CN206333859U - A kind of displacement state identifying device for automatic sweeping machine - Google Patents
A kind of displacement state identifying device for automatic sweeping machine Download PDFInfo
- Publication number
- CN206333859U CN206333859U CN201620624258.3U CN201620624258U CN206333859U CN 206333859 U CN206333859 U CN 206333859U CN 201620624258 U CN201620624258 U CN 201620624258U CN 206333859 U CN206333859 U CN 206333859U
- Authority
- CN
- China
- Prior art keywords
- sweeping machine
- automatic sweeping
- driven pulley
- hall sensing
- sensing piece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 54
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 18
- 238000005096 rolling process Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 5
- 241001417527 Pempheridae Species 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The utility model is related to a kind of displacement state identifying device for automatic sweeping machine, and automatic sweeping machine includes：One driven pulley for moving and rolling with automatic sweeping machine, driven pulley is contacted with ground；One power wheel, power wheel drives automatic sweeping machine movement；One magnet and a hall sensing piece；The positional distance of one magnet and a hall sensing piece changes with the rotation of driven pulley, the conversion of the hall sensing piece sensor magnet positional distance.
Description
Technical field
The utility model is related to a kind of displacement state identifying device for automatic sweeping machine.
Background technology
Automatic sweeping machine be detect region to be cleaned automatically in the case of unmanned control, the automation of barrier is cleaned and set
Standby, automatic sweeping machine can be bottled up by barrier often when cleaning operation, and this needs automatic sweeping machine to change former running status
Or start pattern of getting rid of poverty.To automatic sweeping machine, whether the detection in stuck state is typically to use photosensitive sensors at present, by
Photosensitive sensors sensor detects the change of driven pulley, and can be worn using the judgement vestige on permanent back front driven wheel, now
Judgement easily malfunction.
Utility model content
The purpose of this utility model is to overcome above shortcomings in the prior art, and providing can accurately judge automatic
Whether sweeper is in a kind of displacement state identifying device for automatic sweeping machine of stuck state.
The technical scheme in the invention for solving the above technical problem is：A kind of displacement shape for automatic sweeping machine
State identifying device, automatic sweeping machine includes：One driven pulley for moving and rolling with automatic sweeping machine, driven pulley is contacted with ground；
One power wheel, power wheel drives automatic sweeping machine movement；One magnet and a hall sensing piece；One magnet and a Hall
The positional distance of sensing chip changes with the rotation of driven pulley, the conversion of the hall sensing piece sensor magnet positional distance.
Furtherly, a magnet is arranged on driven pulley, accompanies wheel rotation and shifts one's position；One hall sensing piece adjoins
Adjacent driven pulley is set, and hall sensing piece is arranged on the housing of automatic sweeping machine.
Furtherly, the hall sensing piece is arranged on driven pulley, accompanies wheel rotation and shifts one's position；One magnet adjoins
Adjacent driven pulley is set, and magnet is arranged on the housing of automatic sweeping machine.
Furtherly, a kind of displacement state identifying device for automatic sweeping machine, also including a control module, control
Molding block connection hall sensing piece, the signal to receive hall sensing piece sensor magnet evolution, being made according to signal is
No stuck judgement.To making, feedback is made in stuck judgement, feedback information to change motive power rotate to or rotating speed.
Furtherly, the housing paster of the hall sensing piece and automatic sweeping machine is installed.
Furtherly, the hall sensing piece is installed with automatic sweeping machine buckle.
Furtherly, the magnet is embedded in driven pulley fixed installation.
Furtherly, the hall sensing piece is embedded in driven pulley fixed installation.
The utility model compared with prior art, with advantages below and effect：The utility model, which is created, utilizes Hall sense
Mechanism is answered, it is accurate to judge whether automatic sweeping machine is in stuck state by conversion of the hall sensing piece according to magnet positions, so that
Sweeper is helped to change original running status, above water in time.
Brief description of the drawings
Fig. 1 is the structural representation of the utility model embodiment one.
Fig. 2 is the close-up schematic view of A portions shown in Fig. 1.
Fig. 3 is the structural representation of the utility model embodiment two.
Fig. 4 is the close-up schematic view of B portions shown in Fig. 3.
Fig. 5 is the control principle drawing of the present embodiment.
Embodiment
Below in conjunction with the accompanying drawings and the utility model is described in further detail by embodiment, following examples are pair
It is of the present utility model explanation and the utility model is not limited to following examples.
Embodiment 1.
Referring to Fig. 1,2 and 5, a kind of displacement state identifying device for automatic sweeping machine described in the present embodiment is swept automatically
Ground machine 1 includes：One driven pulley 10 for moving and rolling with automatic sweeping machine 1, driven pulley 10 is contacted with ground；One power wheel 11,
Power wheel 11 drives automatic sweeping machine 1 to move；Additionally include：One magnet 2 and a hall sensing piece 3；One magnet 2 and a Hall
The positional distance of sensing chip 3 changes, the conversion of the positional distance of 3 sensor magnet of hall sensing piece 2 with the rotation of driven pulley 10.
