CN207415379U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN207415379U CN207415379U CN201721429202.3U CN201721429202U CN207415379U CN 207415379 U CN207415379 U CN 207415379U CN 201721429202 U CN201721429202 U CN 201721429202U CN 207415379 U CN207415379 U CN 207415379U
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Abstract
A kind of self-movement robot, including robot body (100), robot body is equipped with detection unit and control unit, the detection unit includes the transmitter and receiver of multiple spaced arrangements, the robot body is equipped with stopper (200), for controlling and receiving the transceiving range of device and transmitter, the transmitter and receiver are separately positioned in respective stopper, described control unit for control transmitter emit signal, and the signal received according to receiver determine barrier residing for region.The utility model is by setting an appropriate number of transmitter and receiver, recycle the transceiving range of stopper control transmitter and receiver, according to the size of machine, mark off rational detection zone, and the specific location of the disturbance in judgement object according to the signal received rapidly and efficiently, so as to which the planning walking path for self-movement robot and execution avoidance action provide more accurately data.
Description
Technical field
The utility model is related to a kind of self-movement robots, belong to small household appliances manufacturing technology field.
Background technology
In the prior art, there are many modes for detection of the self-movement robot to barrier.Patent document CN101303410B
In once disclosed a kind of single-shot and penetrate the obstacle detection method and its device received in many ways, multiple ultrasonic sensors include
Ultrasound emission function and ultrasonic reception function, in a certain period of time only there are one ultrasonic sensor transmitting information, other are super
Sonic sensor all receive informations, the packet energy content and distance value received.The above method uses ultrasound emission and reception
The ultrasonic sensor of one easily generates aftershock, interference, echo and blind area, influences testing result.
Separately self-movement robot only judges the detection in the orientation of barrier to judge barrier from big scope in the prior art
Hinder object on the left of robot, right side or front, region division it is excessive.It is unfavorable for more accurately positioning barrier.
Utility model content
It is a kind of from mobile machine the technical problem to be solved by the utility model is in view of the deficiencies of the prior art, provide
People, by setting the transceiving range of an appropriate number of transmitter and receiver, recycling stopper control transmitter and receiver,
According to the size of machine, rational detection zone is marked off, and the disturbance in judgement object according to the signal received rapidly and efficiently
Specific location, so as to which the planning walking path for self-movement robot and execution avoidance action provide more accurately data.
Technical problem to be solved in the utility model is achieved by the following technical solution：
A kind of self-movement robot, including robot body, robot body is equipped with detection unit and control unit, institute
Stating detection unit includes the transmitter and receiver of multiple spaced arrangements, and the robot body is equipped with stopper, uses
In the transceiving range for controlling and receiving device and transmitter, the transmitter and receiver are separately positioned in respective stopper, institute
State control unit for control transmitter emit signal, and the signal received according to receiver determine barrier residing for area
Domain.
For the position of accurately cognitive disorders object, residing for the signal received according to receiver determines barrier
Region further includes the signal received according to receiver, calculates the distance between barrier and self-movement robot, and then determines
Region residing for barrier.
In order to which ultrasonic receiver is enable to differentiate the source of its signal received, described control unit control transmitter hair
Penetrating signal, unit controls transmitting signal of multiple transmitters according to predetermined period interval in order to control；Or unit control is more in order to control
The signal of a transmitter transmitting different coding.
Preferably, the detection unit includes the first ultrasonic transmitter being arranged on robot body, is arranged at intervals
In the second ultrasonic transmitter of the first ultrasonic transmitter both sides and the 3rd ultrasonic transmitter, it is arranged on the first ultrasonic wave hair
The first ultrasonic receiver between emitter and the second ultrasonic transmitter and it is arranged on the first ultrasonic transmitter and the 3rd
The second ultrasonic receiver between ultrasonic transmitter；
Wherein, the signal that the first ultrasonic transmitter is sent can be by the first ultrasonic receiver and after barrier reflects
Two ultrasonic receivers receive, and the signal that the second ultrasonic transmitter is sent is only capable of being connect by the first ultrasonic wave after barrier reflects
It receives device to receive, the signal that the 3rd ultrasonic transmitter is sent is only capable of being received by the second ultrasonic transmitter after barrier reflects.
