CN202776172U - Self-movable cleaning device - Google Patents
Self-movable cleaning device Download PDFInfo
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- CN202776172U CN202776172U CN 201220434076 CN201220434076U CN202776172U CN 202776172 U CN202776172 U CN 202776172U CN 201220434076 CN201220434076 CN 201220434076 CN 201220434076 U CN201220434076 U CN 201220434076U CN 202776172 U CN202776172 U CN 202776172U
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- acceleration
- movable cleaner
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- movable
- cleaner
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Abstract
The utility model belongs to the technical field of an intelligent robot, and particularly relates to a self-movable cleaning device. The self-movable cleaning device comprises a traveling unit, a drive unit and a control unit, wherein the control unit is connected with the drive unit, and the self-movable cleaning device also comprises an acceleration sensing unit which is connected with the control unit, the acceleration sensing unit is used for sensing a first acceleration and a second acceleration, and the direction of the first acceleration and the direction of the second acceleration are parallel to a working surface and mutually vertical to each other; and the control unit is used for judging the direction of an obstacle collided by the self-movable cleaning device according to an acceleration signal value transmitted by the acceleration sensing unit. Due to the adoption of the self-movable cleaning device, the obstacle can be detected in time during the a cleaning process, the avoidance action can be effectively executed, and the further collision between the self-movable cleaning device and the obstacle can be reduced.
Description
Technical field
The utility model belongs to the intelligent robot technology field, specifically, relates to a kind of from movable cleaner.
Background technology
Sweeping robot need to be evaded various barriers when carrying out home cleaning, existing window wiping robot also needs to avoid the barriers such as glass frame when cleaning glass.Mainly contain at present the method for three kinds of cognitive disorders things from the Mobile cleaning robot:
1. hit plate cognitive disorders thing.Be specially in the setting of robot ambulation direction front end and hit plate, after the robot front end is run into barrier, hit the corresponding sensor generation induced signals such as displacement, triggering travel switch that produce of plate, the robot judgement collides barrier and carries out avoiding action.It is that barrier is run on robot left side or right side that this scheme is come corresponding identification by the signal that is arranged on robot front end left side or right sensor and receives.Switching signal in this scheme needs the cooperation of various mechanisms, if hit plate or travel switch is stuck, and the effective cognitive disorders thing of robot then.
2. ultrasonic sensor or infrared sensor cognitive disorders thing.Be specially robot transmitter emission ultrasonic wave or infrared light, when receiver receives the ultrasonic wave that reflects from barrier or infrared light, judge that then there is barrier in its direct of travel.This scheme also can come corresponding recognition machine people left side or right side whether to have barrier by being arranged on the signal that robot front end left side or right sensor receive.Because ultrasonic sensor or infrared sensor are vulnerable to the impact of surrounding environment, as be subject to the interference of noise or other infrared light, it is special because the barrier material is different, the ultrasonic signal that reflects or infrared signal are also different, also the reliability of robot disturbance in judgement thing are had an immense impact on.
3. acceleration transducer cognitive disorders thing.During the robot collision obstacle, its acceleration produces sudden change, when exceeding the threshold range that robot arranges, judges that then robot collides barrier.Although robot can identify by the sudden change of acceleration signal and collide barrier, None-identified is that barrier has been run at which position of robot, and robot can not effectively carry out avoiding action.
The utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, provide a kind of from movable cleaner, can in cleaning course, can in time detect barrier and effectively carry out avoiding action, reduce and further collide from movable cleaner and barrier.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
What the utility model provided comprises walking unit, driver element and control module from movable cleaner, control module is connected with driver element, also comprise the acceleration sensing unit that is connected with control module from movable cleaner, described acceleration sensing unit is used for induction the first acceleration and the second acceleration, the first acceleration direction and the second acceleration direction are parallel to working surface, and mutually vertical; Wherein, the acceleration signal value that control module sends according to the acceleration sensing unit is judged the orientation from the movable cleaner collision obstacle.
Described acceleration sensing unit is twin-axis accelerometer; Perhaps described acceleration sensing unit comprises the first single-axis accelerometer and the second single-axis accelerometer that lays respectively on the first acceleration direction and the second acceleration direction.
Control module is according to acceleration signal value, and the disturbance in judgement phase is for the quadrant from the movable cleaner place.
Control module is asked absolute value according to the acceleration signal value of first, second acceleration direction, obtains angle value from movable cleaner collision obstacle orientation by functional relation, and described functional relation is arctan function or arc cotangent function.
Preferably, described the first acceleration direction is with consistent from the movable cleaner direction of advance.
Control module is determined yawing moment according to the orientation of self-moving device collision obstacle.
When control module judged that threshold value built-in during described acceleration signal absolute value is more than or equal to control module or acceleration signal value exceed threshold signal scope built-in in the control module, drive unit drives stopped walking or carries out go to action from movable cleaner.
When movable cleaner is carried out go to action, steering angle is less than or equal to 90 degree.
