CN207101226U - Flight formula clears up robot - Google Patents
Flight formula clears up robot Download PDFInfo
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- CN207101226U CN207101226U CN201720003385.6U CN201720003385U CN207101226U CN 207101226 U CN207101226 U CN 207101226U CN 201720003385 U CN201720003385 U CN 201720003385U CN 207101226 U CN207101226 U CN 207101226U
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- flight
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- cleaning unit
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- 238000004140 cleaning Methods 0.000 claims abstract description 138
- 230000004888 barrier function Effects 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims description 47
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000010408 sweeping Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Abstract
The utility model provides a kind of flight formula cleaning robot, belongs to Intelligent life technical field of electric appliances.Flight formula cleaning robot includes：Flying unit and cleaning unit, the flying unit carry out aerial shifting function to carry the cleaning unit, and the cleaning unit is cleaning ground refuse.Flight formula clears up the barrier zone that robot carries out displacement in the air to be walked across obstruction cleaning unit using flying unit carrying cleaning unit, expands the scope of application of cleaning unit.
Description
Technical field
It the utility model is related to Intelligent life technical field of electric appliances.
Background technology
Development is told with science and technology, increasing Intelligent life electrical equipment enters huge numbers of families, substantially increases people
Life comfortableness and convenience.
At present, dust catcher such as sweeping robot has obtained the favor of users, but existing sweeping robot can only
For the cleaning operation on flat ground, ladder can not be crossed over or hinder the barrier of sweeping robot walking, use range by
Very big limitation.
The content of the invention
The utility model provides a kind of flight formula cleaning robot for being intended to may span across ladder or barrier.
Concrete technical scheme is as follows：
A kind of flight formula clears up robot, and the robot includes：Flying unit and cleaning unit, the flying unit to
Carry the cleaning unit and carry out aerial shifting function, the cleaning unit is cleaning ground refuse.
Preferably, the flying unit uses rotary wind type flight structure, or
The flying unit uses flapping wings type flight structure, or
The flying unit uses fixed-wing formula flight structure, or
The flying unit uses umbrella wing formula flight structure, or
The flying unit uses jet-propelled flight structure, or
The flying unit uses dirigible structure.
Preferably, the flying unit includes：
Monitoring modular, to monitor whether to hinder the barrier zone of cleaning unit walking in real time, and export corresponding prison
Survey result；
Flight module, it is described when the monitoring result is to have the barrier zone for hindering the cleaning unit walking
Flight module carries the cleaning unit and performs flight operation according to preset rules, or control instruction.
Preferably, the cleaning unit includes：
Cleaning agency, to clean ground refuse；
Walking mechanism, walking operation is performed according to preset path, or control instruction to carry the cleaning agency；
Drive mechanism, the cleaning agency and the walking mechanism are connected respectively, to drive the cleaning agency and institute
State walking mechanism；
Accommodating mechanism, the cleaning agency is connected, to store the rubbish；
Control module, the drive mechanism and the accommodating mechanism are connected respectively, to control the drive mechanism respectively
With the accommodating mechanism.
Preferably, the cleaning unit also includes：
Power supply module, to for the control module, the drive mechanism, the cleaning agency, the walking mechanism and
The accommodating mechanism power supply.
Preferably, the cleaning unit also includes：
Communication module, to carry out data transmission, the data include preset path data, and/or control instruction number
According to.
Preferably, the cleaning unit also includes：Electric quantity monitoring module, connect the power supply module and the control mould
Block, to monitor the dump energy of the power supply module；
The control module is when the dump energy of the power supply module is less than threshold value, passing through the drive mechanism control
Make the walking mechanism and run to preset charged position, so that the power supply module performs charging operations.
Preferably, the preset rules are the rule associated with preset path, when monitoring to hinder the cleaning unit
During the barrier zone of walking, the flying unit carries the cleaning unit and flown according to the preset path to without described in
The region in region is hindered, so that the cleaning unit performs cleaning operation.
