CN205521424U - Work module and from mobile robot thereof - Google Patents
Work module and from mobile robot thereof Download PDFInfo
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- CN205521424U CN205521424U CN201620058625.8U CN201620058625U CN205521424U CN 205521424 U CN205521424 U CN 205521424U CN 201620058625 U CN201620058625 U CN 201620058625U CN 205521424 U CN205521424 U CN 205521424U
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Abstract
The utility model provides a work module and from mobile robot thereof, this work module includes outer module (020) and rotatably inlays interior module (010) located in the outer module, be equipped with sensor (021) in the outer module, be equipped with the control unit (011) in the interior module, at least, be equipped with a wireless communication module (012) in the interior module, at least, be equipped with the 2nd wireless communication module (022) in the outer module, the sensing information of sensor the wireless communication between through the 2nd wireless communication module and a wireless communication module transmit for the control unit. The utility model provides an interior organism of work module and the mode that the frame passes through wireless communication realize information transmission, produce the wire winding when avoiding both relative motion, improve the running efficiency of mechanism, from mobile robot in safety and stability ground work, abundant distribution with utilize the resource, the extension improves work efficiency from mobile robot's operating time.
Description
Technical field
This utility model relates to a kind of work module and self-movement robot thereof, belongs to small household appliances system
Make technical field.
Background technology
Along with window wiping robot being widely used in the family, how to make window wiping robot at window
Upper safety is normally walked, and is related to the safety of whole product, and stable signal is only guarantor
The premise that card window wiping robot is normally walked.Hit owing to existing window wiping robot the most all uses
Plate or bulb sense whether machine arrives frame, and the signal transmission used still is opened mostly
Close class or optocoupler class sensor, by wire harness, signal passed to mainboard, but at Separated type rotary
In mechanism, the outer first-class signal generator of side crash cricket interface that relatively works when turning is static,
Internal drive and mainboard etc. are then to rotate, and in this case, use wire harness to carry out continuing
Signal transmits to easily cause coiling or easily cause transmission signal and lacks because of loose contact, shadow
Ring window wiping robot and use safety.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, it is provided that
A kind of work module and self-movement robot thereof, the interior body of this work module and housing pass through nothing
The mode of line communication realizes information transmission, it is to avoid produces coiling during both relative motioies, improves machine
The running efficiency of structure；Self-movement robot, while keeping working with security and stability, fully divides
Join and utilize resource, extend the working time of self-movement robot, improve work efficiency.
Technical problem to be solved in the utility model is achieved by the following technical solution:
A kind of work module, including inner module and outer mold piece, described inner module is rotatably embedded
On outer mold piece, described outer mold piece is provided with sensor, and described inner module is provided with control unit,
At least provided with the first wireless communication module on described inner module, at least provided with on described outer mold piece
Two wireless communication modules, described sensor at least includes first sensor, described first sensor
Sensitive information by channel radio between the second wireless communication module and the first wireless communication module
News pass to control unit.
Described work module also includes that performance element, described performance element are arranged on inner module,
Described control unit outputs signal to performance element after processing the sensitive information of sensor and holds
Row corresponding actions.
Arranging for the ease of mechanism, described inner module is embedded the central authorities at outer mold piece.
This utility model also provides for a kind of self-movement robot, and this self-movement robot includes as above
Described work module, described outer mold piece is housing, and described inner module is interior body, described interior
Control unit and performance element it is respectively equipped with on body.
Described sensor include being arranged on housing from mobile environment sensor, including: infrared
Sensor, crash sensor or brim height sensor；Described performance element is action executing list
Unit, including the crawler belt being correspondingly arranged at below described interior body or road wheel.
Described sensor also includes the operating condition sensor being arranged on housing, including: dust
Sensor or humidity sensor；Described performance element is job execution unit, including being correspondingly arranged
Round brush on described interior body or humidifying unit.
Under normal circumstances, the signal transfer mode of described self-movement robot includes wire transmission mould
Formula and wireless communication mode, described first sensor is described from mobile environment sensor and pass through
Wireless communication mode and described control unit communication；Described operating condition sensor is by wired biography
Defeated pattern and described control unit communication.