Compared with prior art, the beneficial effects of the utility model are:
The utility model is high from the movable cleaner level of intelligence, can in time detect barrier and nimbly elude in cleaning course, is conducive to the walking from movable cleaner.Especially, according to first, second acceleration signal value, can judge from the orientation of movable cleaner collision obstacle, in order to leave this barrier from the corresponding go to action of carrying out of movable cleaner.
Description of drawings
Fig. 1 is that the utility model is from the movable cleaner functional block diagram;
Fig. 2 is that the utility model is from the movable cleaner structural representation.
Reference numeral:
1. absorbing unit 2. walking unit 3. cleaning units
4. driver element 5. control modules 6. acceleration sensing unit
61. the first single-axis accelerometer 62. second single-axis accelerometers
7. from movable cleaner 8. glass
The specific embodiment
As shown in Figure 1, the utility model comprises walking unit 2, cleaning unit 3, driver element 4 and control module 5 from movable cleaner, and control module 5 is connected with driver element 4.The described acceleration sensing unit 6 that is connected with control module 5 that also comprises from movable cleaner 7, acceleration sensing unit 6 is used for induction the first acceleration and the second acceleration, the first acceleration direction and the second acceleration direction are parallel to working surface, and mutually vertical; Wherein, preferably, the first acceleration direction is with consistent from movable cleaner 7 directions of advance.
The acceleration signal value that control module 5 sends according to acceleration sensing unit 6 is judged the orientation from the movable cleaner collision obstacle.
Further, control module 5 is according to acceleration signal value, and the disturbance in judgement phase is for the quadrant from the movable cleaner place.Control module is determined yawing moment according to the orientation of self-moving device collision obstacle.
Control module 5 is asked absolute value according to the acceleration signal value of first, second acceleration direction, obtains the angle value of collision bearing by functional relation.Functional relation is arctan function or arc cotangent function.
Described the first acceleration direction is with consistent from movable cleaner 7 directions of advance.
When control module 5 judged that threshold value built-in during described acceleration signal absolute value is more than or equal to control module or acceleration signal value exceed threshold signal scope built-in in the control module, driver element 4 drove from movable cleaner 7 and stops walking or carry out go to action.When movable cleaner 7 is carried out go to action, steering angle is less than or equal to 90 degree.
If when movable cleaner 7 is sweeping robot or air purifier or window wiping robot, can be used for the house cleaning.
Adopt acceleration sensing unit 6 to detect the method for barrier from movable cleaner 7, can in time detect barrier and effectively carry out avoiding action, reduce and further collide from movable cleaner and barrier, be conducive to from movable cleaner work.
Embodiment one
When from the normal operation of movable cleaner 7, do not change or change very little if from the fuselage speed of movable cleaner 7, acceleration sensing unit 6 records accekeration to be 0 or to be in very little number range.As when when movable cleaner 7 is run into barrier, fuselage speed changes, linear acceleration transducer records acceleration signal value and sends to control module 5, when control module 5 is judged threshold value built-in during acceleration signal value are more than or equal to control module 5, when perhaps acceleration is more than the threshold signal scope, control module 5 control driver elements 4 drive walking unit 2 to be stopped or being movably walking, thereby avoids the further collision with barrier.
Acceleration sensing unit 6 is to adopt twin-axis accelerometer, and twin-axis accelerometer is used for induction the first acceleration and the second acceleration, and the first acceleration direction and the second acceleration direction are parallel to working surface, and mutually vertical; The acceleration signal value that control module 5 sends according to twin-axis accelerometer, the disturbance in judgement phase is for the quadrant from the movable cleaner place.
Embodiment two
In conjunction with shown in Figure 2, the method of present embodiment cognitive disorders thing collision bearing communicates with embodiment one, difference be in: acceleration sensing unit 6 comprises the first single-axis accelerometer 61 and the second single-axis accelerometer 62 that lays respectively on the first acceleration direction and the second acceleration direction.
The acceleration direction (Y-axis) of the first single-axis accelerometer 61 is with consistent from movable cleaner 7 directions of advance, and the acceleration direction (X-axis) of the second single-axis accelerometer 62 is vertical with the acceleration direction (Y-axis) of First Speed sensor.Control module 5 is asked absolute value according to the acceleration signal value of first, second acceleration direction, obtains angle value from movable cleaner collision obstacle orientation by functional relation, and functional relation is arctan function or arc cotangent function.Thereby which quadrant is the impact site that can effectively identify from movable cleaner 7 be positioned at.
The below describes determine barrier orientation and the corresponding process of carrying out go to action from movable cleaner 7 take embodiment two as example.
Determine that at first forward right side is that first quartile, front left side are the second quadrant.When from movable cleaner 7 collision obstacles, for example during glass 8, first and second velocity sensor 61,62 records respectively the Y-axis acceleration signal value and becomes-a, the X-axis acceleration signal value still is 0, control module 5 is judged the dead ahead collision obstacle, and walking unit 2 falls back and carries out 90 go to actions of spending.
