CN206434287U - 扫地机 - Google Patents
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0477—Rolls
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
一种扫地机,包括机体、设置在机体上的激光模组、转盘,所述机体具有一上表面以及与所述上表面相对的下表面,所述激光模组具有发射端和接收端,所述激光模组固定于所述机体的上表面,所述转盘设置于所述机体上表面并可围绕所述激光模组进行360度全方位旋转,还包括一与所述转盘固定连接的反射部,所述反射部连同所述转盘共同围绕所述激光模组旋转,所述激光模组与所述机体固定连接,所述激光模组发射端发射激光,所述反射部反射发射端发射的激光之机体,所述激光模组接收端实时接收自所述发射端出射激光产生的反射信号。
Description
技术领域
本实用新型涉及一种吸尘、清洁装置,特别涉及一种扫地机。
背景技术
扫地机是新一代的家庭保姆,其可以清扫房间的毛发、瓜子壳、灰尘等房间垃圾。
随着国内生活水平不断提高,原本一直在欧美市场销售的扫地机也逐步走入国内平常百姓家,并且逐步的的被越来越多的人所接收,扫地机在不久的将来像白色家电一样成为每个家庭必不可少的清洁帮手。扫地机也会由现在的初级智能向着更高程度的智能化程度发展,逐步的取代人工清洁。
一般地,扫地机内尘器内置智能芯片,会充分的计算房间大小与障碍无区域,配合预定清洁模式,从而自动调节清洁路线。进一步地,扫地机本身装设有感应器可以识别前方的家具等障碍物时,会自动减速,减轻碰撞,自动侦测地板表面的情况并清扫。然而现有大多数扫地机中的感应器需可转动以侦测不同方向上的障碍物,其结构较复杂、而且制造机成本很高,从而使得扫地机价格高,影响了扫地机更大范围普及使用。
实用新型内容
有鉴于此,本实用新型提供一种侦测范围大且成本低廉的扫地机。
一种扫地机,包括机体、设置在机体上的激光模组、转盘,所述机体具有一上表面以及与所述上表面相对的下表面,所述激光模组具有发射端和接收端,所述激光模组固定于所述机体的上表面,所述转盘设置于所述机体上表面并可围绕所述激光模组进行360度全方位旋转,还包括一与所述转盘固定连接的反射部,所述反射部连同所述转盘共同围绕所述激光模组旋转,所述激光模组与所述机体固定连接,所述激光模组发射端发射激光,所述反射部反射发射端发射的激光之机体,所述激光模组接收端实时接收自所述发射端出射激光产生的反射信号。
进一步地,所述机体上表面朝向下表面内凹形成凹槽部,所述激光模组固定设置于所述凹槽部的底部,所述转盘设置于所述凹槽部中并围绕所述激光模组旋转运动。
进一步地,所述转盘通过设置于机体内部的动力机构驱动而围绕所述激光模组360度全方位旋转。
进一步地,所述机体的下表面上设置有清扫装置以及行走装置。
进一步地,所述行走装置包括滚轮和驱动器,所述驱动器依据控制信号驱动所述滚轮前行或后退或者转向运动。
进一步地,所述反射部由至少一个反射镜组成。
进一步地,所述反射镜包括第一反射镜以及与所述第一反射镜呈角度设置的第二反射镜,所述第一反射镜一端与所述转盘固定连接,另一端与所述第二反射镜连接。
进一步地,还包括设置在机体内的控制部,所述控制部与所述激光模组、转盘电连接。
进一步地,所述控制部控制激光模组发射激光信号以及转盘的频率,并将激光接收装置接收到的反射信号进行分析,根据反射信号与反射信号的时间差计算障碍物的距离。
进一步地,所述激光模组发射端发射激光经过经所述反射部反射后沿着与地面平行方向射出至机体外,发射激光侦测到障碍物后沿着与出射方向相反的方向返回并经反射部反射至所述激光模组的接收端。
在本实用新型中,所述激光模组与所述机体固定连接,而所述转盘与所述反射部设置于所述机体上围绕所述激光模组进行度全方位旋转运动,从而使得扫地机可以全方位侦测物体。本实用新型所述扫地机不但可以全方位360度侦测物体,且所述转盘、反射部与所述激光模组连接结构简单、成本低廉,具有较好的市场竞争力。
附图说明
图1所示本实用新型实施例所述扫地机结构示意图。
主要元件符号说明
如下具体实施方式将结合上述附图进一步说明本实用新型。
具体实施方式
下面将结合本实用新型实施方式中的附图,对本实用新型实施方式中的技术方案进行清楚、完整地描述,显然,所描述的实施方式仅仅是本实用新型一部分实施方式,而不是全部的实施方式。基于本实用新型中的实施方式,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式,都属于本实用新型保护的范围。
本文中所使用的方位词“第一”、“第二”均是以使用时所述第一基板的位置定义,而并不限定。
除非另有定义,本文所使用的所有的技术和科学术语与属于本实用新型的技术领域的技术人员通常理解的含义相同。本文中在本实用新型的说明书中所使用的术语只是为了描述具体的实施方式的目的,不是旨在于限制本实用新型。
如图1所示,本实用新型所述扫地机100包括机体10、激光模组20、转盘30以及反射部40。
所述机体10具有一上表面101以及与所述上表面101相对设置的下表面102。所述上表面101朝向下表面102方向内凹形成一凹槽部1010。所述机体10的下表面102上设置有清扫装置12以及行走装置11。
所述清扫装置12的主体安装在所述机体10内部,且所述清扫装置可以包括设置在机体10的底部的滚刷和吸尘口,用于对房间底面进行自动清扫,并将灰尘等杂物吸入到机体内部。
