CN204169779U - Clean robot - Google Patents

Abstract

The utility model discloses a kind of clean robot, comprise controller (1), dust suction inlet (2), front obstacle detection device (4), obstruction detector (6), two the direct of travel detectors (3) being installed on robot front, the travel distance detector (5) being installed on robot rear, left wheel drive motors MZ and right wheel drive motors MY; Described dust suction inlet is positioned at the below of described clean robot.Cleaning effect of the present utility model is good.

Description

Clean robot

Technical field

The utility model relates to a kind of robot, particularly a kind of clean robot.

Background technology

Sweeping robot, also known as dust-collecting robot, has merged mobile robot and cleaner technology, is current household appliance technical field most challenging hot topic research and development problems.After 2000, sweeping robot commercialization product goes on the market in succession, becomes the novel high-tech product of one in service robot field, has considerable market prospects.FDAC just started to research and develop dust-collecting robot from the late nineteen eighties in last century.PANASONIC, Korea S's Samsung, LG, Han Nuo robot (Hanool Robotics), Electrolux of Sweden, Dutch Philip, Germany triumphant speed (Karcher), Britain wear the companies such as pine (Dyson), Australian floor robot (Floorbotics), the excellent happy card (Eureka) of the U.S. and Chinese mugwort Robert (iRobot), Evolutionary Robots (Evolution Robotic) all or once active development provide some samples or be pilot.But current clean robot function singleness, cleaning effect is bad.

Utility model content

For the defect of prior art, the utility model provides a kind of clean robot.

A kind of clean robot, comprise controller 1, dust suction inlet 2, front obstacle detection device 4, obstruction detector 6, two the direct of travel detectors 3 being installed on robot front, the travel distance detector 5 being installed on robot rear, left wheel drive motors MZ and right wheel drive motors MY; Described dust suction inlet is positioned at the below of described clean robot;

Described controller 1 comprises input block, front obstacle detection device, obstruction detector, travel distance detector, direct of travel detector, MCU, driver, dust suction inlet, loudspeaker, indicator lamp, battery and memory cell; Described input block, front obstacle detection device, obstruction detector, travel distance detector, direct of travel detector, loudspeaker, indicator lamp, battery and memory cell and described MCU are electrical connected; Described MCU adopts single-chip computer AT89C52; Described single-chip computer AT89C52 is connected with left wheel drive motors MZ and right wheel drive motors MY by driver;

Described left wheel drive motors MZ and right wheel drive motors MY is permagnetic synchronous motor, and described permagnetic synchronous motor and decelerator are mechanically connected, and described decelerator is provided with rotary transformer; Described permagnetic synchronous motor is provided with Hall element, code-disc and brake; Described rotary transformer, Hall element, code-disc and brake and described driver are electrical connected.

Optionally, described front obstacle detection device or obstruction detector are ultrasonic sensor or infrared ray sensor.

The beneficial effects of the utility model are: clean robot feature richness of the present utility model, cleaning effect is good.

Accompanying drawing explanation

Fig. 1 is the structural representation of the new clean robot of this practicality;

Fig. 2 is the structural representation of the utility model controller;

Fig. 3 is the structural representation of the utility model drive part.

Detailed description of the invention

For enabling above-mentioned purpose of the present utility model, feature and advantage become apparent more, are described in detail detailed description of the invention of the present utility model below in conjunction with accompanying drawing, make above-mentioned and other object of the present utility model, Characteristics and advantages will be more clear.Reference numeral identical in whole accompanying drawing indicates identical part.Deliberately do not draw accompanying drawing in proportion, focus on purport of the present utility model is shown.

Refer to Fig. 1, clean robot of the present utility model comprises controller 1, dust suction inlet 2, front obstacle detection device 4, obstruction detector 6, direct of travel detector 3, travel distance detector 5, left wheel drive motors MZ and right wheel drive motors MY.