One magnet 2, magnet 2 is fixedly mounted on driven pulley 10, rotates and shifts one's position with driven pulley 10；One hall sensing piece
3, which adjoin driven pulley 10, is set, and hall sensing piece 3 is arranged on the housing of automatic sweeping machine 1.According to the sensor magnet 2 of hall sensing piece 3
Whether the information of evolution, judge automatic sweeping machine 1 also in movement.
The present embodiment also includes a control module 4, the connection hall sensing of control module 4 piece 3, to receive hall sensing piece
The signal of the evolution of 3 sensor magnet 2, stuck judgement is made whether according to signal.To making, feedback is made in stuck judgement,
Feedback information is turned to or rotating speed to change motive power wheel 11.So as to change the original motion track of automatic sweeping machine, depart from card
Dead zone, gets rid of poverty.
The housing paster of hall sensing piece 3 described in the present embodiment and automatic sweeping machine 1 is installed.
Hall sensing piece 3 described in the present embodiment is installed with the buckle of automatic sweeping machine 1.
Magnet 2 is embedded in driven pulley 10 and is fixedly mounted described in the present embodiment.
With the detection surrounding magnetic field power change of hall sensing piece 3, when magnet 2 is close to chip, magnetic field becomes strong, and chip output is low
Level, whether when magnet steel is away from chip, magnetic field dies down, chip output high level, have level change to sentence by detection chip
Determine whether driven pulley is rolling
Embodiment 2
Referring to Fig. 3 to 5, a kind of displacement state identifying device for automatic sweeping machine described in the present embodiment is swept the floor automatically
Machine 1 includes：One driven pulley 10 for moving and rolling with automatic sweeping machine 1, driven pulley 10 is contacted with ground；One power wheel 11, is moved
Wheels 11 drives automatic sweeping machine 1 to move；Additionally include：One magnet 2 and a hall sensing piece 3；One magnet 2 and a Hall sense
The positional distance of piece 3 is answered to change, the conversion of the positional distance of 3 sensor magnet of hall sensing piece 2 with the rotation of driven pulley 10.
A hall sensing piece 3 described in the present embodiment is arranged on driven pulley 10, rotates and shifts one's position with driven pulley 10；One magnetic
Body 2 adjoins driven pulley 10 and set, and magnet 2 is arranged on the housing of automatic sweeping machine 1.
According to the information of the evolution of 3 sensor magnet of hall sensing piece 2, judge automatic sweeping machine 1 whether also in movement.
The present embodiment also includes a control module 4, the connection hall sensing of control module 4 piece 3, to receive hall sensing piece
The signal of the evolution of 3 sensor magnet 2, stuck judgement is made whether according to signal.To making, feedback is made in stuck judgement,
Feedback information is turned to or rotating speed to change motive power wheel 11.So as to change the original motion track of automatic sweeping machine, depart from card
Dead zone, gets rid of poverty.
The housing paster of hall sensing piece 3 described in the present embodiment and automatic sweeping machine 1 is installed.
Hall sensing piece 3 described in the present embodiment is installed with the buckle of automatic sweeping machine 1.
Magnet 2 is embedded in driven pulley 10 and is fixedly mounted described in the present embodiment.
With the detection surrounding magnetic field power change of hall sensing piece 3, when magnet 2 is close to chip, magnetic field becomes strong, and chip output is low
Level, whether when magnet steel is away from chip, magnetic field dies down, chip output high level, have level change to sentence by detection chip
Determine whether driven pulley is rolling
Hall sensing piece 3 is embedded in driven pulley 10 and is fixedly mounted described in the present embodiment.
Unless otherwise defined, the technical term or scientific terminology that the disclosure is used should be the utility model art
The ordinary meaning that the interior personage with general technical ability is understood.The similar word such as " one " that is used in the disclosure or " one " is not
Quantity limitation is represented, but represents there is at least one.
Above content described in this specification is only to the utility model example explanation.The utility model
Person of ordinary skill in the field can make various modifications or supplement to described specific embodiment or use class
As mode substitute, content without departing from the utility model specification or surmount model defined in the claims
Enclose, protection domain of the present utility model all should be belonged to.
Claims (9)
1. a kind of displacement state identifying device for automatic sweeping machine, automatic sweeping machine includes：
One driven pulley for moving and rolling with automatic sweeping machine, driven pulley is contacted with ground；
One power wheel, power wheel drives automatic sweeping machine movement；
It is characterized in that also including：
One magnet and a hall sensing piece；
The positional distance of one magnet and a hall sensing piece changes with the rotation of driven pulley, the hall sensing piece sensor magnet position
Put the conversion of distance.
2. a kind of displacement state identifying device for automatic sweeping machine according to claim 1, it is characterised in that：
One magnet is arranged on driven pulley, accompanies wheel rotation and shifts one's position；
One hall sensing piece adjoins driven pulley setting, and hall sensing piece is arranged on the housing of automatic sweeping machine.
3. a kind of displacement state identifying device for automatic sweeping machine according to claim 1, it is characterised in that：
One hall sensing piece is arranged on driven pulley, accompanies wheel rotation and shifts one's position；
One magnet adjoins driven pulley setting, and magnet is arranged on the housing of automatic sweeping machine.