所述行走装置11设置在机体10底部,包括有滚轮和驱动器,所述驱动器可根据一控制信号驱动所述滚轮前行或后退或者转向等运动。
所述激光模组20设置于所述凹槽部1010的底部。所述激光模组20具有发射端以及接收端。所述发射端用以发射激光,所述接收部用以实时接收自所述发射端出射激光产生的反射信号。
所述转盘30设置于所述凹槽部1010中且所述转盘30可以围绕所述激光模组20进行旋转运动。
在本实用新型实施例中,所述转盘30可持续旋转,其由设置在机体10内部的动力机构驱动而围绕所述激光模组20进行360度旋转。
所述反射部40包括由至少一个反射镜组成,用以反射自所述激光模组20的发射端出射的激光。
在本实用新型实施例中,所述反射部40包括第一反射镜41、以及与所述第一反射镜41呈角度设置的第二反射镜42组成。所述第一反射镜41一端与所述转盘30固定连接,另一端与所述第二反射镜42连接。所述反射部40可连同所述转盘一起围绕所述激光模组20运动。
进一步地,本实用新型所述扫地机100还可以进一步包括设置于基体10中的控制部,通过设置所述控制部与所述清扫装置12、行走装置11、激光模组20连接,所述控制部控制激光模组20发射激光信号以及转盘旋转频率,从而将激光接收装置接收到的反射信号传送到控制部中,根据发射信号与反射信号的时间差来计算障碍物到扫地机100的距离。所述控制部中设置有扫地机器人的运行程序,从而控制部控制清扫装置12进行清扫,以及控制行走装置的运动方向和路径。由于所述激光模组20可检测到周围的障碍物,故所述扫地机100在工作时可有效避开障碍物。
当本实用新型所述扫地机工作时,所述激光模组20的发射端出射激光射向所述反射部40的第二反射镜42,所述第二反射镜42反射该激光使其沿着与地面平行的方向射出所述机体10外,当射出的激光信号侦测到外部障碍物,如家具、墙壁等后沿着与出射路径相反方向返回至反射部40,并进一步通过所述反射部40反射至所述激光模组20的接收端。进一步地,由于所述转盘30受驱动而按照一定频率围绕所述激光模组20旋转,因此,使得自激光模组20发射端出射激光可对机体10周围进行360全方位侦测。
在本实用新型中,所述激光模组20与所述机体10固定连接,而所述转盘30与所述反射部40设置于所述机体10上围绕所述激光模组20进行360度全方位旋转运动,从而使得扫地机100可以全方位侦测物体。本实用新型所述扫地机100可以全方位360度侦测物体,所述转盘30、反射部40与所述激光模组20连接结构简单、成本低廉,具有较好的市场竞争力。
可以理解的是,对于本领域的普通技术人员来说,可以根据本实用新型的技术构思做出其它各种相应的改变与变形,而所有这些改变与变形都应属于本实用新型的权利要求的保护范围。
Claims (10)
1.一种扫地机,包括机体、设置在机体上的激光模组、转盘,所述机体具有一上表面以及与所述上表面相对的下表面,所述激光模组具有发射端和接收端,所述激光模组固定于所述机体的上表面,所述转盘设置于所述机体上表面并围绕所述激光模组360度全方位旋转,其特征在于:还包括一与所述转盘固定连接的反射部,所述反射部连同所述转盘共同围绕所述激光模组旋转,所述激光模组与所述机体固定连接,所述激光模组发射端发射激光,所述反射部反射发射端发射的激光,所述激光模组接收端实时接收自所述发射端出射激光产生的反射信号。
2.如权利要求1所述扫地机,其特征在于:所述机体上表面朝向下表面内凹形成凹槽部,所述激光模组固定设置于所述凹槽部的底部,所述转盘设置于所述凹槽部中并围绕所述激光模组旋转运动。
3.如权利要求1所述扫地机,其特征在于:所述转盘通过设置于机体内部的动力机构驱动而围绕所述激光模组360度全方位旋转。
4.如权利要求1所述扫地机,其特征在于:所述机体的下表面上设置有清扫装置以及行走装置。
5.如权利要求4所述扫地机,其特征在于:所述行走装置包括滚轮和驱动器,所述驱动器依据控制信号驱动所述滚轮前行或后退或者转向运动。
6.如权利要求1所述扫地机,其特征在于:所述反射部由至少一个反射镜组成。
7.如权利要求6所述扫地机,其特征在于:所述反射镜包括第一反射镜以及与所述第一反射镜呈角度设置的第二反射镜,所述第一反射镜一端与所述转盘固定连接,另一端与所述第二反射镜连接。
8.如权利要求1-7项任意一项所述扫地机,其特征在于:还包括设置在机体内的控制部,所述控制部与所述激光模组、转盘电连接。
9.如权利要求8所述扫地机,其特征在于:所述控制部控制激光模组发射激光信号以及转盘的频率,并将激光接收装置接收到的反射信号进行分析,根据反射信号与反射信号的时间差计算障碍物的距离。
10.如权利要求1所述扫地机,其特征在于:所述激光模组发射端发射激光经过经所述反射部反射后沿着与地面平行方向射出至机体外,发射激光侦测到障碍物后沿着与出射方向相反的方向返回并经反射部反射至所述激光模组的接收端。
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CN108082415A (zh) * | 2017-11-21 | 2018-05-29 | 浙江大学 | 一种水下钢结构表面作业机器人 |
CN108184689A (zh) * | 2018-03-16 | 2018-06-22 | 西昌学院 | 一种自动清理羊粪的清理机 |
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