CN207189672U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN207189672U CN207189672U CN201721078756.3U CN201721078756U CN207189672U CN 207189672 U CN207189672 U CN 207189672U CN 201721078756 U CN201721078756 U CN 201721078756U CN 207189672 U CN207189672 U CN 207189672U
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Abstract
A kind of self-movement robot, including body (100), body is provided with supersonic sensing device assembly (200), supersonic sensing device assembly includes ultrasonic transmitter and receiver, anti-crosstalk barriers (300) are provided between ultrasonic transmitter and receiver, anti-crosstalk barriers are arranged on the outer surface of the body and outer surface that is prominent or being depressed in body.The utility model effectively prevents ultrasonic crosstalk phenomenon, improves range accuracy and the operating efficiency of ultrasonic system by the anti-crosstalk barriers that are arranged on body outer surface, simple in construction and safe and effective；Simultaneously, by setting different sensor clusters on the different height of self-movement robot body, the obstacle information in effective Collecting operation environment on different height, self-movement robot is facilitated to establish multilayer map, effectively walking path of the planning in operating environment, accurately and reliably.
Description
Technical field
A kind of self-movement robot is the utility model is related to, belongs to small household appliances manufacturing technology field.
Background technology
Existing many self-movement robots detect simultaneously avoiding barrier, such as United States Patent (USP) using ultrasonic sensor
US8489234B2 discloses a kind of sweeping robot, and multiple ultrasonic transmitters and receiver are provided with the periphery of robot.
However, the directionality of ultrasonic wave in itself is not fine, easily along various Medium Propagations.As shown in Fig. 1 of above-mentioned patent, ultrasonic wave
The transmitted wave of transmitter 125 is propagate directly to ultrasonic receiver 121 readily along the periphery of smooth shell, rather than detects barrier
Hinder the transmitted wave after thing, thus easily cause the erroneous judgement of robot.In addition, sonac is widely used in movement
Robot ranging field, to obtain the environmental information in the range of 360 ° of surrounding, it usually needs installed in a mobile robot
Multiple such sensors, there have been ultrasonic crosstalk phenomenon, i.e. a sensor is likely to be received the super of other sensors for this
Acoustic echo signal, crosstalk can have a strong impact on range accuracy and reduce the operating efficiency of ultrasonic system.
Utility model content
Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, there is provided a kind of from mobile machine
People, by the anti-crosstalk barriers being arranged on self-movement robot body outer surface, ultrasonic crosstalk phenomenon is effectively prevented, improved
The operating efficiency of range accuracy and ultrasonic system, it is simple in construction and safe and effective.
Technical problem to be solved in the utility model is achieved by the following technical solution：
A kind of self-movement robot, including body, body are provided with supersonic sensing device assembly, the ultrasonic sensor
Component includes ultrasonic transmitter and receiver, and anti-crosstalk barriers are provided between the ultrasonic transmitter and receiver,
The anti-crosstalk barriers are arranged on the outer surface of the body.More preferably, the anti-crosstalk barriers are prominent or are depressed in
The outer surface of body.
The anti-crosstalk barriers could be arranged to variform, in a specific embodiment of the present utility model, prevent
Crosstalk barriers can be linear, ultrasonic transmitter and receiver are segmented in into both sides, almost symmetry centered on it.
The anti-crosstalk barriers can also be circular arc, and ultrasonic transmitter or receiver at least partly are enclosed in into it
It is internal.
The anti-crosstalk barriers of linear can include multiple equidistant grooves be arrangeding in parallel；The width of each groove
Degree >=2mm, depth >=2mm.
The anti-crosstalk barriers can also be the intensive salient point or pit being arranged on the outer surface of body；Or institute
It can also be the isolation flexible glue section being arranged on the outer surface of body to state anti-crosstalk barriers.
As needed, the supersonic sensing device assembly is arranged on the bottom of the body.The top of the body is provided with
Laser range sensor component, middle part are provided with infrared sensor package, form the multilayer sensor cluster on different height.
Barrier in laser range sensor component and supersonic sensing the device assembly Collecting operation environment on different height
Hinder thing information, send control unit of the obstacle information to self-movement robot of different height, control unit is received, handled not
Level obstacle information, and establish multilayer map.
In order to reach preferably sensing effect, the finding range ＞ ultrasonic sensors of the laser range sensor component
The finding range of component.
The utility model also provides a kind of self-movement robot, including body, and body is provided with supersonic sensing device assembly,
The supersonic sensing device assembly includes ultrasonic transmitter and receiver, is set between the ultrasonic transmitter and receiver
There are anti-crosstalk barriers, the anti-crosstalk barriers include the groove being opened on the outer surface of the body and are filled in described
Sound-absorbing material in groove.
In summary, the utility model provides a kind of self-movement robot, by being arranged on outside self-movement robot body
Anti-crosstalk barriers on surface, ultrasonic crosstalk phenomenon is effectively prevented, improve range accuracy and the operating efficiency of ultrasonic system, knot
Structure is simple and safe and effective.