Fig. 2 is the electrical schematic diagram of robot controller 1, and controller comprises input block, obstacle detection device, travel distance detector, direct of travel detector, main control unit (MCU), driver, dust suction inlet, loudspeaker, indicator lamp, battery and memory cell.Input block comprises the key operation unit or the remote controller that allow user clean instruction to be input to robot.Obstacle detection device detects the barrier arranged in the region to be cleaned of advancing in robot wherein, such as furniture, office appliance and wall.Obstacle detection device receives and carrys out from the ultrasonic signal of barrier reflection the distance whether detecting obstacles thing exist or measure barrier by ultrasonic signal being transmitted into robot cleaner by the path of advancing along it.Obstacle detection device can use infrared ray sensor, and this infrared ray sensor comprises multiple infrared light emission device for launching infrared light and for receiving by multiple optical pickup apparatus of the light reflected.The distance that travel distance detector sniffing robot dust catcher has been advanced.The amount of each rotating of wheel of travel distance detector by being attached to the measure setups such as encoder on wheel and making robot cleaner move below robot cleaner, with the travel distance of sniffing robot dust catcher.The anglec of rotation of direct of travel detector sniffing robot dust catcher.When robot detects barrier on the path of advancing, robot utilizes the angular sensor (such as rotary sensor) that is attached on two wheels or encoder to detect the anglec of rotation of the robot in the direction from robot to barrier.Driver drives is arranged on left-hand wheel below robot body and right-hand wheel, with the change (such as, rotating) allowing robot to perform direction under the control of the controller while automatically advancing.Dust suction inlet performs clean operation according to the control of controller, and suck dust or foreign matter with the floor of advancing from robot thereon, MCU can adopt single-chip computer AT89C52.

The structure of the utility model robot drive part as shown in Figure 3, its left-hand wheel by permagnetic synchronous motor driven machine people and right-hand wheel thus driven machine people advance, specifically, it comprises permagnetic synchronous motor, Hall element, code-disc, brake, rotary transformer and sine wave drive controller, and described Hall element is used for the positional information detecting motor when motor initial alignment square wave drives; Described code-disc detects positional information and the velocity information of motor when being used for sine wave drive; The locking positioning of motor when described brake is used for firmly locking; Described rotary transformer is used for the positional information of measuring robots.

Set forth a lot of detail in the above description so that fully understand the utility model.But above description is only preferred embodiment of the present utility model, the utility model can be much different from alternate manner described here to implement, and therefore the utility model is not by the disclosed concrete restriction implemented above.Any those skilled in the art are not departing under technical solutions of the utility model ambit simultaneously, the Method and Technology content of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solutions of the utility model, or be revised as the Equivalent embodiments of equivalent variations.Every content not departing from technical solutions of the utility model, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solutions of the utility model protection.

Claims (2)

1. a clean robot, it is characterized in that, comprise controller (1), dust suction inlet (2), front obstacle detection device (4), obstruction detector (6), two the direct of travel detectors (3) being installed on robot front, the travel distance detector (5) being installed on robot rear, left wheel drive motors MZ and right wheel drive motors MY; Described dust suction inlet is positioned at the below of described clean robot;

Described controller (1) comprises input block, front obstacle detection device, obstruction detector, travel distance detector, direct of travel detector, MCU, driver, dust suction inlet, loudspeaker, indicator lamp, battery and memory cell; Described input block, front obstacle detection device, obstruction detector, travel distance detector, direct of travel detector, loudspeaker, indicator lamp, battery and memory cell and described MCU are electrical connected; Described MCU adopts single-chip computer AT89C52; Described single-chip computer AT89C52 is connected with left wheel drive motors MZ and right wheel drive motors MY by driver;

Described left wheel drive motors MZ and right wheel drive motors MY is permagnetic synchronous motor, and described permagnetic synchronous motor and decelerator are mechanically connected, and described decelerator is provided with rotary transformer; Described permagnetic synchronous motor is provided with Hall element, code-disc and brake; Described rotary transformer, Hall element, code-disc and brake and described driver are electrical connected.

2. clean robot according to claim 1, is characterized in that, described front obstacle detection device or obstruction detector are ultrasonic sensor or infrared ray sensor.