Preferably, the flying unit also includes,
Locating module, flight module is connected, to position the positional information of the flying unit；
Receiving module, flight module is connected, to receive flight directive；
Flight module being flown according to the flight directive and the positional information, or
The flight module according to the flight directive and the positional information flying to target location.
Preferably, in addition to image recognition trigger element, described image identification trigger element include,
Taking module, to shoot comprising the image including user；
Identification module, to identify the demand status of the user；
Demand determination module, judge cleaning demand to the described image according to shooting and demand status.
The beneficial effect of above-mentioned technical proposal：
Flight formula clears up robot and carries out aerial displacement using flying unit carrying cleaning unit with single across obstruction cleaning
The barrier zone of member walking, expand the scope of application of cleaning unit.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram for embodiment that flight formula described in the utility model clears up robot.
Fig. 2 is a kind of module map of embodiment of cleaning unit described in the utility model.
Fig. 3 is a kind of module map of embodiment of flying unit described in the utility model.
Fig. 4 is a kind of module map of embodiment of image recognition trigger element described in the utility model.
Fig. 5 is the module map of another embodiment of image recognition trigger element described in the utility model.
Fig. 6 is a kind of method flow of the embodiment for the cleaning method that flight formula described in the utility model clears up robot
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but not as of the present utility model
Limit.
As shown in figure 1, a kind of flight formula cleaning robot, the device include：Flying unit 1 and cleaning unit 2, flight
Unit 1 carries out aerial shifting function to carry cleaning unit 2, and cleaning unit 2 is cleaning ground refuse.
In the present embodiment, flight formula cleaning robot using flying unit 1 carry cleaning unit 2 carry out in the air shift with
The barrier zone walked across obstruction cleaning unit, expand the scope of application of cleaning unit 2.
As a kind of embodiment, flying unit 1 can use rotary wind type flight structure, or flying unit 1 to use flapping wings type
Flight structure, or flying unit 1 can use fixed-wing formula flight structure, or flying unit 1 to use umbrella wing formula flight structure, or
Flying unit 1 can use jet-propelled flight structure, or flying unit 1 to use dirigible structure.
On the basis of above-mentioned technical proposal, further, flying unit 1 can be rotor craft, Fixed Wing AirVehicle
Or the aircraft that fixed-wing mixes with rotor.Can be to include one or more spiral shell if flying unit 1 uses rotor craft
Revolve the aircraft of oar, such as the helicopter of single propeller, quadrotor, six rotorcraft, eight-rotary wing aircraft etc..
Flying unit 1 can fly to target area automatically according to the course data being pre-configured with, and can also receive such as remote control, intelligence
The control devices with radio function such as energy mobile phone, tablet personal computer, intelligent wearable device control number in the flight that ground surface end is sent
According to, and flown based on these flight control datas to target area.
Aircraft generally can also include Power Component, such as horizontal stage electric machine, propeller, propeller motor, and radiating
The mechanical parts such as fan.
Flying unit 1 may also include the winged control plate for controlling flight, and flying control plate includes circuit board and be arranged at circuit
It is used for the functional module for realizing predetermined function on plate, functional module can include controller module, processor module, sensor die
Block etc..Further, sensor assembly can include inertia measuring module, temperature sensor module, Height sensor module, away from
From sensor assembly etc..Inertia measuring module includes acceleration transducer and gyroscope, and inertia measuring module can measure nothing
The flight attitude information of people's aircraft.
As shown in figure 3, in a preferred embodiment, flying unit 1 includes：
Monitoring modular 11, to monitor whether the barrier zone for hindering cleaning unit 2 to walk in real time, and export corresponding
Monitoring result；
Flight module 12, when monitoring result is to have the barrier zone for hindering cleaning unit 2 to walk, the basis of flight module 12
Preset rules, or control instruction carry cleaning unit 2 and perform flight operation.
Further, for example and without limitation, monitoring modular 11 can use optical sensor.