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the outline structural diagram of the utility model embodiment one；
Fig. 2 is the profile partial structural diagram of the utility model embodiment two.
Embodiment
Embodiment one
Fig. 1 is the outline structural diagram of the utility model embodiment one.As shown in figure 1, the utility model provides one kind
Self-movement robot, including body 100, body 100 are provided with supersonic sensing device assembly 200, the ultrasonic sensor group
Part 200 includes ultrasonic transmitter and receiver, and anti-crosstalk barriers are provided between the ultrasonic transmitter and receiver
300, the anti-crosstalk barriers are arranged on the outer surface of the body.It is described in order to preferably prevent the crosstalk of ultrasonic wave
Anti-crosstalk barriers are prominent or are depressed in the outer surface of body.
The anti-crosstalk barriers 300 could be arranged to variform, and in embodiment one, anti-crosstalk barriers 300 can
Think linear, ultrasonic transmitter and receiver are segmented in both sides, almost symmetry centered on it.The anti-crosstalk of linear
Barriers 300 can include multiple equidistant grooves be arrangeding in parallel；In order to effectively stop that outer surface of the ultrasonic wave along body passes
Broadcast, width >=2mm of each groove, depth >=2mm.Anti-crosstalk barriers 300 can also be circular arc, and ultrasonic wave is sent out
Emitter or receiver are at least partly enclosed in inside it.The anti-crosstalk barriers 300 of circular arc can also include multiple equidistant
The groove be arrangeding in parallel；Width >=2mm of each groove, depth >=2mm.In order to which profile is more attractive in appearance, as shown in figure 1,
Anti-crosstalk barriers are curved in the position close to organism bottom, can also play a part of anti-crosstalk while body is beautified.
In addition to the groove of above-mentioned linear or circular arc, cord tissue, anti-crosstalk barriers bag can also be used
Multiple equidistant raised lines be arrangeding in parallel are included, likewise, in order to effectively stop that outer surface of the ultrasonic wave along body is propagated, adjacent two
The distance between individual raised line >=2mm, height >=2mm of each raised line.The anti-crosstalk barriers 300 can also be to set
Isolation flexible glue section on the outer surface of body, specifically, isolation flexible glue section can make the strip of projection.
In addition, as shown in figure 1, the supersonic sensing device assembly 200 is arranged on the bottom of the body 100.The machine
The top of body 100 is provided with laser range sensor component 400, middle part is provided with infrared sensor package 500, forms on different height
Multilayer sensor cluster, so as to effectively detect different height barrier, prevent detection blind area.
Different height in the laser range sensor component 400 and the Collecting operation environment of supersonic sensing device assembly 200
On obstacle information, send control unit of the obstacle information to self-movement robot of different height, control unit receives,
The obstacle information of different height is handled, and establishes multilayer map, for planning row of the self-movement robot in operating environment
Walk path.In order to reach preferably sensing effect, the finding range ＞ supersonic sensings of the laser range sensor component 400
The finding range of device assembly 200 so that robot localization and build figure efficiency highest.Specifically, in view of laser range sensor
The finding range of component 400 is maximum, is arranged on the top of self-movement robot, can avoid the stop of short and small region barrier,
It is easy to be formed the profile diagram of operating environment.Low obstructions are detected with reference to laser range sensor component 400 so that robot
Multilayer map can correspond to and obtain the distribution of obstacles information of various different heights.It should be noted that the multilayer map can wrap
Containing multiple two-dimensional maps, each two-dimensional map corresponds to the obstacle information of different height；Or the multilayer map is one two
Map is tieed up, the two-dimensional map corresponds to the synthesis distributed intelligence of different height barrier, for the ease of identification, the obstacle of different height
Thing information with that can mark in different ways, such as：Different colours, make user it is easy to see that point of various height barriers
Cloth.That is, the utility model has but reached huge data by using the less one or more two-dimensional maps of data volume
The effect of the three-dimensional map of amount.
Embodiment two
Fig. 2 is the profile partial structural diagram of the utility model embodiment two.As shown in Fig. 2 the present embodiment and implementation
Difference between example one is that the shape of anti-crosstalk barriers 300 is different, in the present embodiment, anti-crosstalk barriers 300
For the intensive salient point or pit being arranged on the outer surface of body.These salient points or pit can be as shown in Figure 2 with the sides of rule
Formula is arranged together, can also the intensive setting in a manner of irregular.That is, substantially, no matter anti-crosstalk barriers 300
Using which kind of shape, as long as can ensure that body surface is non-smooth surface, the crosstalk of ultrasonic wave just can be effectively prevented.
Other technical characteristics and embodiment one in the present embodiment are essentially identical, and particular content refer in embodiment one
Hold, will not be repeated here.
Embodiment three
The utility model also provides a kind of self-movement robot, including body, and body is provided with supersonic sensing device assembly,
The supersonic sensing device assembly includes ultrasonic transmitter and receiver, is set between the ultrasonic transmitter and receiver
There are anti-crosstalk barriers, the anti-crosstalk barriers include the groove being opened on the outer surface of the body and are filled in described
Sound-absorbing material in groove.
