driver, and described left driving wheel is connected with the control signal output of described control module respectively individually with right driving wheel.
Further, described control module is a microcontroller, and the control signal output of described microcontroller is connected respectively to the driving wheel motor driver of the described left and right driving wheel of control running.
Again further, described driver part also comprises left and right driving wheel encoder, the induced signal input of described microcontroller links to each other with the signal output part near inductive switch, the control signal output of described microcontroller is connected respectively to left and right driving wheel motor encoder, and described left and right driving wheel motor encoder is connected with the left and right motor driver of control left and right driving wheel respectively.
Be effectively to improve the barrier ability of keeping away, described what hit that plate is provided with is two near sensing element, lays respectively at described two sides of hitting plate; What described main body was provided with is two near inductive switch, lays respectively at described opposite position place near sensing element.
The beneficial effects of the utility model are mainly reflected in: since near inductive switch with near would not being subjected to the interference of dust near sense between the sensing element, so guaranteed the accuracy of impingement plate signal, improved operating efficiency; In addition, the impingement plate signal feed employing near inductive switch, by making that the whole system structure is simpler, install also convenient near inductive switch and near offering the appearance that control module is confirmed barrier near induced signal between the sensing element.
Description of drawings
Below in conjunction with accompanying drawing technical solutions of the utility model are described further:
Fig. 1: the upward view of intelligent robot of the present utility model.
Fig. 2: among Fig. 1 along the cutaway view of A-A direction.
Fig. 3: the vertical view of intelligent robot of the present utility model.
Fig. 4: the circuit diagram of Hall element of the present utility model.
Fig. 5: the block hardware diagram of control module of the present utility model.
Fig. 6: the enlarged drawing of A part among Fig. 2.
Fig. 7: the schematic diagram of the position of Hall element and magnetic element relation when robot hits plate and retreats.
Fig. 8 A-Fig. 8 C: the schematic diagram of application of the present utility model.
Fig. 9: among Fig. 3 along the cutaway view of B-B direction.
Wherein: 1, intelligent robot; 2, hit plate; 3, main body; 4, left driving wheel; 5, right driving wheel; 6, universal wheel; 7, rechargeable battery; 8, round brush; 9, Hall element; 10, omnidirectional's receiver; 11, magnetic element; 12, microcontroller wiring board.
The specific embodiment
The utility model has disclosed the intelligent robot on a kind of automated cleaning ground.As shown in Figure 1 to Figure 3, movably intelligent robot 1 is the same with prior art for this, comprising: main body 3 is provided with on it with one and can hits plate 2 relative to what main body 3 moved.
The driver part of intelligent robot comprises left driving wheel 4, right driving wheel 5 and driving wheel motor driver (not shown), described left driving wheel 4, right driving wheel 5 lay respectively on the base of main body 3, described driving wheel motor driver drives the left and right driving wheel respectively separately, make intelligent robot 1 to move forward or backward, by the cooperation of the universal wheel on the base that is positioned at main body 36, make that intelligent robot 1 also can be freely to any one directional steering again.
Shown in be provided with one near inductive switch 9 near hitting plate 2 places on the main body 3 of intelligent robot, hit and correspondingly be provided with one on the plate 2 near sensing element 11.In this preferred embodiment, being Hall element 9 near inductive switch, is magnetic element 11 near sensing element.Fig. 4 has disclosed the circuit diagram of present embodiment Hall element 9 necessary electronic building bricks, and when the operation principle of Hall element vertically placed magnetic field for the wafer with an energising, the thin slice both sides can produce potential difference thus, and this phenomenon is called Hall effect.This potential difference is called Hall voltage, the big or small E=KIB/d of electromotive force, and K is a Hall coefficient in the formula, and d is the thickness of thin slice, and I is an electric current, and B is a magnetic induction intensity.In the utility model Hall element be as a kind of near switch, it has contactless, no wearing and tearing, low-power consumption, the life-span is long, highly sensitive, operating frequency is high characteristics, can work under various adverse circumstances reliable and stablely.