In the work process of self-movement robot, described offer from mobile environment sensor is run
The obstacle signal of route, described operating condition sensor detecting work interface situation, collect
Whole environmental information, when being not detected by obstacle information from mobile environment sensor, controls single
Unit selects path according to operating condition sensor feedback information and cleans operational mode, is now the
One duty, described interior body and housing geo-stationary；
When obstacle information being detected from mobile environment sensor, described control unit controls institute
State interior body to rotate relative to housing, be now the second duty, operation bar in rotary course
Part sensor does not works.
Additionally, described self-movement robot is provided with power supply unit, described interior including being separately positioned on
The first power supply unit on body and housing and the second power supply unit；At described self-movement robot
In the first duty, described first power supply unit is connected with described housing and is that housing is powered；
Described self-movement robot is in the second duty, described first power supply unit and described housing
Disconnecting, described second power supply unit is powered from housing described in behavior.
In sum, this utility model provides one work module and self-movement robot thereof, should
Interior body and the housing of work module separately use independent circuit and by the way of wireless telecommunications
Realize information transmission, not only avoided the generation of coiling situation during both relative motioies but also effectively prevent
Abrasion between connection member or contact component in prior art, relative to extending from moving machine
In the service life of people, improve the running efficiency of mechanism simultaneously, be more convenient for being arranged on housing
Sensor dismounting or change upgrading；In self-movement robot, different types of sensor uses
Whether different signal transfer modes, work according to different types of sensor, will be from mobile
Robot divides into different duties, and uses different power supply modes, is keeping operation
Simultaneously easily, fully distribute and utilize resource, extend the working time of self-movement robot,
Improve work efficiency.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is carried out in detail
Ground explanation.
Accompanying drawing explanation
Fig. 1 is the structural representation of utility model works module；
Fig. 2 is the structural representation of this utility model self-movement robot；
Fig. 3 to Fig. 5 is respectively the schematic diagram of the motor pattern of self-movement robot avoidance.
Detailed description of the invention
Fig. 1 is the structural representation of utility model works module.As it is shown in figure 1, this practicality
Novel offer one work module, including inner module 010 and outer mold piece 020, described inner module can
Being embedded at rotatably on outer mold piece, described outer mold piece is provided with sensor 021, on described inner module
It is provided with control unit 011, at least provided with the first wireless communication module 012, institute on described inner module
State on outer mold piece at least provided with the second wireless communication module 022.Wherein, described sensor 021 to
Including first sensor less, the sensitive information of described first sensor passes through the second wireless telecommunications mould
Wireless telecommunications between block and the first wireless communication module pass to control unit.It is to say,
Sensor 021 is not actually and only includes a kind of single sensor, but includes many
Plant sensor, in these sensors, between only described first sensor and control unit
Information is mutually transmitted by wireless communication mode.Described work module also includes performance element
013, described performance element is arranged on inner module 010, and described control unit 011 is to sensor
The sensitive information of 021 outputs signal to performance element 013 and performs corresponding actions after processing.For
The structure of all parts being easy on work module is arranged, and described inner module 010 is generally embedded
Central authorities at outer mold piece 020.
This utility model also provides for a kind of self-movement robot with above-mentioned work module.Fig. 2
Structural representation for this utility model self-movement robot.Such as Fig. 2 and combine shown in Fig. 1,
This self-movement robot includes that work module as described in Figure 1, wherein said outer mold piece 020 are
Housing 200 in Fig. 2, described inner module 010 is the interior body 100 in Fig. 2, described interior machine
Control unit 110 and performance element it is respectively equipped with on body.
Fig. 3 to Fig. 5 is respectively the schematic diagram of the motor pattern of self-movement robot avoidance.Such as figure
2 and combine shown in Fig. 3 to Fig. 5, specifically, when self-movement robot runs to shown in Fig. 3
Position 1, it may be assumed that during original position, from mobile environment sensor 210, such as: crash sensor,
Produce signal owing to touching barrier, this signal passes through the second wireless communication module 022 He
Wireless communication transmission between first wireless communication module 021 is to control unit 110, control unit
Rotated counterclockwise relative to housing 200 by body 100 in programme-control after 110 reception signals
Barrier can be avoided walk on to the position 2 shown in Fig. 4, self-movement robot for 90 °.Depend on
This analogizes, if crash sensor produces signal, then this letter again in self-movement robot running
Number still through wireless communication transmission to control unit 110, after control unit 110 receives signal
By body in programme-control 100 on the basis of original pose half-twist counterclockwise to Fig. 5
Shown position 3 is with avoiding obstacles.
