CN205144444U - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN205144444U CN205144444U CN201520727509.6U CN201520727509U CN205144444U CN 205144444 U CN205144444 U CN 205144444U CN 201520727509 U CN201520727509 U CN 201520727509U CN 205144444 U CN205144444 U CN 205144444U
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- sweeping robot
- laser
- cradle
- cog region
- generating laser
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Abstract
The utility model discloses a floor sweeping robot, include: organism, its lower extreme are provided with cleaning device and universal running gear, laser emitter, it sets up through rotary mechanism the upper end of organism, laser emitter's outgoing laser is parallel with ground, just laser emitter is in same level with floor sweeping robot's charging seat, the laser receiving device, it corresponds the setting and is in rotary mechanism is last, the laser receiving device receive real -time come from the reverberation signal that laser emitter outgoing laser produced, and the control panel, it sets up in the organism, the control panel respectively with cleaning device, universal running gear, laser emitter and laser receiving device are connected. The utility model provides a floor sweeping robot charge that the recurrence process is loaded down with trivial details unreliable, technical problem such as returning the failure charges.
Description
Technical field
The utility model relates to a kind of dust catcher, and more particularly, the utility model relates to a kind of sweeping robot.
Background technology
Sweeping robot, has another name called sweeper, is family nurse of new generation! The room rubbish such as the hair in room, melon seed cases, dust can be cleaned.Along with improving constantly of domestic level, originally the sweeping robot always sold at European & American Market also progressively enter into ordinary citizen house, and progressively accept by increasing people, sweeping robot will become the requisite clean helper of each family in the near future as white domestic appliances.Product also can be developed by the intelligence degree of present elementary intelligence towards higher degree, and replacement progressively is manually cleaned.Set high intelligent chip in robot cleaner, the size of the sufficient calculated room of meeting and barrier region, coordinate predetermined cleaning mode, automatically regulate sweep-out pattern.The intelligentized performance of robot cleaner has: fuselage is equipped with steps on empty sensor.Can prevent from eminence drop; Also have anti-winding function, when limit brush is snarled by some objects (such as, carpet, tasselled or cable), it stops the rotation and reversely rotates to break away from winding; Sweeping robot fuselage is equipped with inductor when can recognize furniture or the barrier in front, he understands automatic retarding, to alleviate collision, the situation of Auto-Sensing floor surface, from carpet to hardstand, or from hardstand to carpet, it all can turn speed and suction automatically, better clean room, cradle charging after cleaning task completes, can be automatically returned to.
At present, the method for general sweeping robot recurrence charging is:
Sweeping robot cleans from optional position, when sweeping robot detects that the electricity of self is low, start and return charging procedure, sweeping robot finds cradle by random motion pattern, this scheme is generally on cradle, install one group of infrared transmitting tube, when the receiving sensor of robot receives infrared signal, namely have found cradle.This scheme finds cradle by stochastic model, returns efficiency comparison low, hurries and looks for, probably can not find cradle in room, causes sweeping robot to return and charges unsuccessfully.
Utility model content
An object of the present utility model solves at least the problems referred to above, and provide the advantage will illustrated at least below.
The utility model also has an object to be to provide a kind of sweeping robot, sweeping robot is provided with generating laser, the cradle be provided with laser has a cog region of specific response structure is arranged in the room of sweeping robot simultaneously, after the shoot laser of generating laser scans this cog region and the reflects laser produced is sent to laser receiver, the distance of each position of cog region to generating laser can be measured, the corresponding special shape data collection of illustrative plates of cog region is produced in control panel, extract from the creation data collection of illustrative plates control panel and the data collection of illustrative plates of this special construction of comparison, once successful with the data collection of illustrative plates comparison of the shape facility of cog region, namely the identifying of cradle is completed, the position coordinates of mark cradle and dust catcher self, when charging is required, dust catcher can complete voluntarily and return charging, the utility model is provided with the generating laser of 360 ° of scannings on sweeping robot, to measure the distance of barrier to sweeping robot, generate the room map of high resolution of shapes, carry out figure identification, effectively can identify cradle, thus it is loaded down with trivial details unreliable to solve dust catcher charging regression process, charging returns the technical problem such as unsuccessfully.
In order to realize, according to these objects of the present utility model and other advantage, providing a kind of sweeping robot, comprising:
Body, its lower end is provided with clearing apparatus and universal walking device;
Generating laser, it is arranged on the upper end of described body by rotating mechanism, and the shoot laser of described generating laser is parallel to the ground, and the cradle of described generating laser and sweeping robot is in same level height;
Laser receiver, its correspondence is arranged on described rotating mechanism, described laser receiver real-time reception from described generating laser shoot laser produce reflected light signal; And
Control panel, it is arranged in described body, and described control panel is connected with described clearing apparatus, universal walking device, generating laser and laser receiver respectively.
Preferably, described cradle is provided with the cog region of certain character shape structure, described character shape structure is different from the structure of any other object in environment.
Preferably, the character shape structure of described cog region has certain distribution in short transverse, and described generating laser is arranged in the altitude range at described character shape structure place.
Preferably, described cog region is set to rectangle wavy texture, and several rectangular-shaped cavitys are spaced apart is located at the structure described cog region being formed and has a kind of special shape.
Preferably, described cog region is set to square-wave-shaped structure, and the cavity of several square shapes is equidistantly opened in the structure described cog region being formed and has a kind of special shape, and spacing distance and square shape wide.
Preferably, described rotating mechanism is 360 ° of motions continuing scanning.
Preferably, the surveyors' staff of the spacing for measuring sweeping robot and barrier launched at a certain time interval by described generating laser, and described surveyors' staff is pulse laser.
Preferably, the sidewall of described dust catcher is also provided with the feeler for keeping away barrier.
The utility model at least comprises following beneficial effect:
1, sweeping robot of the present utility model achieves and starts working at an arbitrary position, and can realize automatic charging regression process, applicability is stronger;
2, in dust catcher charging regression process, figure identification is carried out to cradle, cradle is without the need to sending pilot signal, dust catcher can automatically position cradle and complete the docking operation with cradle, automaticity and intelligent higher, achieves the zero-power of cradle when standby simultaneously;
3, dust catcher is in whole process, blocks as long as no barrier, can position cradle rapidly, avoid appearing at dust catcher electric energy use up before also not to the drawback of cradle location, improve reliability and recurrence efficiency that dust catcher charging returns.
Part is embodied by explanation below by other advantage of the present utility model, target and feature, part also will by research and practice of the present utility model by those skilled in the art is understood.
Accompanying drawing explanation
Fig. 1 is the perspective view of described sweeping robot;
Fig. 2 is the structural representation of cog region described in a kind of embodiment;
Fig. 3 is the identification peak shape schematic diagram that in Fig. 2, cog region is corresponding;
Fig. 4 is the structural representation of cog region described in another kind of embodiment;
Fig. 5 is the identification peak shape schematic diagram that in Fig. 4, cog region is corresponding.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail, can implements according to this with reference to description word to make those skilled in the art.
Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.
As Figure 1-5, the utility model provides a kind of sweeping robot of family expenses, comprising:
Body 100, its lower end is provided with clearing apparatus and universal walking device; Clearing apparatus main body is arranged on internal body, and round brush and suction port are arranged on the bottom of body 100, for carrying out automatic cleaning to room floors, and dust and other impurities is drawn into internal body.Universal walking device is arranged on the bottom of body 100, comprises universal rolling wheel and driving mechanism, and driving mechanism drives universal rolling wheel to move ahead according to control signal or retreats and to turn to etc. process;
Generating laser 110, it is arranged on the upper end of described body 100 by rotating mechanism 112, in the present embodiment, described rotating mechanism 112 is 360 ° of motions continuing scanning, it is vertically set on the upper surface of body 100, also other positions of body can be arranged on, rotating mechanism 112 is driven by the actuating unit being arranged on internal body and rotates, the shoot laser of described generating laser 110 is parallel to the ground, that is 360 ° of scannings that the emergent ray of generating laser 110 is lasting in same level, and described generating laser 110 is in same level height with the cradle of sweeping robot, cradle can be scanned to make laser,
Laser receiver 111, its correspondence is arranged on described rotating mechanism 112, in the present embodiment, in order to ensure that the laser signal that the laser signal of generating laser 110 outgoing reflects can be received smoothly by laser receiver 111, generating laser 110 is arranged on the sidewall of laser receiver 111, the sidewall of laser receiver 111 covers the exit direction of generating laser 110 laser all the time, thus ensure described laser receiver 111 real-time reception from described generating laser 110 shoot laser produce reflected light signal; And
Control panel, it is arranged in described body 100, described control panel respectively with described clearing apparatus, universal walking device, generating laser 110 and laser receiver 111 connect, the working procedure of sweeping robot is provided with in control panel, thus control panel controls the cleaning process of clearing apparatus, and control traffic direction and the path of universal walking device, control panel controls generating laser 110 Emission Lasers signal simultaneously, and the reflected signal that laser receiver 111 receives is sent in control panel, time difference according to transmitting with reflected signal calculates distance signal, in generation room, each object is to the distance of sweeping robot, the namely shape of room shape and barrier, and set up map.