When recording respectively the Y-axis acceleration signal value, first and second single- axis accelerometer 61,62 becomes-a1, the X-axis acceleration signal value becomes-a2, then control module 5 is judged front end right side collision obstacles (being that barrier is at first quartile), and walking unit 2 falls back and carries out the go to action of certain angle to the left (with respect to the direction of travel when the movable cleaner collision obstacle).The angle value that turns to
Utilize the arctan function relation to obtain,
The scope of this angle is 0 ° ~ 90 °.
When recording respectively the Y-axis acceleration signal value, first and second single- axis accelerometer 61,62 becomes-a3, the X-axis acceleration signal value becomes a4, then control module 5 is judged front ends left side collision obstacles (being that barrier is at the second quadrant), and walking unit 2 falls back and carries out the go to action of certain angle to the right (with respect to the direction of travel when the movable cleaner collision obstacle).The angle value that turns to
Utilize the arctan function relation to obtain,
The scope of this angle is 0 ° ~ 90 °.
In embodiment one, two, when walking unit 2 is crawler belt or wheel, to advance from movable cleaner 7 rollings, acceleration sensing unit 6 is linear acceleration transducer, is applicable to the glass cleaning device 7 of straight-line rolling walking.
If when movable cleaner 7 is glass-cleaning robot, when need are wiped vertical glass 8 surface, also comprise absorbing unit 1 from movable cleaner, be adsorbed on glass surface from the body of movable cleaner by absorbing unit 1.
Claims (10)
1. one kind from movable cleaner, comprise walking unit (2), driver element (4) and control module (5), control module (5) is connected with driver element (4), also comprise the acceleration sensing unit (6) that is connected with control module (5) from movable cleaner (7), it is characterized in that: described acceleration sensing unit (6) is used for induction the first acceleration and the second acceleration, the first acceleration direction and the second acceleration direction are parallel to working surface, and mutually vertical; Wherein, the acceleration signal value that control module (5) sends according to acceleration sensing unit (6) is judged the orientation from the movable cleaner collision obstacle.
2. as claimed in claim 1 from movable cleaner, it is characterized in that: described acceleration sensing unit (6) is twin-axis accelerometer.
3. as claimed in claim 1 from movable cleaner, it is characterized in that: described acceleration sensing unit (6) comprises the first single-axis accelerometer (61) and the second single-axis accelerometer (62) that lays respectively on the first acceleration direction and the second acceleration direction.
4. as claimed in claim 2 or claim 3 from movable cleaner, it is characterized in that: control module (5) is according to acceleration signal value, and the disturbance in judgement phase is for the quadrant from the movable cleaner place.
5. as claimed in claim 4 from movable cleaner, it is characterized in that: control module (5) is asked absolute value according to the acceleration signal value of first, second acceleration direction, obtains angle value from movable cleaner collision obstacle orientation by functional relation.
6. as claimed in claim 5 from movable cleaner, it is characterized in that: described functional relation is arctan function or arc cotangent function.
7. as claimed in claim 1 from movable cleaner, it is characterized in that: described the first acceleration direction is with consistent from movable cleaner (7) direction of advance.
8. as claimed in claim 5 from movable cleaner, it is characterized in that: control module (5) is determined yawing moment according to the orientation of self-moving device collision obstacle.
9. as claimed in claim 1 from movable cleaner, it is characterized in that: when control module (5) judged that threshold value built-in during described acceleration signal absolute value is more than or equal to control module or acceleration signal value exceed threshold signal scope built-in in the control module, driver element (4) drove from movable cleaner (7) and stops walking or carry out go to action.
10. as claimed in claim 9 from movable cleaner, it is characterized in that: when when movable cleaner (7) is carried out go to action, steering angle is less than or equal to 90 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220434076 CN202776172U (en) | 2012-08-29 | 2012-08-29 | Self-movable cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220434076 CN202776172U (en) | 2012-08-29 | 2012-08-29 | Self-movable cleaning device |
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| Publication Number | Publication Date |
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| CN202776172U true CN202776172U (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220434076 Expired - Lifetime CN202776172U (en) | 2012-08-29 | 2012-08-29 | Self-movable cleaning device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014032568A1 (en) * | 2012-08-29 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Self-propelled cleaning device |
| CN108086227A (en) * | 2017-07-11 | 2018-05-29 | 成都飞易达科技有限公司 | A kind of novel bridge cleaning device |
| CN109381125A (en) * | 2018-09-04 | 2019-02-26 | 广东美的厨房电器制造有限公司 | Sweeping robot and its control system and control method |
-
2012
- 2012-08-29 CN CN 201220434076 patent/CN202776172U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014032568A1 (en) * | 2012-08-29 | 2014-03-06 | 科沃斯机器人科技(苏州)有限公司 | Self-propelled cleaning device |
| CN103622643A (en) * | 2012-08-29 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | Automatic moving cleaning device |
| CN108086227A (en) * | 2017-07-11 | 2018-05-29 | 成都飞易达科技有限公司 | A kind of novel bridge cleaning device |
| CN109381125A (en) * | 2018-09-04 | 2019-02-26 | 广东美的厨房电器制造有限公司 | Sweeping robot and its control system and control method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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. |
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| CX01 | Expiry of patent term |
Granted publication date: 20130313 |
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| CX01 | Expiry of patent term |