Preferably, first ultrasonic transmitter is arranged on the front of main body.
In order to effectively prevent ultrasonic crosstalk phenomenon, the work efficiency of range accuracy and ultrasonic system, the ultrasonic wave are improved
Anti-crosstalk barriers are equipped between transmitter and ultrasonic receiver.
In order to control and receive the transceiving range of device and transmitter, the stopper is sound chamber component, the sound chamber component from
Outer to include sound chamber enclosure, sound cavity main body, ultrasonic receiver or ultrasonic transmitter and cover board successively to interior, ultrasonic wave receives
Device or ultrasonic transmitter are fixed on by sealing element in the cover board being arranged on inside robot body, sound chamber enclosure and cover board
Sound cavity main body, ultrasonic receiver or ultrasonic transmitter are fixed.
A kind of control method of self-movement robot is also disclosed in the utility model, and the self-movement robot includes robot
Main body, the robot body are equipped with stopper and multiple transmitters being separately positioned in respective stopper and connect
Device is received, the control method includes：Multiple transmitters are controlled according to the transmitting signal at predetermined period interval or the multiple hairs of control
Emitter emits the signal of different coding；The signal received according to receiver calculates the distance between barrier and receiver, into
And determine the region residing for barrier.
Specifically, the transmitter and receiver include being arranged on the first ultrasonic wave transmitting immediately ahead of robot body
Device, the second ultrasonic transmitter for being disposed on the first ultrasonic transmitter both sides and the 3rd ultrasonic transmitter are arranged on
The first ultrasonic receiver between first ultrasonic transmitter and the second ultrasonic transmitter and it is arranged on the first ultrasonic wave
The second ultrasonic receiver between transmitter and the 3rd ultrasonic transmitter；
Wherein, the signal that the first ultrasonic transmitter is sent can be by the first ultrasonic receiver and after barrier reflects
Two ultrasonic receivers receive, and the signal that the second ultrasonic transmitter is sent is only capable of being connect by the first ultrasonic wave after barrier reflects
It receives device to receive, the signal that the 3rd ultrasonic transmitter is sent is only capable of being received by the second ultrasonic transmitter after barrier reflects.
In order to which ultrasonic receiver is enable to differentiate the source of its signal received, the control ultrasonic transmitter according to
The transmitting signal at predetermined period interval is specially：The first ultrasonic transmitter is controlled to emit signal, is controlled after the first interval time
The second ultrasonic transmitter transmitting signal is made, the 3rd ultrasonic transmitter transmitting signal is controlled after the second interval time, the
It is repeated the above process after three interval times.
Preferably, the value range of first interval time, the second interval time and the 3rd time interval is 10ms-
30ms。
Specifically, the extension of the line between the center of self-movement robot and ultrasonic transmitter and ultrasonic receiver
Line will be divided into six detection zones in front of self-movement robot, according to being respectively defined as first area, clockwise
Two regions, the 3rd region, the fourth region, the 5th region and the 6th region；In a detection cycle,
When the first ultrasonic receiver only receives the signal that the second ultrasonic transmitter sends, the second ultrasonic receiver
Signal is not received by, disturbance in judgement object is located in first area；
When the first ultrasonic receiver receives the signal that the first ultrasonic transmitter and the second ultrasonic transmitter are sent,
Second ultrasonic receiver is not received by signal, and disturbance in judgement object is located in second area；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver receives the transmitting of the first ultrasonic wave
The signal that device and the 3rd ultrasonic transmitter are sent, disturbance in judgement object are located in the 5th region；
When the first ultrasonic receiver is not received by signal, the second ultrasonic receiver only receives the 3rd ultrasonic wave hair
The signal that emitter is sent, disturbance in judgement object are located in the 6th region；
When the first ultrasonic receiver and the second ultrasonic receiver receive the letter that the first ultrasonic transmitter sends
Number, calculate the distance between barrier and receiver：
When between the second ultrasonic receivers of the distance between the first ultrasonic receiver and barrier ＜ and barrier
Distance, disturbance in judgement object are located in the 3rd region, when the second ultrasounds of the distance between the first ultrasonic receiver and barrier ＞
The distance between ripple receiver and barrier, disturbance in judgement object is located in the fourth region, when the first ultrasonic receiver and obstacle
The distance between the ultrasonic receiver of the distance between object=second and barrier, control unit disturbance in judgement object are located at from mobile
Immediately ahead of robot.