4. a kind of displacement state identifying device for automatic sweeping machine according to claims 1 to 3 any claim,
It is characterized in that：Also include a control module, control module connection hall sensing piece, to receive hall sensing piece sensor magnet
The signal of evolution, stuck judgement is made whether according to signal.
5. a kind of displacement state identifying device for automatic sweeping machine according to claim 4, it is characterised in that：To stuck
Feedback is made in judgement, and feedback information is turned to or rotating speed to change power wheel original.
6. a kind of displacement state identifying device for automatic sweeping machine according to claim 2, it is characterised in that：Hall
The housing paster of sensing chip and automatic sweeping machine is installed.
7. a kind of displacement state identifying device for automatic sweeping machine according to claim 2, it is characterised in that：Hall
Sensing chip is installed with automatic sweeping machine buckle.
8. a kind of displacement state identifying device for automatic sweeping machine according to claim 2, it is characterised in that：It is described
Magnet is embedded in driven pulley fixed installation.
9. a kind of displacement state identifying device for automatic sweeping machine according to claim 3, it is characterised in that：It is described
Hall sensing piece is embedded in driven pulley fixed installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620624258.3U CN206333859U (en) | 2016-06-20 | 2016-06-20 | A kind of displacement state identifying device for automatic sweeping machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620624258.3U CN206333859U (en) | 2016-06-20 | 2016-06-20 | A kind of displacement state identifying device for automatic sweeping machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206333859U true CN206333859U (en) | 2017-07-18 |
Family
ID=59298644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620624258.3U Expired - Fee Related CN206333859U (en) | 2016-06-20 | 2016-06-20 | A kind of displacement state identifying device for automatic sweeping machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206333859U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105942931A (en) * | 2016-06-20 | 2016-09-21 | 嘉兴杰创智能电器有限公司 | Displacement state recognition device for automatic sweeper |
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| CN111436863A (en) * | 2019-01-17 | 2020-07-24 | 添可智能科技有限公司 | Cleaning machine |
| TWI718455B (en) * | 2018-12-20 | 2021-02-11 | 燕成祥 | Robot trap detection device |
-
2016
- 2016-06-20 CN CN201620624258.3U patent/CN206333859U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105942931A (en) * | 2016-06-20 | 2016-09-21 | 嘉兴杰创智能电器有限公司 | Displacement state recognition device for automatic sweeper |
| CN107802213A (en) * | 2017-11-03 | 2018-03-16 | 北京奇虎科技有限公司 | Driven pulley, sweeping robot and the control method of sweeping robot |
| TWI718455B (en) * | 2018-12-20 | 2021-02-11 | 燕成祥 | Robot trap detection device |
| CN111436863A (en) * | 2019-01-17 | 2020-07-24 | 添可智能科技有限公司 | Cleaning machine |
| CN111436863B (en) * | 2019-01-17 | 2022-04-22 | 添可智能科技有限公司 | Cleaning machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206333859U (en) | A kind of displacement state identifying device for automatic sweeping machine | |
| AU2020220188B2 (en) | Component cleaning robot and method of surmounting obstacle | |
| CN105942931A (en) | Displacement state recognition device for automatic sweeper | |
| CN205281264U (en) | Intelligence walking suitcase | |
| CN206216698U (en) | Robot with mixing barrier avoiding function | |
| CN111580515B (en) | Obstacle avoidance system for unmanned sweeping machine and obstacle avoidance method thereof | |
| CN103184746A (en) | Manhole cover | |
| CN106242141A (en) | A kind of smart water quality cleaning system | |
| CN109674404A (en) | A kind of sweeping robot avoidance processing mode based on free move technology | |
| CN202183047U (en) | Automatic tracking dolly system | |
| CN206924042U (en) | A kind of mobile robot | |
| CN102488481A (en) | Design method of intelligent sweeping robot | |
| CN203401485U (en) | Self-moving robot with walking state judgment device | |
| Shah et al. | Literature review on parking system | |
| CN208887744U (en) | A kind of Novel water conservancy detection prior-warning device | |
| CN205649470U (en) | Wheel slip detection and correction system for intelligent sweeper | |
| CN211187060U (en) | Automatic obstacle-avoiding sweeping robot | |
| CN105005299A (en) | Intelligent variable speed line-inspection obstacle-avoiding dolly | |
| CN103993571B (en) | A kind of track pavement cleaning suction port accurately keeps away barrier coordinated control system | |
| CN105691329A (en) | Intelligent car backing guiding warning device | |
| CN107380061A (en) | Pedestrian impact perceptron | |
| CN103669460B (en) | A kind of device positioning information monitoring operation of sand dredger based on big-dipper satellite | |
| CN102389362A (en) | Image ultrasonic blind guiding system device | |
| CN205486862U (en) | Induced warehouse entry system of vehicle intelligence | |
| CN203552061U (en) | Antistatic intelligent industrial trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Ronghua Inventor after: Li Jing Inventor before: Li Jing |
|
| CB03 | Change of inventor or designer information | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170718 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |