CN201595779U - Self-adaption over-obstacle non-blind area dust collector down-looking device - Google Patents
Self-adaption over-obstacle non-blind area dust collector down-looking device Download PDFInfo
- Publication number
- CN201595779U CN201595779U CN2009202016583U CN200920201658U CN201595779U CN 201595779 U CN201595779 U CN 201595779U CN 2009202016583 U CN2009202016583 U CN 2009202016583U CN 200920201658 U CN200920201658 U CN 200920201658U CN 201595779 U CN201595779 U CN 201595779U
- Authority
- CN
- China
- Prior art keywords
- optical channel
- support
- blind area
- chassis
- looking
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Escalators And Moving Walkways (AREA)
Abstract
The utility model discloses a self-adaption over-obstacle non-blind area dust collector down-looking device, which mainly comprises a chassis, a walking wheel group, a support, a receiving light channel, an emitting light channel, a side down-looking window, a lower step down-looking window, an upper step down-looking window, a receiving tube and a transmitting tube. The self-adaption over-obstacle non-blind area dust collector down-looking device is provided with four down-looking windows, uses a mechanical structure to improve the emitting light channel and the receiving light channel, and leads the detecting range of the device not to have a non-blind area. The self-adaption over-obstacle non-blind area dust collector down-looking device has excellent self-adaption over-obstacle capacity and can not fall through switching the upper step down-looking window and the lower step down-looking window under the control of electric circuits, and can be widely applied for various autonomous mobile dust collectors.
Description
Technical field
The utility model relates to view apparatus under a kind of dust catcher, relates in particular to view apparatus under a kind of non-blind area dust catcher of realizing the self adaptation obstacle detouring.
Background technology
21 century, various service robots are about to come into daily life.Preliminary definition of service robot has been given in international robot combined meeting: service robot is a kind of robot of semi-automatic or full utonomous working, and it can finish the healthy services that is beneficial to man, but does not comprise manufacturing-oriented equipment.The application scenario of mobile model service robot can comprise household cleaning, hospital care; Mall shopping, guide; Restaurant service, hotel ceremony; Community's tour, bank building security personnel etc., the robot of the some other people's of pressing close to life also is put into wherein.
Along with the raising of development of technologies and people's living standard, service robot just is being subjected to extensive concern.In existing foreign technology, the following inspection of dust catcher is surveyed device and is comprised support, is arranged at transmitting tube on the described support, is arranged at the receiving tube on the described support, transmitting tube and receiving tube are distributed in front side, left side, the right side of support, must cooperate the ultrasonic listening barrier, so this sighting device can not form the surveying tape in support the place ahead; In existing domestic technique, launch optical channel and receive the angle that optical channel constitutes by changing, or change the distance of transmitting tube between receiving tube, can change the scope that is detected in support the place ahead, and can be so that detected scope is continuous band shape.But, no matter be technology or at home in the technology, the following inspection of dust catcher is surveyed device and all existed certain detection blind area in support the place ahead abroad, and can only be limited on the ground that does not have barrier and clean.Because when being about to clear the jumps, because dust catcher chassis distance overhead is different with dust catcher chassis distance overhead when not clearing the jumps, this device of inspection survey at present can be entirely ineffective, causes sensor can not accurately catch the residing working environment of dust catcher.
The utility model content
The purpose of this utility model is at the deficiencies in the prior art, view apparatus under a kind of non-blind area dust catcher of self adaptation obstacle detouring is provided, inspection was surveyed the detection blind area of device in support the place ahead under the utility model can overcome, can be about to obstacle detouring and switch, and having good detection accuracy under the obstacle detouring different conditions again.
The technical scheme that its technical problem that solves the utility model adopts is as follows: view apparatus under a kind of non-blind area dust catcher of self adaptation obstacle detouring, and it comprises form, the form of getting out of a predicament or an embarrassing situation down, the form of topping bar down, receiving tube and transmitting tube under chassis, walking wheels, support, reception optical channel, emission optical channel, the side; Form is at the dual-side on chassis under the described side, about respectively have one; Described form and the form of topping bar down of getting out of a predicament or an embarrassing situation down is distributed in the left and right sides, dead ahead on chassis; Described support is installed on the chassis by buckle, and emission optical channel and reception optical channel all are positioned at internal stent, and all favour horizontal plane; The angle of the infrared light region of described transmitting tube and receiving tube emission is 180 degree.
Further, the afterbody on described chassis has a wedge limit.
Further, describedly be installed in the support in the form of getting out of a predicament or an embarrassing situation down and install under the step supporting structure in the form different, the angle that wherein is installed in the emission optical channel of the support in the form of getting out of a predicament or an embarrassing situation down and receives optical channel and vertical direction is 7 and spends; Be installed in the emission optical channel of the support in the form of topping bar down and the angle of reception optical channel and vertical direction and be 9 degree.
The utility model is compared with background technology, and the beneficial effect that has is:
1, has the obstacle detouring adaptivity:, when dust catcher is about to top bar, only open the form down of topping bar by electronic circuit control; When dust catcher will clear the jumps, can switch to the form of getting out of a predicament or an embarrassing situation down by electronic circuit, sensor can accurately capture dust catcher and was about to clear the jumps this moment.
2, there is not the blind area of detection.To launch optical channel and receive optical channel length lengthening by frame for movement and intersect, the angle of transmitting tube and the receiving tube infrared light region of launching is 180 to spend like this, and detection range does not have the blind area.
3, this time view apparatus is simple in structure, and low cost of manufacture can improve the reliability and the accuracy of structure action well, can be widely used in various autonomous mobile dust catcher.
Description of drawings
Fig. 1 is a principle schematic of the present utility model;
Fig. 2 is a upward view of the present utility model;
Fig. 3 is the left view of this signal utility model;
Fig. 4 is the supporting structure schematic diagram;
Fig. 5 is the support vertical view;
Fig. 6 looks the operation principle block diagram under the up/down steps;
Fig. 7 looks the control circuit schematic diagram under being;
Among the figure: 1, chassis, 2, the walking wheels, 3, support, 4, receive optical channel, 5, the emission optical channel, 6, form under the side, 7, the form of getting out of a predicament or an embarrassing situation down, 8, the form of topping bar down, 9, receiving tube, 10, transmitting tube.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described, it is more obvious that the utility model ground purpose and effect will become.
As Fig. 1, Fig. 2, Fig. 3 and shown in Figure 7, the utility model mainly comprises chassis 1, walking wheels 2, support 3, receives form 6, the form 7 of getting out of a predicament or an embarrassing situation down, the form 8 of topping bar down, receiving tube 9 and transmitting tube 10 under optical channel 4, emission optical channel 5, the side; The afterbody on chassis 1 has a wedge limit, with ground certain gradient is arranged.Form 6 is distributed in the both sides of the edge, chassis respectively under two sides; Get out of a predicament or an embarrassing situation the down form 7 and the form 8 of topping bar down is distributed in the left and right sides, dead ahead on chassis 1.Support 3 is installed on the chassis 1 by buckle, and emission optical channel 5 and reception optical channel 4 all are positioned at support 3 inside, and all favour horizontal plane.To launch optical channel 5 and receive optical channel 4 length lengthening by frame for movement and intersect, the angle of transmitting tube 10 and receiving tube 9 infrared light region of being launched is 180 to spend like this, and detection range does not have the blind area.Be installed in the emission optical channel 5 of the support 3 in the form 7 of getting out of a predicament or an embarrassing situation down and the angle of reception optical channel 4 and vertical direction and be 7 degree; Be installed in the emission optical channel 5 of the support 3 in the form 8 of topping bar down and the angle of reception optical channel 4 and vertical direction and be 9 degree.When dust catcher does not have obstacle detouring, by electronic circuit control, only open the form 8 of topping bar down, can to capture dust catcher be to travel on the ground to sensor at this moment; When dust catcher will clear the jumps, can switch to the form 7 of getting out of a predicament or an embarrassing situation down this moment by electronic circuit, and at this moment sensor can accurately capture dust catcher and is about to clear the jumps.
The function of operation principle of the present utility model and each several part is as follows:
Whether in conjunction with Fig. 4, Fig. 5 and shown in Figure 6,1 limit, the left and right sides respectively has one to form 6 on the chassis under the described side, be used for detecting body of dust collector and run into such as similar situation such as desktop edge at traveling process, avoids body of dust collector to fall.Described get out of a predicament or an embarrassing situation down form 7 and the form 8 of topping bar down are distributed in the left and right sides, dead ahead on chassis 1, can switch with the duty of the form 8 of topping bar down the form 7 of getting out of a predicament or an embarrassing situation down by electronic circuit control.Described walking wheels 2 drive to be rotated by movable motor, and the wheel shaft of walking wheels 2 is exported with the power of gearbox and is connected, and its speed of travel is subjected to having the control of the gearbox of a stable drive ratio.Support 3 is installed on the chassis 1 by buckle, and emission optical channel 5 and reception optical channel 4 all are positioned at support 3 inside, and all favour horizontal plane.To launch optical channel 5 and receive optical channel 4 length lengthening crossing by frame for movement, the infrared light emission optical channel 5 launched of transmitting tube 10 and receiving tube 9 and receive optical channel 4 places and just intersect like this, the angle of both region of ultra-reds is 180 degree, and detection range does not have the blind area.The afterbody on chassis 1 has a wedge limit, becomes certain included angle with ground.When the dust catcher obstacle detouring, because body of dust collector front end meeting perk, and can sink in the rear end, so the existence on wedge limit has avoided chassis 1 and ground to produce directly friction.Be installed in the emission optical channel 5 of the support 3 in the form 7 of getting out of a predicament or an embarrassing situation down and the angle of reception optical channel 4 and vertical direction and be 7 degree, the stroke of infrared light is longer like this; Be installed in the emission optical channel 5 of the support 3 in the form 8 of topping bar down and the angle of reception optical channel 4 and vertical direction and be 9 degree, the formation of infrared light is shorter like this.When dust catcher does not have obstacle detouring, by electronic circuit control, only open the form 8 of topping bar down, can to capture dust catcher be to travel on the ground to sensor at this moment; When dust catcher will clear the jumps, can switch to the form 7 of getting out of a predicament or an embarrassing situation down this moment by electronic circuit, and at this moment sensor can accurately capture dust catcher and is about to clear the jumps.