In order to avoid colliding, the control method further includes：After the region residing for barrier is determined, if receiver
The distance between barrier≤10cm, control self-movement robot turn along after the first distance of direction walking away from barrier
To, wherein, the fuselage radius of the first distance >=self-movement robot.
In conclusion the utility model recycles stopper control by setting an appropriate number of transmitter and receiver
The transceiving range of transmitter and receiver according to the size of machine, marks off rational detection zone, and according to the letter received
The specific location of disturbance in judgement object number rapidly and efficiently so as to the planning walking path for self-movement robot and performs avoidance and moves
More accurately data are provided.
In the following with reference to the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Description of the drawings
Fig. 1 is the structure diagram of the utility model self-movement robot；
Fig. 2 is the structure diagram of the utility model sound chamber component；
Fig. 3 is the Structure explosion diagram of the utility model sound chamber component.
Specific embodiment
Fig. 1 is the structure diagram of the utility model self-movement robot.As shown in Figure 1, the utility model is from moving machine
Device people includes robot body 100, and robot body 100 is equipped with the components such as walking unit, detection unit and control unit,
Wherein control unit control detection unit work receives and processes the detection signal of detection unit, so as to which walking unit be controlled to drive
Mobile robot main body 100 is walked.
The detection unit includes the transmitter and receiver of multiple spaced arrangements, and the transmitter and receiver can
Ultrasonic transmitter and receiver, infrared transmitter and receiver or laser emitter and receiver are thought, below with ultrasonic wave
It is described exemplified by transmitter.Specifically, the detection unit includes three ultrasonic transmitters and two ultrasonic waves receive
Device, the signal that ultrasonic transmitter is sent can be received after barrier reflects by ultrasonic receiver, and control unit is except adopting
Collect outside the energy information of signal, can also further gather range information, i.e. the distance between barrier and ultrasonic receiver.It is excellent
Choosing, in the utility model, using TOA algorithms (arrival time method), the acquisition of range information uses for the acquisition of energy information
TOF methods (transit time method), the distance between barrier and self-movement robot are measured as the prior art, such as " Li Jinhua machines
Programmable array of ultrasonic sensors camera positioning system [J] the sensors and micro-system of people's study, 2011 (30)：79-82”
Disclosed in localization method, details are not described herein.
Ultrasonic receiver includes the first ultrasonic transmitter 111 being arranged on robot body 100 and interval is set
It puts in the second ultrasonic transmitter 112 of 111 both sides of the first ultrasonic transmitter and the 3rd ultrasonic transmitter 113；The first surpass
The first ultrasonic receiver 121, the transmitting of the first ultrasonic wave are equipped between 111 and second ultrasonic transmitter 112 of pinger
The second ultrasonic receiver 122 is equipped between 111 and the 3rd ultrasonic transmitter 113 of device.Preferably, the first ultrasonic wave hair
Emitter 111 is arranged on the front of main body 100.
Fig. 2 is the structure diagram of the utility model sound chamber component；Fig. 3 is the structural blast of the utility model sound chamber component
Figure.As shown in Figures 2 and 3, the robot body 100 is equipped with multiple stoppers 200, for controlling and receiving device and transmitter
Transceiving range, stopper 200 is sound chamber component in the utility model, and the sound chamber component includes outside sound chamber successively from outside to inside
Shell 201, sound cavity main body 202, ultrasonic receiver or ultrasonic transmitter (in figure by taking the first ultrasonic transmitter 111 as an example) with
And cover board 203, ultrasonic receiver or ultrasonic transmitter are fixed on by sealing element 204 and are arranged on inside robot body
In cover board 203, sound chamber enclosure 201 and cover board 203 fix sound cavity main body 202, ultrasonic receiver or ultrasonic transmitter.