Furtherly, described driver part also comprises the driving wheel encoder.When described magnetic element 11 during near Hall element 9, this Hall element 9 can be given microcontroller by signal of transmission.Block hardware diagram in conjunction with the control module among Fig. 5, the induced signal input of this microcontroller MCU links to each other with the signal output part of Hall element 9, described microcontroller receives the signal of Hall element 9, and after treatment signal is transferred to the driving wheel motor encoder, convert the motor driver that power signal is transferred to control left and right driving wheel 4,5 respectively again to.Like this, described left driving wheel 4 and right driving wheel 5 all can be driven individually by microcontroller MCU and allow intelligent robot 1 turn to.Certainly, the microcontroller in the utility model can also comprise different control functions and different sensors, for example physical obstacle sensor, cliff sensor etc.
In the utility model, carry out an algorithm as the microcontroller of control module, this algorithm comprises to be made this robot in a single day obtain the step that signal that Hall element 9 transmits promptly turns to or takes a step back and to the step of any one directional steering, till no longer receiving this signal.Further, wherein this algorithm also is included in and does at least one both quantitative rotating step after no longer detecting signal; Comprise that also whether decision is towards the general clockwise or rotating step of counter-clockwise direction; Wherein, whether this decision also comprises the at random function of preferential direction towards the general clockwise or rotating step of counter-clockwise direction; And turning round function of twice etc. in the same direction before the preferential direction at random.
Introduce the application of this preferred embodiment below in conjunction with Fig. 6, Fig. 7, Fig. 8 A to Fig. 8 C.
Keep away the barrier ability for effectively improving, the disturbance of perception thing is positioned at the approximate location of intelligent robot.Further preferably, be provided with two Hall elements 9 near hitting plate 2 places on the main body 3 of intelligent robot.Shown in Figure 9, this Hall element 9 lays respectively at two sides of hitting plate 2, hits and correspondingly is provided with two magnetic elements 11 on the plate 2.When hitting plate 2 right sides when running into barrier, be positioned at the magnetic element 11 close corresponding Hall elements 9 that hit plate 2 right sides, make Hall element 9 sense the corresponding position magnetic element 11 existence and send signal and give microcontroller 12, make robot 1 draw back by microcontroller 12 control driver parts, and then turn left again, successfully dodge barrier with this.When hitting plate 2 zone lines and run into barrier, make be positioned at hit plate 2 left sides and right side magnetic element 11 all near the Hall element 9 of relevant position, two Hall elements 9 like this all sense the corresponding position magnetic element 11 existence and send signal and give microcontroller 12, make 1 in robot draw back by microcontroller 12 control driver parts, and rotate an angle at random.When robot hits plate 2 left sides when running into barrier, to run into barrier similar with hitting plate 2 right sides for operation principle, do not repeat them here.
Only for a most simple and practical embodiment, the utility model still has multiple concrete embodiment to this preferred embodiment.For example, be arranged on the Hall element 9 on the main body, can also replace near switch by magnetron or metal.Accordingly, magnetic element 11 also can be replaced by magnetic element or hardware.
Below be example near switch with the metal material that hits on the plate 2 simply with the metal that is arranged on the main body 3, when hitting when moving after plate 2 is run into barrier, metal can be sensed the existence of hardware near switch and send signal and give microcontroller, microcontroller will move one section program that is used for dodging barrier, the control left and right sidesing driving wheel takes a step back by intelligent robot, and rotate a certain angle, near the existence of inductive switching, so just successfully dodged barrier up to metal less than hardware.
By above explanation as can be seen; as long as adopt be similar to Hall element, magnetron such near inductive switch; be equipped with hit on the plate near inductive material; the not exhaustive embodiment that all belongs to utility model; all employings are equal to replacement or equivalent transformation and all technical schemes of forming, all drop within the claimed scope of the utility model.
Intelligent robot also can be automatic sweeper or mops floor machine automatically in present embodiment the cited automatic cleaner.According to different needs of work, the designer can be equiped with the element of difference in functionality or the combination of multiple function in the inside of intelligent robot, and the arbitrary combination with suchlike individual feature or a plurality of functions inserts in the intelligent robot.