In the present embodiment, monitor whether cleaning unit 2 has barrier on the travel path when cleaning by monitoring modular 11
Hinder thing, or the barrier zone for hindering cleaning unit 2 to walk, when barrier or barrier zone be present, flight module 12, which carries, cleans
The clear region of unit 2, so that cleaning unit 2 can continue executing with cleaning operation.
As shown in Fig. 2 in a preferred embodiment, cleaning unit 2 includes：
Cleaning agency 21, to clean ground refuse；
Walking mechanism 22, walking operation is performed according to preset path, or control instruction to carry cleaning agency 21；
Drive mechanism 23, cleaning agency 21 and walking mechanism 22 is connected respectively, to drive cleaning agency 21 and vehicle with walking machine
Structure 22；
Accommodating mechanism 24, cleaning agency 21 is connected, to store rubbish；
Control module 25, drive mechanism 23 and accommodating mechanism 24 are connected respectively, to control drive mechanism 23 respectively and receive
Receive mechanism 24.
Further, for example and without limitation, walking mechanism 22 may include at least three universal wheels, and list is cleaned to realize
Member 2 can freely walk.Accommodating mechanism 24 is dismountable structure so that user dumps rubbish.
In the present embodiment, walking mechanism 22 and cleaning agency 21 are driven using drive mechanism 23, with realization walking and clearly
The purpose swept while carried out.
In a preferred embodiment, cleaning unit 2 also includes：
Power supply module 26, to for control module 25, drive mechanism 23, cleaning agency 21, walking mechanism 22 and storage machine
Structure 24 is powered.
In the present embodiment, power supply module 26 can use lithium battery.
In a preferred embodiment, cleaning unit 2 also includes：
Communication module 27, to carry out data transmission, data include preset path data, and/or control instruction data.
In the present embodiment, for example and without limitation, communication module 27 can use wireless module, or bluetooth module, with
Wireless data transfer is realized, is easy to the cleaning operation of user's control cleaning unit 2.
In a preferred embodiment, cleaning unit 2 also includes：
Electric quantity monitoring module 28, power supply module 26 and control module 25 are connected, to monitor the residue electricity of power supply module 26
Amount；
Control module 25 passes through the control walking of drive mechanism 23 to when the dump energy of power supply module 26 is less than threshold value
Mechanism 22 runs to preset charged position, so that power supply module performs charging operations.
In the present embodiment, for example and without limitation, the surplus of power supply module 26 is monitored using electric quantity monitoring module 28
Remaining electricity, when dump energy is less than threshold value, drive mechanism 23 can be controlled by control module 25, driving walking mechanism 22 returns
Default charge position, is charged.
In a preferred embodiment, preset rules are the rule associated with preset path, single when monitoring to hinder to clean
During the barrier zone of the walking of member 2, flight module 12 carries cleaning unit 2 and flown according to preset path to the area in without hindrance region
Domain, so that cleaning module performs cleaning operation.
In the present embodiment, when flying unit 1 monitors that cleaning unit 2 runs into barrier zone in cleaning process, then
According to the cleaning path pre-set, carry cleaning unit 2 and fly to accessible region to be cleaned, so as to cleaning unit 2 after
It is continuous to clean, improve the convenience that cleaning unit 2 uses.
In a preferred embodiment, flying unit 1 also includes,
Locating module 13, connection flight module 12, to the positional information of positioning flight unit 1；
Receiving module 14, connection flight module 12, to receive flight directive；
Flight module 12 being flown according to flight directive and positional information, or
Flight module 12 according to flight directive and positional information flying to target location.
In the present embodiment, for example and without limitation, can be believed by the position of the positioning flight unit 1 of locating module 13
Breath, the flight directive that flight module 12 receives according to receiving module 14, performs corresponding flight operation.
As shown in figure 4, in a preferred embodiment, in addition to image recognition trigger element 3, image recognition trigger element 3
Including,
Taking module 31, to shoot comprising the image including user；
Identification module 32, to identify the demand status of user；
Demand determination module 33, judge cleaning demand to the image according to shooting and demand status.