Specifically, ultrasonic receiver or ultrasonic transmitter first can be packed into sealing element 204 by sound chamber component in assembling, afterwards
It is being packed into cover board 203.The front end of sound cavity main body 202 is resonator and loudspeaker, and the purpose for setting resonator is to eliminate ultrasound
Near field region blind spot eliminates interference and middle low-frequency disturbance, improves measurement accuracy, such as the ultrasonic wave that frequency is 40kHz, surpasses
The internal diameter of acoustic resonance cavity need to be more than 3.0mm；Loudspeaker are to control the coverage of ultrasonic probe, are set by the rim of a bowl in exit
Meter, eliminating outlet transmitting influences.The basic law that the design of loudspeaker follows is that loudspeaker are lower, and the peak value of 40kHz ultrasonic waves is lower.
The annular radii of loudspeaker resonant cavity junction determines sound field intensity and its effective coverage at ultrasonic probe center,
The basic law that design follows is smaller for the radius of annulus, and sound field intensity is stronger at center, and coverage is smaller.
The above are what is drawn based on software and hardware gain and driving power in the case of certain, by the design for changing software and hardware
Also can change, the two cooperates, and achievees the purpose that the single ultrasonic overlay area of control and resolution ratio.The utility model is not with this
It is limited, those skilled in the art, can also be to stopper in the case of the utility model principle without departing from the utility model
Structure is changed to reach different restriction effects.
In the present embodiment, the first ultrasonic receiver 121 is arranged to be only capable of receiving the first ultrasound by stopper
The signal that 111 and second ultrasonic transmitter 112 of wave launcher is sent, the second ultrasonic receiver 122 is arranged to be only capable of connecing
Receive the signal that the first ultrasonic transmitter 111 and the 3rd ultrasonic transmitter 113 are sent.In other words, the first ultrasonic wave is sent out
The signal that emitter 111 is sent can be by the first ultrasonic receiver 121 and the second ultrasonic receiver 122 after barrier reflects
It receives, the signal that the second ultrasonic transmitter 112 is sent is only capable of being connect by the first ultrasonic receiver 121 after barrier reflects
It receives, the signal that the 3rd ultrasonic transmitter 113 is sent is only capable of being received by the second ultrasonic receiver 122 after barrier reflects.
The utility model is not limited thereto, and those skilled in the art can adjust shape and the position of stopper as needed, also may be used
To add additional ultrasonic transmitter, ultrasonic receiver and stopper, further to refine detection range or realize different
Function.
As shown in Figure 1, the extended line of the center of self-movement robot and detection unit line will be before self-movement robot
Side be divided into six detection zones, according to clockwise direction be respectively first area 101, second area 102, the 3rd region 103,
The fourth region 104, the 5th region 105 and the 6th region 106.Table 1 shows barrier in different zones, and ultrasonic wave receives
For the situation that device receives, it is necessary to illustrate, the "Yes" in table, which represents ultrasonic receiver, can receive ultrasonic transmitter hair
The signal after barrier reflects gone out, "No" represent that ultrasonic receiver can not receive that ultrasonic transmitter sends through obstacle
Signal after object reflection, the utility model do not compare the signal after barrier diffraction that ultrasonic transmitter is sent.
Table 1
In order to which ultrasonic receiver is enable to differentiate the source of its signal received, control unit controls three ultrasonic wave hairs
Emitter according to predetermined period interval transmitting signal, such as control unit can control the first ultrasonic transmitter 111 transmitting letter
Number, and in the first interval time (preferably 10ms-30ms, such as 20ms) the second ultrasonic transmitter 112 is controlled to emit signal afterwards, with
The 3rd is controlled afterwards in the second interval time (can be identical or different with the first interval time, preferably 10ms-30ms, such as 20ms) afterwards
Ultrasonic transmitter 113 emits signal, at this point, three ultrasonic transmitters have emitted signal, control unit is according to ultrasonic wave
The time for the signal that receiver is received judges the source of signal.First interval time and the second interval time can be by
Technical staff is according to the parameters sets itself such as detecting distance of barrier.Further, in order to accurately detect barrier in real time
Position, after above three ultrasonic transmitter emits a cycle of signal successively, control unit can control super
Pinger passes through the 3rd interval time (can be identical or different with the first interval time, preferably 10ms-30ms, such as 20ms)
After repeat the above process.