Claims (8)
1. an intelligent robot movably comprises: main body (3);
Can hit plate (2) relative to what main body moved;
Driver part is arranged on main body (3) and upward moves in order to drive described movably intelligent robot;
Control module, the control signal output of this control module connects the controlled end of described driver part, in order to control described driver part;
It is characterized in that: be provided with one on the described main body (3) at least near inductive switch (9),
Described hitting is provided with one at least near sensing element (11) on the plate (2);
Described signal output part near inductive switch (9) connects the induced signal input of described control module, in order to also to make near inductive switch (9) when sensing near described near inductive switch (9) near sensing element (11) when described, describedly give described control module near inductive switch (9) transmission induced signal, thereby control described driver part, order about intelligent robot and change traffic direction.
2. movably intelligent robot according to claim 1 is characterized in that: described is Hall element near inductive switch (9), and described is magnetic element near sensing element (11).
3. movably intelligent robot according to claim 1 is characterized in that: described is magnetron near inductive switch (9), and described is magnetic element near sensing element (11).
4. movably intelligent robot according to claim 1 is characterized in that: described near inductive switch (9) for metal near switch, described is hardware near sensing element (11).
5. according to described any one intelligent robot movably of claim 1 to 4, it is characterized in that: described driver part comprises the left driving wheel (4) that is arranged on the intelligent robot base, right driving wheel (5) and driving wheel motor driver, and described left driving wheel (4) is connected with the control signal output of described control module respectively individually with right driving wheel (5).
6. movably intelligent robot according to claim 5, it is characterized in that: described control module is a microcontroller (12), and the control signal output of described microcontroller (12) is connected respectively to the driving wheel motor driver of the described left and right driving wheel of control (4,5) running.
7. movably intelligent robot according to claim 6, it is characterized in that: described driver part also comprises left and right driving wheel encoder, the induced signal input of described microcontroller (12) links to each other with signal output part near inductive switch (9), the control signal output of described microcontroller (12) is connected respectively to left and right driving wheel motor encoder, and described left and right driving wheel motor encoder is connected with the left and right motor driver of control left and right driving wheel (4,5) respectively.
8. movably intelligent robot according to claim 1 is characterized in that: described what hit that plate (2) is provided with is two near sensing element (11), lays respectively at described two sides of hitting plate; What described main body (3) was provided with is two near inductive switch (9), lays respectively at described opposite position place near sensing element (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200395956U CN201404156Y (en) | 2009-04-16 | 2009-04-16 | Mobile intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200395956U CN201404156Y (en) | 2009-04-16 | 2009-04-16 | Mobile intelligent robot |
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| CN201404156Y true CN201404156Y (en) | 2010-02-17 |
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| CN2009200395956U Expired - Lifetime CN201404156Y (en) | 2009-04-16 | 2009-04-16 | Mobile intelligent robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
| CN102490172A (en) * | 2011-12-05 | 2012-06-13 | 东北林业大学 | Indoor intelligent cleaning robot |
| CN102543498A (en) * | 2011-12-30 | 2012-07-04 | 太仓市康辉科技发展有限公司 | Interference detection mechanism |
| CN102591336A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| CN103908196A (en) * | 2013-01-05 | 2014-07-09 | 恩斯迈电子(深圳)有限公司 | Cleaning robot and cleaning system |
| CN105786005A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Sweeping robot control system |
