CN205433559U - Intelligence ground cleaning machines people - Google Patents
Intelligence ground cleaning machines people Download PDFInfo
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- CN205433559U CN205433559U CN201521103052.8U CN201521103052U CN205433559U CN 205433559 U CN205433559 U CN 205433559U CN 201521103052 U CN201521103052 U CN 201521103052U CN 205433559 U CN205433559 U CN 205433559U
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- car body
- clean robot
- wheel
- sonac
- driver
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Abstract
The utility model relates to an intelligence ground cleaning machines people, including automobile body, ultrasonic radar, laser radar, circuit system and cockpit, the front wheel of automobile body is connected the craspedodrome motor and is turned to the motor, laser radar locates automobile body front end, 200 liftoff~300mm of mounting height, ultrasonic sensor is for locating a plurality of of automobile body front end and tail end, 400 liftoff~500mm of mounting height, and ultrasonic sensor's ultrasonic signal envelope curve is apart from the minimum distance less than or equal to 100mm on ground, the cockpit includes throttle brake pedal, seat and steering wheel, throttle brake pedal and steering wheel electricity are connected to circuit system. The beneficial effects of the utility model are that: the utility model discloses when carrying out the clean task in ground in the large tracts of land needs clear environment, can effectively liberate manpower resources, reduce street cleaner's intensity of labour, when using, can carry out the clean task in ground by many robots of one man operation under spacious environment, promote the clear efficiency in ground greatly.
Description
Technical field
This utility model relates to a kind of robot, particularly relates to a kind of intelligent ground clean robot.
Background technology
The open a kind of clean robot of 1.DE102011004319A1, it has walking, cleans (sweeping the floor) mechanism and the ranging mechanism for avoidance.Owing to using the mode of infrared+ultrasound wave single-point range finding, the distance measured between body and barrier that this equipment can only be rough, and realize avoiding barrier according to this；This robot can not construct the map of place environment and calculate robot from the absolute position in current environment.
2.US6,667,592B2 open a kind of clean robots, it possesses laser sensor can measure the one-dimensional distance of barrier in distance environment.
3.US8,150,650B2 open a kind of clean robots, it has optical pickocff, by the image of clean robot surrounding under optical pickocff real time record, then with the image stored in addition comparison, to calculate robot position of coordinate in current environment.
4. describe a kind of two-wheel drive clean robot with image visual transducer in careful patent 103976694A.
Utility model content
The purpose of this utility model is to overcome prior art not enough, it is provided that a kind of rational in infrastructure, and automated cleaning is effective and can the intelligent ground clean robot of pilot steering.
For achieving the above object, this utility model have employed techniques below scheme:
This intelligent ground clean robot, including car body, sonac, laser radar, Circuits System and driver's cab；The front-wheel of described car body connects craspedodrome motor and steer motor；Car body front end is located at by described laser radar, and setting height(from bottom) is liftoff 200～300mm；Sonac is be located at car body front end and tail end multiple, and setting height(from bottom) is liftoff 400～500mm, and the minimum range on the ultrasonic signal envelope curve distance ground of sonac is less than or equal to 100mm；Described driver's seat includes accelerator and brake pedal, seat and steering wheel；Described accelerator and brake pedal and steering wheel are electrically connected to Circuits System.
As preferably: described Circuits System includes master controller, master controller connects touch screen, sensor signal processor, inertial navigation sensors, laser radar and communication signal converter respectively；Described sensor signal processor connects sonac, angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively；Angular transducer closure dish；Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor, and described craspedodrome motor driver connects craspedodrome motor.
As preferably: described front-wheel is also connected with nose wheel angle sensor and tachogenerator.
As preferably: described sonac is car body front end and each four of tail end.
As preferably: described car body front bottom end is provided with the flexible protection bar of protrusion；Described car body upper front end is provided with the first warning lamp, and described body rear end top is provided with the second warning lamp.
As preferably: the trailing wheel of described car body is two driven pulleys.
As preferably: described vehicle bottom is provided with washes ground brush, between the front wheels and rear wheels of car body.
As preferably: described hull back is provided with water suction scraping article.
As preferably: described under-seat and rear are respectively equipped with the first water tank and the second water tank.
As preferably: described driver's cab both sides are provided with cab door, top is covered with the driver's cabin canopy that can raise.