According to upper table, when self-movement robot works in the utility model, in a detection cycle, if the first surpassing
Acoustic receiver 121 only receives the signal that the second ultrasonic transmitter 112 is sent, and the second ultrasonic receiver 122 does not connect
Signal is received, then control unit can directly disturbance in judgement object be located in first area 101；If the first ultrasonic receiver 121
Receive the signal that the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112 are sent, the second ultrasonic receiver 122
Signal is not received by, then control unit can directly disturbance in judgement object be located in second area 102；If the first ultrasonic wave receives
Device 121 is not received by signal, and the second ultrasonic receiver 122 receives the first ultrasonic transmitter 111 and the 3rd ultrasonic wave
The signal that transmitter 113 is sent, then control unit can directly disturbance in judgement object be located in the 5th region 105；If the first ultrasound
Ripple receiver 121 is not received by signal, and the second ultrasonic receiver 122 only receives the 3rd ultrasonic transmitter 113 and sends
Signal, then control unit can directly disturbance in judgement object be located in the 6th region 106.Further, control unit can root
The distance between barrier and receiver are further confirmed that according to the signal received.
If the first ultrasonic receiver 121 and the second ultrasonic receiver 122 receive the first ultrasonic transmitter 111
The signal sent, at this time control unit be only capable of disturbance in judgement object and be located in the 3rd region 103 or the fourth region 104, control unit
The signal received according to receiver calculates the distance between barrier and receiver, and then determines the region residing for barrier.
Specifically, when the distance between the first ultrasonic receiver 121 and barrier the second ultrasonic receivers of ＜ 122
During the distance between barrier, control unit disturbance in judgement object is located in the 3rd region 103, when the first ultrasonic receiver
When the distance between the distance between 121 and barrier the second ultrasonic receivers of ＞ 122 and barrier, control unit judges barrier
Object is hindered to be located in the fourth region 104, when the ultrasonic wave of the distance between the first ultrasonic receiver 121 and barrier=second receives
When the distance between device 122 and barrier, control unit disturbance in judgement object is located at immediately ahead of self-movement robot.
Those skilled in the art are accurately fixed to ensure after the size and gait of march of self-movement robot is considered
Position can increase the quantity of ultrasonic transmitter and ultrasonic receiver.
Certainly, those skilled in the art may be used also in order to which ultrasonic receiver is enable to differentiate the source of its signal received
To use other modes, if control unit controls the signal of multiple transmitter transmitting different codings, the different coding can be
Frequency, time division multiplexing, carrier wave etc..
Control unit judges whether two ultrasonic receivers can receive signal successively, and obstacle is calculated after signal is received
The distance between object and receiver, so as to more accurately carry out barrier positioning, more accurately to control self-movement robot
Work.As behind the region residing for determining barrier, if the distance between receiver and barrier≤10cm, controlled from moving machine
Device people is along the direction walking first away from barrier apart from rear steering, it is preferred that the first distance >=self-movement robot
Fuselage radius.
It can be seen from the above, the control unit of self-movement robot determines receiver and barrier according to signal in the utility model
Hinder the distance between object, and then position of the barrier compared with self-movement robot can be accurately identified, so as to control walking single
Member driving robot body 100 walks, the generation avoided collision.You need to add is that traditional robot is recognizing obstacle
After object, the action of the avoidances such as rollback, steering is often performed, but due to the position that not can determine that barrier, avoidance action is not enough
Accurately, only it is rotated by 90 ° to the left or to the right such as turned to, and in the utility model, since self-movement robot accurately identifies
The position of barrier, control unit can more accurately perform avoidance action, such as slow down and (the angle that rotates by a certain angle
Can be as those skilled in the art according to the angle sets itself residing for barrier) after walk on, improve its wheel efficiency.