| CN105792720A (en) * | 2013-12-04 | 2016-07-20 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN105942931A (en) * | 2016-06-20 | 2016-09-21 | 嘉兴杰创智能电器有限公司 | Displacement state recognition device for automatic sweeper |
| WO2017107655A1 (en) * | 2015-12-25 | 2017-06-29 | 北京奇虎科技有限公司 | Method and device for controlling automatic sweeper |
| CN107957504A (en) * | 2016-10-18 | 2018-04-24 | 苏州宝时得电动工具有限公司 | Collision course detection method and its device |
| CN109091075A (en) * | 2018-08-17 | 2018-12-28 | 天佑电器（苏州）有限公司 | Self-moving device and its traveling control method |
| WO2019037667A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Multi-media intelligent cleaning device and control method |
| US10362917B2 (en) | 2013-12-04 | 2019-07-30 | Samsung Electronics Co., Ltd. | Cleaning robot |
| SE1850166A1 (en) * | 2018-02-16 | 2019-08-17 | Husqvarna Ab | Suspension for outdoor robotic tools |
| CN110786784A (en) * | 2018-08-01 | 2020-02-14 | 尚科宁家运营有限公司 | Robot vacuum cleaner |
| CN111189478A (en) * | 2015-06-02 | 2020-05-22 | 美国iRobot公司 | Contact sensor for mobile robot |
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2009
- 2009-04-16 CN CN2009200395956U patent/CN201404156Y/en not_active Expired - Lifetime
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217918A (en) * | 2010-04-14 | 2011-10-19 | 泰怡凯电器(苏州)有限公司 | Robot system and method for butt joint of robot and charging seat of robot system |
| CN102591336A (en) * | 2011-01-05 | 2012-07-18 | 泰怡凯电器(苏州)有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| CN102591336B (en) * | 2011-01-05 | 2014-12-17 | 科沃斯机器人有限公司 | Edge adhering movement control method of glass-cleaning robot, and control system thereof |
| CN102490172A (en) * | 2011-12-05 | 2012-06-13 | 东北林业大学 | Indoor intelligent cleaning robot |
| CN102490172B (en) * | 2011-12-05 | 2014-09-24 | 东北林业大学 | Indoor intelligent cleaning robot |
| CN102543498A (en) * | 2011-12-30 | 2012-07-04 | 太仓市康辉科技发展有限公司 | Interference detection mechanism |
| CN103908196A (en) * | 2013-01-05 | 2014-07-09 | 恩斯迈电子(深圳)有限公司 | Cleaning robot and cleaning system |
| US10362917B2 (en) | 2013-12-04 | 2019-07-30 | Samsung Electronics Co., Ltd. | Cleaning robot |
| CN105792720A (en) * | 2013-12-04 | 2016-07-20 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN105792720B (en) * | 2013-12-04 | 2019-02-01 | 三星电子株式会社 | Clean robot and its control method |
| US11104006B2 (en) | 2015-06-02 | 2021-08-31 | Irobot Corporation | Contact sensors for a mobile robot |
| CN111189478A (en) * | 2015-06-02 | 2020-05-22 | 美国iRobot公司 | Contact sensor for mobile robot |
| WO2017107655A1 (en) * | 2015-12-25 | 2017-06-29 | 北京奇虎科技有限公司 | Method and device for controlling automatic sweeper |
| CN105786005A (en) * | 2016-05-10 | 2016-07-20 | 广西升禾环保科技股份有限公司 | Sweeping robot control system |
| CN105942931A (en) * | 2016-06-20 | 2016-09-21 | 嘉兴杰创智能电器有限公司 | Displacement state recognition device for automatic sweeper |
| CN107957504A (en) * | 2016-10-18 | 2018-04-24 | 苏州宝时得电动工具有限公司 | Collision course detection method and its device |
| WO2019037667A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Multi-media intelligent cleaning device and control method |
| US11953074B2 (en) | 2018-02-16 | 2024-04-09 | Husqvarna Ab | Suspension for outdoor robotic tools |
| SE1850166A1 (en) * | 2018-02-16 | 2019-08-17 | Husqvarna Ab | Suspension for outdoor robotic tools |
| WO2019160470A1 (en) * | 2018-02-16 | 2019-08-22 | Husqvarna Ab | Suspension for outdoor robotic tools |
| CN110786784A (en) * | 2018-08-01 | 2020-02-14 | 尚科宁家运营有限公司 | Robot vacuum cleaner |
| CN110786784B (en) * | 2018-08-01 | 2022-09-06 | 尚科宁家运营有限公司 | Robot vacuum cleaner |
| CN109091075B (en) * | 2018-08-17 | 2024-03-08 | 天佑电器（苏州）有限公司 | Self-moving device and traveling control method thereof |
| CN109091075A (en) * | 2018-08-17 | 2018-12-28 | 天佑电器（苏州）有限公司 | Self-moving device and its traveling control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Ecovacs Electric Co.,Ltd. Assignor: TEK ELECTRICAL (SUZHOU) Co.,Ltd. Contract record no.: 2011320010115 Denomination of utility model: Mobile intelligent robot Granted publication date: 20100217 License type: Common License Record date: 20110819 |
|
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
|
| CP03 | Change of name, title or address |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. Address before: 215128 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: TEK ELECTRICAL (SUZHOU) Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20100217 |
|
| CX01 | Expiry of patent term |