The beneficial effects of the utility model are:
1. this utility model has and four patent diverse three-wheel walking mechanisms of background technology.Wherein front-wheel have employed walking, turns to the steering wheel mechanism of one, and trailing wheel is only used as driven pulley；This is entirely different with the walking of above four patents and steering mode
Clean robot disclosed in 2.DE102011004319A1 only has floor sweeping function, adds filtered water tank, water injector, filthy water receipts mechanism and dirty water tank in this utility model so that this utility model patent has simultaneously sweeps the floor and wash ground function.
3. this utility model is also equipped with the similar steering wheel of automobile, seat and gas pedal, for pilot steering.
Robot the most of the present utility model have employed the cartographic information in lidar measurement two dimensional surface, determine robot absolute position in the middle of current environment by the real-time comparison of characteristic point information in two-dimensional map, carry out robot navigation in the environment with this.
5. this utility model have employed the comprehensive fault avoidnig device being different from other equipment.By the avoidance mode of sonac+laser radar+Photoelectric Detection, all colours (including transparent, black) in the range of 360 degree of robot can be measured, within distance 1 meter, on-10cm～+50cm height, the barrier of various material (except special absorbing material)；And can effectively measure the step of robot front ± 10cm level above.
This utility model can use in the large area indoor and outdoor environment such as square, airport, station, factory, large-scale museum, have only to pilot steering robot completely clean once in residing place, and preserve map file, full-automatic cleaning mode can be opened, the floor cleaning task that robot can be automatically performed in place in the case of not having manual intervention later.
When this utility model carries out floor cleaning task in large area needs clean environment, can effectively liberate human resources, the labor intensity of reduction street cleaner；When using under spacious environment, floor cleaning task can be carried out with one man operation multiple stage robot, be greatly promoted the efficiency of floor cleaning.
Accompanying drawing explanation
Fig. 1 is this utility model external structure schematic diagram；
Fig. 2 is this utility model internal structure schematic diagram；
Fig. 3 is this utility model Circuits System schematic diagram；
Fig. 4 is steering wheel mechanism model figure；
Fig. 5 is laser radar and sonac working state schematic representation one；
Fig. 6 is laser radar and sonac working state schematic representation two；
Description of reference numerals: driver's cab 1, second warning lamp 2, touch screen 3, car body 4, water suction hanging strip 5, trailing wheel 6, wash ground brush 7, front-wheel 8, flexible protection bar 9, laser radar 10, first warning lamp 11, driver's cabin canopy 12, second water tank 13, first water tank 14, sonac 15, accelerator and brake pedal 16, cab door 17, tooth sector dish 18, stair monitoring sensor 19, seat 20, steer motor 21, craspedodrome motor 22, nose wheel angle sensor 23, tachogenerator 24.
Detailed description of the invention
Below in conjunction with embodiment, this utility model is described further.The explanation of following embodiment is only intended to help and understands this utility model.Should be understood that; for those skilled in the art; on the premise of without departing from this utility model principle, it is also possible to this utility model is carried out some improvement and modification, these improve and modification also falls in this utility model scope of the claims.
Seeing Fig. 1 to Fig. 6, this intelligent ground clean robot, including car body 4, sonac 15, laser radar 10, Circuits System and driver's cab 1；The front-wheel 8 of described car body 4 connects craspedodrome motor 22 and steer motor 21；Car body 4 front end is located at by described laser radar 10, and setting height(from bottom) is liftoff 200～300mm；Sonac 15 is for being located at the multiple of car body 4 front end and tail end, and setting height(from bottom) is liftoff 400～500mm, and the minimum range on the ultrasonic signal envelope curve distance ground of sonac 15 is less than or equal to 100mm；Described driver's cab 1 includes accelerator and brake pedal 16, seat 20 and steering wheel；Described accelerator and brake pedal 16 and steering wheel are electrically connected to Circuits System.
Described Circuits System includes master controller, and master controller connects sensor signal processor, inertial navigation sensors, laser radar and communication signal converter respectively；Described sensor signal processor connects sonac, angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively；Angular transducer closure dish；Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor 21, and described craspedodrome motor driver connects craspedodrome motor 22.