Claims (3)
1. view apparatus under the non-blind area dust catcher of a self adaptation obstacle detouring is characterized in that: it comprises chassis (1), walking wheels (2), support (3), receives form (6), the form of getting out of a predicament or an embarrassing situation down (7), the form of topping bar down (8), receiving tube (9) and transmitting tube (10) under optical channel (4), emission optical channel (5), the side; Form under the described side (6) is the dual-side of (1) on the chassis, about respectively have one; Described form of getting out of a predicament or an embarrassing situation down (7) and the form of topping bar down (8) are distributed in the left and right sides, dead ahead on chassis (1); Described support (3) is installed on the chassis (1) by buckle, and emission optical channel (5) and reception optical channel (4) all are positioned at support (3) inside, and all favour horizontal plane; The angle of the infrared light region of described transmitting tube (10) and receiving tube (9) emission is 180 degree.
2. according to view apparatus under the non-blind area dust catcher of the described self adaptation obstacle detouring of claim 1, it is characterized in that: the afterbody of described chassis (1) has a wedge limit.
3. according to view apparatus under the non-blind area dust catcher of claim 1 or 2 described self adaptation obstacle detourings, it is characterized in that: be installed in the support (3) in the form of getting out of a predicament or an embarrassing situation down (7) and support (3) structure installed in the form under the step (8) different, wherein, be installed in the emission optical channel (5) of the support (3) in the form of getting out of a predicament or an embarrassing situation down (7) and the angle of reception optical channel (4) and vertical direction and be 7 degree; Be installed in the emission optical channel (5) of the support (3) in the form of topping bar down (8) and the angle of reception optical channel (4) and vertical direction and be 9 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202016583U CN201595779U (en) | 2009-12-14 | 2009-12-14 | Self-adaption over-obstacle non-blind area dust collector down-looking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202016583U CN201595779U (en) | 2009-12-14 | 2009-12-14 | Self-adaption over-obstacle non-blind area dust collector down-looking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201595779U true CN201595779U (en) | 2010-10-06 |
Family
ID=42806820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202016583U Expired - Fee Related CN201595779U (en) | 2009-12-14 | 2009-12-14 | Self-adaption over-obstacle non-blind area dust collector down-looking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201595779U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414585A (en) * | 2013-08-30 | 2015-03-18 | 威赛有限公司 | Self-propelled vacuum cleaner |
-
2009
- 2009-12-14 CN CN2009202016583U patent/CN201595779U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104414585A (en) * | 2013-08-30 | 2015-03-18 | 威赛有限公司 | Self-propelled vacuum cleaner |
| CN104414585B (en) * | 2013-08-30 | 2018-05-25 | 威赛有限公司 | Self-propelled cleaner |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104007765B (en) | Sweeping robot is kept away barrier, localization method | |
| CN107465277B (en) | Magnetic resonance type automatic charging robot and charging method thereof | |
| CN202115613U (en) | Hexapod robot capable of realizing automatic obstacle crossing | |
| CN103770823B (en) | Stair active obstacle is taken turns | |
| CN102983460B (en) | Intelligent plug device of artificial intelligence charging system | |
| WO2021253699A1 (en) | Mobile automatic car wash apparatus | |
| CN104434428A (en) | Novel intelligent wheelchair | |
| CN108469819A (en) | A kind of z font return path planing methods of automatic dust absorption machine people | |
| CN201595779U (en) | Self-adaption over-obstacle non-blind area dust collector down-looking device | |
| CN110103741A (en) | A kind of coil aligning structure of wireless charging system for electric automobile | |
| CN108345308A (en) | A kind of best random walk selection method of automatic dust absorption machine people | |
| CN209921455U (en) | Wall-climbing robot detection system for flaw detection of planar building structure | |
| CN204445707U (en) | Sweeping robot | |
| CN205408233U (en) | Solar street lamp control system with portable panel | |
| CN203973549U (en) | A kind of wheeled Bi Zhang robot | |
| CN209543141U (en) | A kind of electromagnetism intelligent carriage shutdown system | |
| CN104090576A (en) | Robot wheelchair control system based on Arduino open source platform | |
| CN203650526U (en) | Embedded robot applicable to automatic tracking and tracing | |
| CN202653518U (en) | Suspension-type special serving trolley for train | |
| CN212497791U (en) | Rail mounted group's fog detection robot | |
| CN203681691U (en) | Embedded robot | |
| CN210169965U (en) | Automatic recharging system based on laser radar map construction and angle sensor | |
| CN201697788U (en) | Detecting device for loss of important parts of vehicle pantograph | |
| CN220290059U (en) | Embedded control system of cleaning robot | |
| CN110341817A (en) | A kind of cell Intelligent logistics trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101006 Termination date: 20121214 |