Mentioned in above-described embodiment one, the anti-crosstalk barriers 300 can be to be arranged on the outer surface of body
Isolate flexible glue section, and isolate the strip that flexible glue section can make projection.In the present embodiment, then it is on the basis of flexible glue section is isolated
A kind of improvement, be that groove is opened up on the outer surface of body specifically, and isolation flexible glue filling is caused into machine in a groove
External surface is continuous.More preferably, the isolation flexible glue section uses sound-absorbing material.
The groove of body outer surface is opened in also including multiple, its shape, position and embodiment one are essentially identical, refer to
The content of embodiment one, will not be repeated here.
In summary, the utility model provides a kind of self-movement robot, such as：Sweeping robot, air purifying robot
Or security robot etc., by the anti-crosstalk barriers being arranged on body outer surface, ultrasonic crosstalk phenomenon is effectively prevented, is carried
The operating efficiency of high range accuracy and ultrasonic system, it is simple in construction and safe and effective；One to three understand in conjunction with the embodiments, this practicality
Anti-crosstalk barriers are made in new can be used singly or in combination using projection, groove, barrier material or sound-absorbing material；
Meanwhile by setting different sensor clusters, effective Collecting operation environment on the different height of self-movement robot body
Obstacle information on interior different height, self-movement robot is facilitated to establish multilayer map, effectively planning is in operating environment
Walking path, accurately and reliably.
Claims (12)
1. a kind of self-movement robot, including body (100), body is provided with supersonic sensing device assembly (200), the ultrasound
Wave sensor component includes ultrasonic transmitter and receiver, it is characterised in that the ultrasonic transmitter and receiver it
Between be provided with anti-crosstalk barriers (300), the anti-crosstalk barriers are arranged on the outer surface of the body and prominent or depression
In the outer surface of body.
2. self-movement robot as claimed in claim 1, it is characterised in that the anti-crosstalk barriers (300) are linear,
Ultrasonic transmitter and receiver are segmented in both sides, almost symmetry centered on it.
3. self-movement robot as claimed in claim 1, it is characterised in that the anti-crosstalk barriers (300) are circular arc,
Ultrasonic transmitter or receiver are at least partly enclosed in inside it.
4. self-movement robot as claimed in claim 2 or claim 3, it is characterised in that the anti-crosstalk barriers (300) include more
The individual equidistant groove (301) be arrangeding in parallel.
5. self-movement robot as claimed in claim 4, it is characterised in that width >=2mm of each groove (301),
Depth >=2mm.
6. self-movement robot as claimed in claim 1, it is characterised in that the anti-crosstalk barriers (300) set to be intensive
Put salient point or pit on the outer surface of body.
7. self-movement robot as claimed in claim 1, it is characterised in that the anti-crosstalk barriers (300) are to be arranged on
Isolation flexible glue section on the outer surface of body.
8. self-movement robot as claimed in claim 1, it is characterised in that the supersonic sensing device assembly (200) is set
In the bottom of the body.
9. self-movement robot as claimed in claim 8, it is characterised in that the top of the body senses provided with laser ranging
Device assembly (400), middle part are provided with infrared sensor package (500), form the multilayer sensor cluster on different height.
10. self-movement robot as claimed in claim 9, it is characterised in that the laser range sensor component (400) and
Obstacle information in supersonic sensing device assembly (200) Collecting operation environment on different height, send the obstacle of different height
Control unit of the thing information to self-movement robot, control unit receives, the obstacle information of processing different height, and establishes more
Layer map.
11. self-movement robot as claimed in claim 10, it is characterised in that the laser range sensor component (400)
Finding range ＞ supersonic sensings device assembly (200) finding range.
12. a kind of self-movement robot, including body (100), body is provided with supersonic sensing device assembly (200), described super
Sonic sensor component includes ultrasonic transmitter and receiver, it is characterised in that in the ultrasonic transmitter and receiver
Between be provided with anti-crosstalk barriers (300), the anti-crosstalk barriers include the groove being opened on the outer surface of the body
With the sound-absorbing material being filled in the groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078756.3U CN207189672U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078756.3U CN207189672U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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| CN207189672U true CN207189672U (en) | 2018-04-06 |
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| CN201721078756.3U Active CN207189672U (en) | 2017-08-25 | 2017-08-25 | Self-movement robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555876A (en) * | 2018-05-23 | 2018-09-21 | 桂林电子科技大学 | Transformer porcelain bottle cleaning robot |
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109421056A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Self-movement robot |
-
2017
- 2017-08-25 CN CN201721078756.3U patent/CN207189672U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037668A1 (en) * | 2017-08-25 | 2019-02-28 | 科沃斯机器人股份有限公司 | Self-moving robot and travel method thereof, and obstacle distribution display method |
| CN109421056A (en) * | 2017-08-25 | 2019-03-05 | 科沃斯机器人股份有限公司 | Self-movement robot |
| CN108555876A (en) * | 2018-05-23 | 2018-09-21 | 桂林电子科技大学 | Transformer porcelain bottle cleaning robot |
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