Described sonac 15 is car body 4 front end and each four of tail end.Described car body 4 front bottom end is provided with the flexible protection bar 9 of protrusion.Described car body 4 upper front end is provided with the first warning lamp 11, and described car body 4 upper rear end is provided with the second warning lamp 2.The trailing wheel 6 of described car body 4 is two driven pulleys.Being provided with bottom described car body 4 washes ground brush 7, between the front-wheel 8 and trailing wheel 6 of car body 4.Described car body 4 afterbody is provided with water suction scraping article 5.Described seat 20 below and rearward is respectively equipped with the first water tank 14 and the second water tank 13.
The most current pilot steering ground washing vehicle all have employed the scheme of motor driving+mechanical steering, robot in this utility model adds a steering wheel mechanism on original car body, refer to Fig. 4, this steering wheel mechanism includes sensor, motor, controller and drive mechanism, improves original mechanical steering of ground washing vehicle for electrical steering.Under pilot steering pattern, the signal of telecommunication that driver's steering wheel rotation produces, after the process of controller, is transformed into the control signal for steer motor；The torque of motor output becomes the angle of front-wheel via reductor and gear drive.Under automatic driving mode, controller is directly simulated hand-wheel signal and is sent to motor, and the feedback signal of receiving angle sensor, realizes the close loop electric control system of front-wheel steer with this simultaneously.
2. this utility model realizes process to increase the corresponding device such as controller, sensor in systems, circuit original to ground washing vehicle has made substantial amounts of amendment, adds power module, master controller, sensor signal processor, touch screen and the multiple sensors such as laser radar, ultrasound wave.Refer to Fig. 3.
3. the robot in this utility model uses laser radar and corresponding algorithm software to carry out map structuring and the self-navigation of two-dimensional environment, carries out navigation with gyroscope and revises.Laser radar can scan the object information in the two dimensional surface at degree angle, 180 ° of robot body front, scanning result and the map phase comparison built, and can calculate robot position in the environment.
4. the robot in this utility model has Function for Automatic Pilot and automatic cleaning function, and the physical button that hands automatic Pilot leads on machine switches over；Automatic Pilot and automated cleaning control walking by intrasystem software and wiper mechanism is realized.During automatic cleaning, operator can suspend and switching task at any time, and handoff procedure can be operable to realize by simple button on the touch screen of robot.
5. the robot in this utility model is multi-level safety sensor and corresponding software, there is high safety.Laser sensor can detect angle, 180 degree of front, barrier in 20 meters, if hindering course to dodge.Multi-section difference setting angle, sonac the supplementing as laser sensor of setting height(from bottom), can detect on differing heights and the object at robot rear, effectively prevents robot from coming in contact with barrier when turning, avoidance.Meanwhile, below robot, it is additionally provided with photoelectric detection system, whether has the obstacle that cannot go beyond that step, gully etc. are too high or the deepest for sniffing robot front.When running into the situation of barrier of cannot going beyond and cannot detour when robot runs automatically, sound, light warning can be sent to call operator to carry out manual intervention.
The setting height(from bottom) of laser radar should be between ground 200～300mm, and this highly may insure that laser radar can scan leg and general animal, the chest of human body；Laser radar is installed too low meeting and is caused car body obstacle climbing ability to decline, and the barrier that the too high meeting of setting height(from bottom) causes part the shortest cannot detect.The setting height(from bottom) of sonac should be maintained between liftoff 400～500mm, and the too low meeting of setting height(from bottom) causes ultrasound wave to sweep to ground, and the too high meeting of setting height(from bottom) causes missing barrier.(see Fig. 5)
Car body surrounding arranges altogether 8 sonacs, sees Fig. 6.The layout of sensor levels angle is it should be ensured that ultrasonic envelope curve overlaps and the most overlapping.Concrete setting angle is determined by the signal envelope curve of sonac, and different model, the sonac of different detecting distance correspond to different setting angles.
Robot the most of the present utility model has abundant software and human-computer interaction interface, and the touch screen on fuselage both can be used as the man-machine interaction of human pilot and can be used for playing advertisement.On connecting behind the Internet, robot can update software, acquiring technology support by connecting high in the clouds.
7. this utility model remains the pilot steering function of general ground washing vehicle.Only by the physical button on car body, need to can complete the switching of automatic Pilot/manual drive pattern, under manual drive pattern, the mode of operation of robot and general ground washing vehicle indistinction.