Self-movement robot shown in Fig. 2 to Fig. 5 is window wiping robot, due to window cleaning equipment device
The housing 200 of people is the most square, cause housing 200 at glass edge Angle Position cornering difficulties,
Window wiping robot the most described in the utility model is embedded rotatable for interior body 100 at housing 200
Middle part, the most described performance element is located on this interior body 100, when running into corner, only
This interior body 100 rotates against to adjust traffic direction, thus improves the motor-driven of window wiping robot
Property and work efficiency.It is referred to work module shown in Fig. 1, similarly, this utility model institute
Identical mode of operation is used between interior body 100 and the housing 200 of the window wiping robot stated.
Owing to interior body 100 and housing 200 relative line between the two are independent, interior body 100 is permissible
Original place rotate and do not affected by shape and the wiring of housing 200, compared to existing technology in machine
Between body 100 and housing 200 by the way of wire harness transmits, both avoided both relative motioies
Time coiling situation generation effectively prevent again in prior art between connection member or contact component
Abrasion, relatively extend the service life of self-movement robot, improve robot simultaneously
Running efficiency.
Described sensor 021 include being arranged on housing 200 from mobile environment sensor 210,
Such as: infrared sensor, crash sensor or brim height sensor；Described performance element is
Action execution unit, including the crawler belt 120 being correspondingly arranged at below described interior body or road wheel.
Described sensor 021 can also include the operating condition sensor 220 being arranged on housing 200,
Such as: dust sensor or humidity sensor；Described performance element is job execution unit, bag
Include the round brush 121 or humidifying unit being correspondingly arranged on described interior body 100.In addition,
Described window wiping robot is provided with power supply unit, including being separately positioned on described interior body 100 with outer
The first power supply unit 130 and the second power supply unit 230 on frame 200.
In other embodiments, the signal transfer mode of self-movement robot can also be according to sensing
The kind of device 021 is arranged to wired transmission mode and wireless communication mode.Described from mobile environment
Sensor 210 is by wireless communication mode and the communication of described control unit 110；And described operation
Condition pickoffs 220 is by wire transmission pattern and the communication of described control unit 110.Described from
Mobile environment sensor 210 provides the obstacle signal of running route, and described operating condition senses
Device 220 detects work interface situation, collects complete environmental information.Preferably, described operation
Elastic Contact between condition pickoffs 220 and described interior body 100, and with on interior body 100
The Elastic Contact point arranged is powered/signal transmission；Preferably, described operating condition sensor
The elastic connecting contact at 90 ° of four intervals is set between 220 and described interior body 100；When from moving
When mobile robot runs according to the mode of above-mentioned Fig. 3 to Fig. 5, the most described interior body 100 is relative
When housing 200 rotates, described operating condition sensor 220 does not works.
Due to the side that circuit is independent between housing 200 and interior body 100 and single employing is wireless
When formula carries out data transmission, the sensor 021 of housing is both needed to be powered by housing 200, especially exists
In the case of wireless power technology is the most jejune now, the power supply pressure of housing will be greatly promoted,
The flying power being easily caused housing is not enough, and in the present embodiment, need not continue by part
Work does not affect the sensor (operating condition sensor 220) of operational security by tapping simultaneously
Formula wire transmission pattern is connected on interior body, effectively alleviates the power supply pressure of housing.
In the present embodiment, when being not detected by obstacle information from mobile environment sensor, control
Unit 110 processed selects path according to operating condition sensor feedback information and cleans operational mode,
It is now the first duty, described interior body 100 and housing 200 geo-stationary；When from moving
When dynamic environmental sensor 210 detects obstacle information, described control unit 110 controls described
Interior body rotates relative to housing, is now the second duty, operating condition in rotary course
Sensor 220 does not works.Meanwhile, described self-movement robot is provided with power supply unit, including dividing
The first power supply unit 130 and second not being arranged on described interior body 100 and housing 200 supplies
Electric unit 230.When described self-movement robot is in the first duty, described first power supply is single
Unit 130 is connected with housing 200 and is that housing 200 is powered.Described self-movement robot is in
During two duties, described first power supply unit 130 disconnects with housing 200, and described second supplies
Electric unit 230 is powered from housing described in behavior 200.
In sum, the self-movement robot that this utility model provides, interior body 100 and housing
Transmission of wireless signals pattern is used, it is ensured that the stability of signal transmission and persistence between 200.
