CN205721357U - A kind of domestic two-layer based on self-defined map work sweeping robot - Google Patents
A kind of domestic two-layer based on self-defined map work sweeping robot Download PDFInfo
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- CN205721357U CN205721357U CN201620322293.XU CN201620322293U CN205721357U CN 205721357 U CN205721357 U CN 205721357U CN 201620322293 U CN201620322293 U CN 201620322293U CN 205721357 U CN205721357 U CN 205721357U
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Abstract
The utility model discloses a kind of domestic two-layer based on self-defined map work sweeping robot, it is characterised in that: comprise control system, alignment system, mechanical system and man-machine interactive system；Control system is that the core processing of sweeping robot coordinates alignment system, mechanical system and the work of man-machine interactive system；Alignment system is connected with control system, has positioning function and realizes the collection to cartographic information and process；Mechanical system and control system be connected to realize sweeping robot move in specifying region, avoidance, cleaning and the function of floor up and down；It is mutual with the information of sweeping robot that man-machine interactive system and control system are connected to realize user.This utility model can realize specifying region all standing have difference cleaning and can autonomous upper and lower floor, sweeping robot can either be prevented to be stuck, cleaning efficiency can be improved again, make region, everywhere the most cleaned totally.
Description
Technical field
This utility model relates to a kind of sweeping robot and method of sweeping the floor thereof, a kind of domestic two-layer based on self-defined map work sweeping robot and method of sweeping the floor thereof.
Background technology
In recent years, development in science and technology is further rapid, and some household type robots emerge one after another, and sweeping robot is as the new lover of domestic robot, and its function independently cleaned is liked there is irreplaceable effect in daily life deeply by housewife.But prior art there is also some problems to be solved, such as: oneself is often stuck under sofa by the autonomous cleaning of sweeping robot；Cleaning is time-consuming；Some dirtier region cleaning the most completely is clean；Cannot autonomous upper and lower floor.These problems have impact on the effect of sweeping robot cleaning.
Based on above reason, need a kind of can realize specifying region all standing have difference cleaning and can the sweeping robot of autonomous floor up and down, sweeping robot can either be prevented to be stuck, cleaning efficiency can be improved again, make region, everywhere the most cleaned totally.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of domestic two-layer based on self-defined map work sweeping robot.
For solving above-mentioned technical problem, this utility model be the technical scheme is that
A kind of domestic two-layer based on self-defined map work sweeping robot, it is characterised in that: comprise control system, alignment system, mechanical system and man-machine interactive system；Control system is the core of sweeping robot, processes and coordinates alignment system, mechanical system and the work of man-machine interactive system；Alignment system is connected with control system, has positioning function and realizes the collection to cartographic information and process；Mechanical system and control system be connected to realize sweeping robot move in specifying region, avoidance, cleaning and the function of floor up and down；It is mutual with the information of sweeping robot that man-machine interactive system and control system are connected to realize user.
Further, described control system uses STM32 single-chip microcomputer.
Further, described alignment system includes infrared sensor and Inertial Measurement Unit, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot.
Further, described mechanical system comprises mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly, and mechanically moving unit comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit comprises steam flusher, hairbrush and dust absorption fan；Floor machine assembly comprises charging base, rope, pulley, pulley motor and bluetooth module up and down, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication.
Further, described steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation.
Further, described man-machine interactive system comprises handheld client end, and handheld client end is communicated with sweeping robot by bluetooth module, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module.
This utility model is compared with prior art, have the following advantages and effect: can realize specifying region all standing to have difference cleaning and can autonomous upper and lower floor, sweeping robot can either be prevented to be stuck, cleaning efficiency can be improved again, make region, everywhere the most cleaned totally.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of a kind of domestic two-layer based on self-defined map of the present utility model work sweeping robot.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings and by embodiment, and following example are that this utility model is not limited to following example to explanation of the present utility model.
As it can be seen, a kind of domestic two-layer based on self-defined map of the present utility model work sweeping robot, comprise control system 1, alignment system 4, mechanical system 3 and man-machine interactive system 2；Control system 1 is the core of sweeping robot, processes and coordinates alignment system 4, mechanical system 3 and the work of man-machine interactive system 2；Alignment system 4 is connected with control system 1, has positioning function and realizes the collection to cartographic information and process；Mechanical system 3 and control system 1 be connected to realize sweeping robot move in specifying region, avoidance, cleaning and the function of floor up and down；It is mutual with the information of sweeping robot that man-machine interactive system 2 and control system 1 are connected to realize user.