The specific works process of sweeping robot is as follows:
First on cradle, be provided with the cog region of character shape structure, described character shape structure is different from the structure of any other object in environment, described character shape structure can be other structures such as regular or irregular groove structure, curved cavity, bulge-structure, in advance the characteristic parameter of these character shape structures is input in the control panel of dust catcher, cradle is placed in a room, and cog region is towards depletion region; Described generating laser 110 carries out 360 ° and continues scanning in horizontal plane residing for described cog region, to measure the distance of the object on scanning pattern to generating laser 110 self in real time, namely to measure on dust collector motion path barrier from the distance of self, dust catcher control panel can take turns doing path planning, improve sweeping efficiency, meanwhile, generating laser 110 builds the local map in room while measuring; In the present embodiment, described cog region is arranged on the top of described cradle, and described character shape structure has certain distribution in short transverse, described generating laser 110 is arranged in the altitude range at described character shape structure place, make generating laser 110 can recognize the architectural feature of cog region, find cradle successively.
Then, described floor-sweeping dust collector starts cleaning at an arbitrary position, without the need to recording the position of cradle in advance, described generating laser 110 starts to scan and generates the data collection of illustrative plates about residing environment space information simultaneously, also namely in room on dust collector motion path the distance of each object to dust catcher and the shape facility of each object, because generating laser 110 can return the path of time difference recognition object various piece to receiver of receiver according to laser, thus analyze the shape of object, described dust catcher control panel is according to described data map construction room map, thus determine the position of described dust catcher in described map,
Secondly, when in described data collection of illustrative plates, there is one fixed width and similar to described cog region shape peak shape time, the characteristic parameter of the characteristic parameter and cog region character shape structure that extract this peak shape is compared, characteristic parameter can be groove, spacing distance between cavity or projection, these length parameters can be extracted from data collection of illustrative plates, if when described peak shape is consistent with the characteristic parameter of the described character shape structure be recorded in advance in control panel, then judge that object corresponding to this peak shape is cradle, and according to the position of coordinate position determination cradle in described map of this peak shape, identifying can terminate, thus cradle and dust catcher self position are in a room determined all, when described dust catcher detects that electricity is lower than during setting value or until cleaning process terminates, when needing to return charging, described dust catcher is according to the position of described cradle and dust catcher self, the path that control panel cooks up a most shortcut directly turns back on described cradle charges.If do not recognize cradle, also just do not detect cradle in dust catcher location, then continue scanning recognition cradle.
In technique scheme, the every run-down corresponding generation data collection of illustrative plates of described generating laser 110, data collection of illustrative plates is the distance parameter determined according to Laser emission and time difference of returning, in room, each object reacts in described data collection of illustrative plates from the distance of dust catcher, each data collection of illustrative plates is arranged in the same coordinate system, thus generating laser is in all directions, when scanning recognition is carried out in position, by the process of control panel, be created on the uniform data spectrogram in same coordinate system, data collection of illustrative plates according to several local constructs complete room map.