Claims (10)
1. an intelligent ground clean robot, it is characterised in that: include car body (4), sonac (15), laser radar (10), Circuits System and driver's cab (1)；The front-wheel (8) of described car body (4) connects craspedodrome motor (22) and steer motor (21)；Car body (4) front end is located at by described laser radar (10), and setting height(from bottom) is liftoff 200～300mm；Sonac (15) is for being located at the multiple of car body front end and tail end, and setting height(from bottom) is liftoff 400～500mm, and the minimum range on the ultrasonic signal envelope curve distance ground of sonac (15) is less than or equal to 100mm；Described driver's cab (1) includes accelerator and brake pedal (16), seat (20) and steering wheel；Described accelerator and brake pedal (16) and steering wheel are electrically connected to Circuits System.
Intelligent ground clean robot the most according to claim 1, it is characterized in that: described Circuits System includes master controller, master controller connects touch screen, sensor signal processor, inertial navigation sensors, laser radar (10) and communication signal converter respectively；Described sensor signal processor connects sonac (15), angular transducer, manual/auto switch, water spraying mechanism and floor sweeping mechanism respectively；Angular transducer closure dish；Communication signal converter connects steer motor driver and craspedodrome motor driver respectively, and described steer motor driver connects steer motor (21), and described craspedodrome motor driver connects craspedodrome motor (22).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described front-wheel (8) is also connected with nose wheel angle sensor (23) and tachogenerator (24).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described sonac (15) is car body front end and each four of tail end.
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described car body (4) front bottom end is provided with the flexible protection bar (9) of protrusion；Described car body (4) upper front end is provided with the first warning lamp (11), and described car body (4) upper rear end is provided with the second warning lamp (2).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: the trailing wheel (6) of described car body (4) is two driven pulleys.
Intelligent ground clean robot the most according to claim 1, it is characterized in that: described car body (4) bottom is provided with washes ground brush (7), is positioned between the front-wheel (8) of car body (4) and trailing wheel (6).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described car body (4) afterbody is provided with water suction scraping article (5).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described seat (20) below and rearward is respectively equipped with the first water tank (14) and the second water tank (13).
Intelligent ground clean robot the most according to claim 1, it is characterised in that: described driver's cab (1) both sides are provided with cab door (17), and top is covered with the driver's cabin canopy (12) that can raise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521103052.8U CN205433559U (en) | 2015-12-25 | 2015-12-25 | Intelligence ground cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521103052.8U CN205433559U (en) | 2015-12-25 | 2015-12-25 | Intelligence ground cleaning machines people |
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| CN205433559U true CN205433559U (en) | 2016-08-10 |
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| CN201521103052.8U Active CN205433559U (en) | 2015-12-25 | 2015-12-25 | Intelligence ground cleaning machines people |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105433860A (en) * | 2015-12-25 | 2016-03-30 | 杭州它人机器人技术有限公司 | Intelligent ground cleaning robot |
| CN106264309A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of multifunctional glass glass-wall cleaning robot |
| CN108354533A (en) * | 2018-01-12 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of intelligence floor-cleaning machine device people |
| CN108685532A (en) * | 2017-04-12 | 2018-10-23 | 上海拓础智能科技有限公司 | A kind of sweeping robot system and sweeping robot |
| WO2019136719A1 (en) * | 2018-01-12 | 2019-07-18 | 浙江国自机器人技术有限公司 | Intelligent floor cleaning robot |
| WO2019174080A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市沃特沃德股份有限公司 | Floor sweeping robot and floor sweeping method and device thereof |
-
2015
- 2015-12-25 CN CN201521103052.8U patent/CN205433559U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105433860A (en) * | 2015-12-25 | 2016-03-30 | 杭州它人机器人技术有限公司 | Intelligent ground cleaning robot |
| CN106264309A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of multifunctional glass glass-wall cleaning robot |
| CN108685532A (en) * | 2017-04-12 | 2018-10-23 | 上海拓础智能科技有限公司 | A kind of sweeping robot system and sweeping robot |
| CN108354533A (en) * | 2018-01-12 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of intelligence floor-cleaning machine device people |
| WO2019136719A1 (en) * | 2018-01-12 | 2019-07-18 | 浙江国自机器人技术有限公司 | Intelligent floor cleaning robot |
| US11234574B2 (en) | 2018-01-12 | 2022-02-01 | Zhejiang Guozi Robot Technology Co., Ltd. | Intelligent floor cleaning robot |
| WO2019174080A1 (en) * | 2018-03-14 | 2019-09-19 | 深圳市沃特沃德股份有限公司 | Floor sweeping robot and floor sweeping method and device thereof |
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