Control system uses STM32 single-chip microcomputer.Alignment system includes infrared sensor 6 and Inertial Measurement Unit 7, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot.Mechanical system comprises mechanically moving unit 8, cleaning machine unit 9 and upper and lower floor machine assembly 10, and mechanically moving unit 8 comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit 9 comprises steam flusher, hairbrush and dust absorption fan；Floor machine assembly 10 comprises charging base, rope, pulley, pulley motor and bluetooth module up and down, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication.Steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation.Man-machine interactive system comprises handheld client end 5, and handheld client end is communicated with sweeping robot by bluetooth module, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module.
A kind of domestic two-layer based on self-defined map work sweeping robot is swept the floor method, comprises the following steps:
Step one: sweeping robot carries out traversal and cleans, in ergodic process, record current location point when infrared sensor detects barrier, the combination of these location points is constituted barrier map, set up two-dimensional coordinate system simultaneously and map resolved into coordinate points one by one, sweeping robot by position Real-time Feedback to handheld client end and by red some flickering display on map reference；
Step 2: clean according to the cartographic information of record on handheld client end, handheld client end can revise irregular profile in map automatically, and handheld client end can manually map iris out key area carry out emphasis cleaning or iris out large-scale barrier zone not with cleaning；
Step 3: in cleaning process, the gray-scale sensor detection floor-dust situation of steam flusher, when the dirtiest gray scale in ground is beyond threshold value, and steam flusher increases steam sprinkling auxiliary and cleans；
Step 4: after having cleaned one layer, sweeping robot moves supreme lower floor machine assembly, controls pulley motor work thus realizes the vertical movement of upper and lower floor machine assembly.
Signal can be sent to this unit when sweeping robot has swept Stall and move to locate immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, pulls on sweeping robot.
When gathering cartographic information, handheld client end is matched with sweeping robot by bluetooth, user travels through whole room by handheld client end manipulation sweeping robot, while ergodic process the infrared sensor of alignment system can constantly detect near whether have barrier, if there being the barriers such as wall sofa just to be recorded by current location point, all of location point may finally constitute the map that a width is complete, includes the barriers such as sofa in map.Set up a two-dimensional coordinate system simultaneously and map is resolved into coordinate points one by one；When sweeping robot utonomous working, sweeping robot coordinate position on map can be shown on handheld client end by alignment system with the red of flicker, facilitates user to monitor the position of sweeping robot in real time.
Handheld client end has the effect revising map lack of standardization, and owing to advancing with bluetooth manipulation sweeping robot, the route drawn must be crooked, so map can be optimized by handheld client end, makes irregular concavo-convex curve become smooth.
Handheld client end can also iris out the dirtier places such as the such as kitchen, region of one piece of emphasis needs cleaning on map, also the barriers such as one piece of region such as sofa that need not cleaning can be irised out, sweeping robot is prevented to be stuck under sofa, or because the most totally need not the room of cleaning, or manually cleaning is local eaily.
When independently cleaning, sweeping robot can carry out high efficiency cleaning according to the requirement in map, and mechanically moving unit includes motor and avoidance module, and motor drives its running orbit of mobile control of sweeping robot, and avoidance module prevents sweeping robot from knocking object；Cleaning machine unit includes steam flusher, hairbrush and dust absorption fan, steam flusher includes gray-scale sensor, under the normal condition of acquiescence, the fountain height of steam is little, but when the dirtiest gray-scale sensor in ground can increase the sprinkling of steam beyond threshold value, steam flusher.
Floor machine assembly and charging base unite two into one and save space up and down, floor machine assembly and charging base up and down, it is built-in with bluetooth module can be with sweeping robot communication, floor machine assembly includes pulley and rope up and down, signal can be sent to this unit when sweeping robot has swept Stall and move to locate immediately below this unit, this unit is after confirming that sweeping robot arrives, rope is discharged to ground by pulley, sweeping robot can independently be found the ferrule at rope top and be connected by magnetic and rope, at this moment this unit meeting retraction cables, sweeping robot is pulled on；In like manner sweeping robot can also first clean second floor, then sweeping robot release is gone down by rope.