In the present embodiment, for example and without limitation, the technological means triggering flying unit 1 of image recognition can be used to fly
OK, the demand status of the user identified when identification module 32 to need to clean, then trigger flying unit 1 carry cleaning unit 2 from
Initial position is taken off, and the region for needing to clean is run to the region for needing to clean, or control cleaning unit 2 to fly.
As shown in figure 5, in a preferred embodiment, in addition to voice recognition trigger element 3, voice recognition trigger element 3
Including,
Acquisition module 34, to gather the voice signal of user；
Identification module 32, to the semantic content of recognition of speech signals；
Demand determination module 33, to judge cleaning demand according to semantic content.
In the present embodiment, for example and without limitation, the technological means triggering flight of voice signal identification can be used single
Member 1 is flown, and when the semantic content that identification module 32 identifies is needs to clean, is then triggered flying unit 1 and is carried cleaning unit 2 from first
Beginning, position was taken off, and the region cleaned with flight to needs, or control cleaning unit 2 run to the region for needing to clean.
A kind of cleaning method of flight formula cleaning robot, including the step of be：
Flying unit carries cleaning unit and carries out aerial shifting function, so that cleaning unit cleans ground refuse.
In the present embodiment, for example and without limitation, cleaning unit is carried using flying unit to be shifted in the air
Across the barrier zone for hindering cleaning unit walking, to expand the scope of application of cleaning unit, while it is single to also improve cleaning
The translational speed of member.
As shown in fig. 6, in a preferred embodiment, flying unit carries cleaning unit and gone back before aerial shifting function
Including：
S1. the barrier zone for hindering cleaning unit to walk is monitored whether in real time；
S2. when there is the barrier zone for hindering cleaning unit walking, flying unit is taken according to preset rules, or control instruction
Band cleaning unit performs flight operation；
S3. when the barrier zone of no obstruction cleaning unit walking, cleaning unit cleans ground refuse.
In the present embodiment, for example and without limitation, can be by monitoring cleaning unit on the travel path when cleaning
Whether there is barrier, or hinder the barrier zone of cleaning unit walking, flying unit is taken when barrier or barrier zone be present
Band cleaning unit clear region, so that cleaning unit can continue executing with cleaning operation.
In a preferred embodiment, the process of cleaning unit cleaning ground refuse is：
Monitor the dump energy of cleaning unit；
When the dump energy of cleaning unit is less than threshold value, cleaning unit runs to preset charged position, to perform charging
Operation；
When the dump energy of cleaning unit is higher than threshold value, cleaning unit performs row according to preset path, or control instruction
Operation is walked, and cleans ground refuse.
In the present embodiment, the dump energy of cleaning unit is monitored, when dump energy is less than threshold value, can control and clean list
Member returns to default charge position, is charged.
In a preferred embodiment, preset rules are the rule associated with preset path, single when monitoring to hinder to clean
During the barrier zone of member walking, flying unit carries cleaning unit and flown according to preset path to the region in without hindrance region, with
Cleaning unit is set to perform cleaning operation.
In the present embodiment, when flying unit monitors that cleaning unit runs into barrier zone in cleaning process, then root
According to the cleaning path pre-set, carry cleaning unit and fly to accessible region to be cleaned, so that cleaning unit continues clearly
Sweep, improve the convenience that cleaning unit uses.
In several embodiments provided by the utility model, it should be understood that disclosed relevant apparatus and method, can
To realize by another way.For example, device embodiment described above is only schematical, for example, the module
Or the division of unit, only a kind of division of logic function, can there are other dividing mode, such as multiple lists when actually realizing
Member or component can combine or be desirably integrated into another system, or some features can be ignored, or not perform.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit or module in each embodiment of the utility model can be integrated in a processing unit
In or unit be individually physically present, can also two or more units it is integrated in a unit.It is above-mentioned
Integrated unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is every
The equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or be directly or indirectly used in
Other related technical areas, similarly it is included in scope of patent protection of the present utility model.