Alternatively, the part of housing 200 be need not continuous firing and do not affect operational security simultaneously
Sensor is connected on interior body by point contact type wire transmission pattern, effectively alleviates the confession of housing
Voltage force.So can fully distribute and utilize resource going up to greatest extent, extend from moving machine
The working time of device people, improve work efficiency.
Claims (9)
1. a work module, including inner module (010) and outer mold piece (020), described inner module is rotatably embedded on outer mold piece, described outer mold piece is provided with sensor (021), described inner module is provided with control unit (011), it is characterized in that, at least provided with the first wireless communication module (012) on described inner module, at least provided with the second wireless communication module (022) on described outer mold piece, described sensor at least includes first sensor, the sensitive information of described first sensor passes to control unit by the wireless telecommunications between the second wireless communication module and the first wireless communication module.
Work module the most as claimed in claim 1, it is characterized in that, described work module also includes performance element (013), described performance element is arranged on inner module (010), and described control unit (011) outputs signal to performance element (013) and performs corresponding actions after processing the sensitive information of sensor (021).
Work module the most as claimed in claim 2, it is characterised in that described inner module (010) is embedded the central authorities in outer mold piece (020).
4. a self-movement robot, it is characterized in that, including the work module as described in any one of claim 1-3, described outer mold piece (020) is housing (200), described inner module (010) is interior body (100), and described interior body is respectively equipped with control unit (110) and performance element.
5. self-movement robot as claimed in claim 4, it is characterized in that, described sensor (021) include being arranged on housing (200) from mobile environment sensor (210), including infrared sensor, crash sensor or brim height sensor；Described performance element is action execution unit, including the crawler belt (120) being correspondingly arranged at below described interior body or road wheel.
6. self-movement robot as claimed in claim 4, it is characterised in that described sensor (021) includes the operating condition sensor (220) being arranged on housing (200), including: dust sensor or humidity sensor；Described performance element is job execution unit, including the round brush (121) being correspondingly arranged on described interior body (100) or humidifying unit.
7. self-movement robot as claimed in claim 6, it is characterized in that, the signal transfer mode of described self-movement robot includes that wired transmission mode and wireless communication mode, described first sensor are described from mobile environment sensor (210) and by wireless communication mode and described control unit (110) communication；Described operating condition sensor (220) is by wire transmission pattern and described control unit (110) communication.
8. self-movement robot as claimed in claim 7, it is characterized in that, the described obstacle signal that running route is provided from mobile environment sensor (210), described operating condition sensor (220) detection work interface situation, collect complete environmental information, when being not detected by obstacle information from mobile environment sensor, control unit (110) selects path according to operating condition sensor feedback information and cleans operational mode, it is now the first duty, described interior body (100) and housing (200) geo-stationary；
When obstacle information being detected from mobile environment sensor (210), described control unit (110) controls described interior body and rotates relative to housing, being now the second duty, in rotary course, operating condition sensor (220) does not works.
9. self-movement robot as claimed in claim 8, it is characterized in that, described self-movement robot is provided with power supply unit, including the first power supply unit (130) being separately positioned on described interior body (100) and housing (200) and the second power supply unit (230)；
Described self-movement robot is in the first duty, and described first power supply unit is connected with described housing and is that housing is powered；
Described self-movement robot is in the second duty, and described first power supply unit disconnects with described housing, and described second power supply unit is powered from housing described in behavior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620058625.8U CN205521424U (en) | 2016-01-21 | 2016-01-21 | Work module and from mobile robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620058625.8U CN205521424U (en) | 2016-01-21 | 2016-01-21 | Work module and from mobile robot thereof |
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| Publication Number | Publication Date |
|---|---|
| CN205521424U true CN205521424U (en) | 2016-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620058625.8U Active CN205521424U (en) | 2016-01-21 | 2016-01-21 | Work module and from mobile robot thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157273A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳市前海中康汇融信息技术有限公司 | Window cleaning robot using laser ranging and operation method therefor |
-
2016
- 2016-01-21 CN CN201620058625.8U patent/CN205521424U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157273A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳市前海中康汇融信息技术有限公司 | Window cleaning robot using laser ranging and operation method therefor |
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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 robot Limited by Share Ltd Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: Ecovacs Robot Co., Ltd. |