Above content described in this specification is only to this utility model example explanation.Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by this utility model person of ordinary skill in the field; without departing from the content of this utility model description or surmount scope defined in the claims, protection domain of the present utility model all should be belonged to.
Claims (6)
1. domestic two-layer based on a self-defined map work sweeping robot, it is characterised in that: comprise control system, alignment system, mechanical system and man-machine interactive system；Control system is the core of sweeping robot, processes and coordinates alignment system, mechanical system and the work of man-machine interactive system；Alignment system is connected with control system, has positioning function and realizes the collection to cartographic information and process；Mechanical system and control system be connected to realize sweeping robot move in specifying region, avoidance, cleaning and the function of floor up and down；It is mutual with the information of sweeping robot that man-machine interactive system and control system are connected to realize user.
2. according to a kind of based on self-defined map the domestic two-layer work sweeping robot described in claim 1, it is characterised in that: described control system uses STM32 single-chip microcomputer.
3. according to a kind of based on self-defined map the domestic two-layer work sweeping robot described in claim 1, it is characterized in that: described alignment system includes infrared sensor and Inertial Measurement Unit, infrared sensor is arranged on sweeping robot surrounding for detecting the existence of barrier in ergodic process, and Inertial Measurement Unit realizes the location to sweeping robot for the angular velocity and acceleration measuring sweeping robot.
4. according to a kind of based on self-defined map the domestic two-layer work sweeping robot described in claim 1, it is characterized in that: described mechanical system comprises mechanically moving unit, cleaning machine unit and upper and lower floor machine assembly, mechanically moving unit comprises motor and avoidance module, controls sweeping robot while specifying region all standing without impinging on barrier；Cleaning machine unit comprises steam flusher, hairbrush and dust absorption fan；Floor machine assembly comprises charging base, rope, pulley, pulley motor and bluetooth module up and down, pulley rotation is arranged on stair edge, rope is arranged on pulley and rope one end is connected with pulley motor and is driven by pulley motor, the rope other end is fixed on charging base, bluetooth module and sweeping robot communication.
5. according to a kind of based on self-defined map the domestic two-layer work sweeping robot described in claim 4, it is characterised in that: described steam flusher is provided with gray-scale sensor, and gray-scale sensor is used for detecting floor-dust situation.
6. according to a kind of based on self-defined map the domestic two-layer work sweeping robot described in claim 1, it is characterized in that: described man-machine interactive system comprises handheld client end, handheld client end is communicated with sweeping robot by bluetooth module, and the location point of cartographic information and sweeping robot is passed to handheld client end by bluetooth module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620322293.XU CN205721357U (en) | 2016-04-18 | 2016-04-18 | A kind of domestic two-layer based on self-defined map work sweeping robot |
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| CN201620322293.XU CN205721357U (en) | 2016-04-18 | 2016-04-18 | A kind of domestic two-layer based on self-defined map work sweeping robot |
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| CN205721357U true CN205721357U (en) | 2016-11-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700531A (en) * | 2016-04-18 | 2016-06-22 | 南京工程学院 | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof |
| CN106393058A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Matched stair-climbing device of sweeping robot |
| CN106393057A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Special stair-climbing device of sweeping robot |
| CN106426083A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Robot cleaner stair climbing device |
-
2016
- 2016-04-18 CN CN201620322293.XU patent/CN205721357U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105700531A (en) * | 2016-04-18 | 2016-06-22 | 南京工程学院 | Customized map-based household sweeping robot used for two-storey house and sweeping method thereof |
| CN105700531B (en) * | 2016-04-18 | 2019-03-01 | 南京工程学院 | Two layers of work sweeping robot of household based on customized map and its method of sweeping the floor |
| CN106393058A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Matched stair-climbing device of sweeping robot |
| CN106393057A (en) * | 2016-12-18 | 2017-02-15 | 遂宁市长丰机械科技有限公司 | Special stair-climbing device of sweeping robot |
| CN106426083A (en) * | 2016-12-18 | 2017-02-22 | 遂宁市长丰机械科技有限公司 | Robot cleaner stair climbing device |
| CN106393058B (en) * | 2016-12-18 | 2018-08-24 | 遂宁市长丰机械科技有限公司 | The mating Stair climbing device of sweeping robot |
| CN106393057B (en) * | 2016-12-18 | 2018-10-09 | 浙江同贺餐饮管理有限公司 | The special Stair climbing device of sweeping robot |
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