Claims (8)
1. a kind of flight formula clears up robot, it is characterised in that including：Flying unit and cleaning unit, the flying unit to
Carry the cleaning unit and carry out aerial shifting function, the cleaning unit is cleaning ground refuse；
The cleaning unit includes,
Cleaning agency, to clean ground refuse；
Walking mechanism, walking operation is performed according to preset path or control instruction to carry the cleaning agency；
Drive mechanism, the cleaning agency and the walking mechanism are connected respectively, to drive the cleaning agency and the row
Walk mechanism；
Accommodating mechanism, the cleaning agency is connected, to store the rubbish；
Control module, the drive mechanism and the accommodating mechanism are connected respectively, to control the drive mechanism and institute respectively
State accommodating mechanism；
Wherein, the accommodating mechanism is dismountable structure so that user dumps rubbish.
2. flight formula according to claim 1 clears up robot, it is characterised in that：The flying unit is flown using rotary wind type
Row structure, or
The flying unit uses flapping wings type flight structure, or
The flying unit uses fixed-wing formula flight structure, or
The flying unit uses umbrella wing formula flight structure, or
The flying unit uses jet-propelled flight structure, or
The flying unit uses dirigible structure.
3. flight formula according to claim 1 clears up robot, it is characterised in that：The flying unit includes：
Monitoring modular, to monitor whether to hinder the barrier zone of cleaning unit walking in real time, and export corresponding monitoring knot
Fruit；
Flight module, when the monitoring result is to have the barrier zone for hindering the cleaning unit walking, the flight
Module carries the cleaning unit and performs flight operation according to preset rules, or control instruction.
4. flight formula according to claim 1 clears up robot, it is characterised in that：The cleaning unit also includes：
Power supply module, to for the control module, the drive mechanism, the cleaning agency, the walking mechanism and described
Accommodating mechanism is powered.
5. flight formula according to claim 1 clears up robot, it is characterised in that：The cleaning unit also includes：
Communication module, to carry out data transmission, the data include preset path data, and/or control instruction data.
6. flight formula according to claim 4 clears up robot, it is characterised in that：The cleaning unit also includes：Electricity
Monitoring modular, the power supply module and the control module are connected, to monitor the dump energy of the power supply module；
The control module is when the dump energy of the power supply module is less than threshold value, passing through the driving mechanisms control institute
State walking mechanism and run to preset charged position, so that the power supply module performs charging operations.
7. flight formula according to claim 1 clears up robot, it is characterised in that：The flying unit also includes,
Locating module, flight module is connected, to position the positional information of the flying unit；
Receiving module, flight module is connected, to receive flight directive；
Flight module being flown according to the flight directive and the positional information, or
The flight module according to the flight directive and the positional information flying to target location.
8. flight formula according to claim 1 clears up robot, it is characterised in that：Also include image recognition trigger element,
Described image identification trigger element includes,
Taking module, to shoot comprising the image including user；
Identification module, to identify the demand status of the user；
Demand determination module, judge cleaning demand to the described image according to shooting and demand status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720003385.6U CN207101226U (en) | 2017-01-03 | 2017-01-03 | Flight formula clears up robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720003385.6U CN207101226U (en) | 2017-01-03 | 2017-01-03 | Flight formula clears up robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207101226U true CN207101226U (en) | 2018-03-16 |
Family
ID=61595471
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720003385.6U Expired - Fee Related CN207101226U (en) | 2017-01-03 | 2017-01-03 | Flight formula clears up robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108261148A (en) * | 2018-03-30 | 2018-07-10 | 广东海洋大学 | One kind can flight sweeping robot |
| CN112255655A (en) * | 2020-08-24 | 2021-01-22 | 江苏中智腾飞信息科技有限公司 | Unmanned aerial vehicle positioning system based on 5G network |
-
2017
- 2017-01-03 CN CN201720003385.6U patent/CN207101226U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108261148A (en) * | 2018-03-30 | 2018-07-10 | 广东海洋大学 | One kind can flight sweeping robot |
| CN112255655A (en) * | 2020-08-24 | 2021-01-22 | 江苏中智腾飞信息科技有限公司 | Unmanned aerial vehicle positioning system based on 5G network |
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