In a kind of embodiment, as Fig. 2-3, described cog region 210 is set to rectangle wavy texture, several rectangular-shaped cavitys 211 are spaced apart to be located on described cog region, and these cavitys 211 are towards depletion region, in dust catcher driving process, generating laser can recognize cog region 210, when there is rectangular-shaped peak shape on the data collection of illustrative plates generated, the cavity width of the width and cog region rectangle wavy texture that then extract this rectangular-shaped peak shape is compared, when the every run-down of generating laser 110, namely data collection of illustrative plates generates a rectangular-shaped peak shape, as shown in Figure 3, consistent with the cavity width of cog region rectangle wavy texture once the width recognizing this rectangular-shaped peak shape when control panel, can judge that the object of this peak shape corresponding position is cradle, identifying can terminate, when charging is required, charging regression process can be started.
In another kind of embodiment, as illustrated in figures 4-5, described cog region 220 is set to square-wave-shaped structure, the cavity 221 of several square shapes is equidistantly opened on described cog region 220, and spacing distance and square shape wide, when there is the peak shape of square-wave-shaped in described data collection of illustrative plates, the cavity width of the half period width and cog region square shape structure that then extract this square wave is compared, as shown in Figure 5, consistent with the cavity width of cog region square shape structure once the half period width recognizing this square wave when control panel, can judge that the object of this peak shape corresponding position is cradle, identifying can terminate, when charging is required, charging regression process can be started.
In technique scheme, the surveyors' staff for measuring obstacle distance launched at a certain time interval by described generating laser 110, described surveyors' staff is pulse laser, because room distances is limited, the transmission speed of laser is high again, so emission duration between two surveyors' staffs is much larger than the transmission time of laser pulse in room, ensure that in two time rulers, laser receiver 111 can receive the Emission Lasers signal of the corresponding dip stick launched, thus measures the distance of barrier to sweeping robot.
In technique scheme, the sidewall of described floor-sweeping dust collector is also provided with the feeler for keeping away barrier, because some are identifying that the barrier in blind area cannot effectively identify, when dust catcher close to or when just having run into little barrier, feeler effectively detects these little barriers, control dust catcher slow down and turn to, effectively reduce the collision impact of dust catcher, ensure the continuity of dust catcher work.
From the above mentioned, in the utility model, cradle is provided with cog region laser to specific response structure, when generating laser scans this cog region, produce special shape data collection of illustrative plates, these data collection of illustrative plates generate according to the distance of object to dust catcher self, and it is similar to the structure of cog region, extract from the creation data collection of illustrative plates of generating laser and the pulse collection of illustrative plates of this special construction of comparison, once comparison success, namely the identifying of cradle is completed, the position coordinates of mark cradle and dust catcher self, when charging is required, dust catcher can complete voluntarily fast and reliablely return charging, solve dust catcher charging regression process loaded down with trivial details unreliable, charging returns the technical problem such as unsuccessfully.In prior art, often from cradle beginning cleaning works, can only remember the position of cradle, could realize charging and return, this mode limits the range of application of dust catcher, and dust catcher must trigger from cradle, or need cradle to send pilot signal, dust catcher is guided to return charging, and dust catcher electricity low time, not necessarily just in time be in the identified region of this pilot signal, dust catcher needs random motion until this pilot signal detected, just can complete charging to return, that is dust catcher is at blind row completely, may travel back and forth in a certain region, differ and this pilot signal detected surely, also just cannot realize charging to return, until electricity is used up, charging returns unsuccessfully, this pilot signal can be detected in time, generally the longer time also may be needed to find, likely also unidentified to cradle, electricity is not enough, thus cause charging to return unsuccessfully.
The utility model is the optimization to above-mentioned two situations, and floor-sweeping dust collector achieves starts working at an arbitrary position, can realize automatic charging regression process, and applicability is stronger, thus solves the drawback of the first situation.
Simultaneously, in floor-sweeping dust collector charging regression process, cradle is without the need to sending pilot signal, dust catcher can automatically position cradle and complete the docking operation with cradle, automaticity and intelligent higher, achieve the zero-power of cradle when standby simultaneously, thus solve the drawback of the second situation;
Further, dust catcher is in whole process, block as long as no barrier, can position cradle rapidly, identifying is fast and reliable, the position fixing process of cradle can be completed within the shortest time, and whole identifying only needs once, once the position recognizing cradle and just can determine cradle, in ensuing efforts, without the need to going to the position identifying cradle again, both can complete and the docking of cradle, complete charging regression process, avoid appearing at dust catcher electric energy use up before also not to the drawback of cradle location, improve the reliability of dust catcher charging recurrence and return efficiency.
Although embodiment of the present utility model is open as above, but it is not restricted to listed in description and embodiment utilization, it can be applied to various applicable field of the present utility model completely, for those skilled in the art, can easily realize other amendment, therefore do not deviating under the universal that claim and equivalency range limit, the utility model is not limited to specific details and illustrates here and the legend described.
Claims (8)
1. a sweeping robot, is characterized in that, comprising:
Body, its lower end is provided with clearing apparatus and universal walking device;
Generating laser, it is arranged on the upper end of described body by rotating mechanism, and the shoot laser of described generating laser is parallel to the ground, and the cradle top of described generating laser and sweeping robot is in same level height;
Laser receiver, its correspondence is arranged on described rotating mechanism, described laser receiver real-time reception from described generating laser shoot laser produce reflected light signal; And
Control panel, it is arranged in described body, and described control panel is connected with described clearing apparatus, universal walking device, generating laser and laser receiver respectively.
2. sweeping robot as claimed in claim 1, it is characterized in that, described cradle is provided with a kind of cog region of character shape structure, described character shape structure is different from the structure of any other object in environment residing for sweeping robot.
3. sweeping robot as claimed in claim 2, it is characterized in that, the character shape structure of described cog region has certain distribution in the short transverse of described cradle, and described generating laser is arranged in the altitude range at described character shape structure place.
4. sweeping robot as claimed in claim 3, it is characterized in that, described cog region is set to rectangle wavy texture, and several rectangular-shaped cavitys are spaced apart is located at the structure described cog region being formed and has a kind of special shape.
5. sweeping robot as claimed in claim 3, it is characterized in that, described cog region is set to square-wave-shaped structure, and the cavity of several square shapes is equidistantly opened in the structure described cog region being formed and has a kind of special shape, and spacing distance and foursquare limit wide.
6. sweeping robot as claimed in claim 1, is characterized in that, described rotating mechanism is 360 ° of motions continuing scanning.
7. sweeping robot as claimed in claim 1, it is characterized in that, the surveyors' staff of the spacing for measuring sweeping robot and barrier launched at a certain time interval by described generating laser, and described surveyors' staff is pulse laser.
8. sweeping robot as claimed in claim 1, is characterized in that, the sidewall of described sweeping robot being also provided with the feeler for keeping away barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727509.6U CN205144444U (en) | 2015-09-18 | 2015-09-18 | Floor sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520727509.6U CN205144444U (en) | 2015-09-18 | 2015-09-18 | Floor sweeping robot |
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| CN205144444U true CN205144444U (en) | 2016-04-13 |
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| CN201520727509.6U Active CN205144444U (en) | 2015-09-18 | 2015-09-18 | Floor sweeping robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017000782A1 (en) * | 2015-06-30 | 2017-01-05 | 芋头科技（杭州）有限公司 | Obstacle recognition device and obstacle recognition method |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN107320017A (en) * | 2017-08-08 | 2017-11-07 | 东莞市智科智能科技有限公司 | A kind of dust catcher with laser scanning orientating function |
| CN111307161A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of expanding laser navigation angle |
| WO2021184781A1 (en) * | 2020-03-17 | 2021-09-23 | 苏州宝时得电动工具有限公司 | Stop station, robot system, and control method of robot system |
-
2015
- 2015-09-18 CN CN201520727509.6U patent/CN205144444U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017000782A1 (en) * | 2015-06-30 | 2017-01-05 | 芋头科技（杭州）有限公司 | Obstacle recognition device and obstacle recognition method |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN107320017A (en) * | 2017-08-08 | 2017-11-07 | 东莞市智科智能科技有限公司 | A kind of dust catcher with laser scanning orientating function |
| CN111307161A (en) * | 2018-12-12 | 2020-06-19 | 沈阳新松机器人自动化股份有限公司 | Mechanical structure capable of expanding laser navigation angle |
| WO2021184781A1 (en) * | 2020-03-17 | 2021-09-23 | 苏州宝时得电动工具有限公司 | Stop station, robot system, and control method of robot system |
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