Further, in order to effectively prevent ultrasonic crosstalk phenomenon, the work efficiency of range accuracy and ultrasonic system, institute are improved
It states and anti-crosstalk barriers (not shown), the anti-crosstalk barriers is equipped between ultrasonic transmitter and ultrasonic receiver
To be arranged on the outer surface of robot body 100 and prominent or be depressed in outer surface, such as anti-crosstalk barriers can be straight
It is linear, ultrasonic transmitter and receiver are segmented in both sides, almost symmetry centered on it；Anti-crosstalk barriers can also be
It is arc-shaped, ultrasonic transmitter or ultrasonic receiver are at least partly surrounded inside it；Alternatively, the anti-crosstalk barriers
Can be the intensive salient point being arranged on the outer surface of body or pit etc..
Preferably, preferably three ultrasonic transmitters and two ultrasonic receivers are arranged in the utility model same
On horizontal plane, i.e., the height of three ultrasonic transmitters and two ultrasonic receivers on robot body 100 it is identical or
Any two in three ultrasonic transmitters and two ultrasonic receivers can also be arranged on different horizontal planes, with
Convenient for the extraction of range information and the division in region.
The course of work of self-movement robot is as follows in the utility model：
After self-movement robot start work, control unit controls three ultrasonic transmitters according to predetermined period interval
Emit signal, if there are barrier in the second area 102 of self-movement robot front in walking process, in a detection cycle
First ultrasonic receiver 121 can receive the letter that the first ultrasonic transmitter 111 and the second ultrasonic transmitter 112 are sent
Number, and the second ultrasonic receiver 122 will not receive signal, control unit determines to hinder according to the signal condition received at this time
Object is hindered to be located at second area 102, so as to control walking unit retreat to the right turn to certain angle after avoiding barrier.Walking process
If there are barriers, the first ultrasonic receiver 121 and the second ultrasonic wave in the 3rd region 103 in front of self-movement robot in connect
Receive device 122 can receive the signal that the first ultrasonic transmitter 111 is sent, at this point, control unit again to its range information into
Row comparison, to determine the position of barrier.That is, according to the difference of Obstacle Position, the foundation that control unit judges is not
Together, in the present embodiment, in the case where only setting three ultrasonic transmitters and two ultrasonic receivers, if at barrier
When first area 101, second area 102, the 5th region 105 and six regions 106, control unit by energy information just
It can directly determine the position of barrier, without carrying out the comparison of range information, reduce the workload of control unit.
You need to add is that the utility model do not limit ultrasonic transmitter and ultrasonic receiver installation position and
Quantity is described in detail the embodiment of the utility model above in conjunction with attached drawing, but the utility model is not limited to
This, in the indicating range possessed in person of ordinary skill in the field, on the premise of the utility model aims are not departed from,
It can be with various changes can be made.
The utility model provides a kind of self-movement robot, by setting an appropriate number of transmitter and receiver, then profit
With stopper control transmitter and the transceiving range of receiver, according to the size of machine, rational detection zone is marked off, and according to
According to the specific location of the disturbance in judgement object of the signal received rapidly and efficiently, so as to the planning walking path for self-movement robot
And it performs avoidance action and more accurately data is provided.
Claims (5)
1. a kind of self-movement robot, including robot body (100), robot body is equipped with detection unit and control is single
Member, the detection unit include the transmitter and receiver of multiple spaced arrangements, which is characterized in that the robot body
Stopper (200) is equipped with, for controlling and receiving the transceiving range of device and transmitter, the transmitter and receiver are set respectively
In respective stopper, described control unit emits signal, and the signal received according to receiver for control transmitter
Determine the region residing for barrier.
2. self-movement robot as described in claim 1, which is characterized in that the detection unit includes being arranged on robot master
The first ultrasonic transmitter (111) on body (100), the second ultrasonic wave hair for being disposed on the first ultrasonic transmitter both sides
Emitter (112) and the 3rd ultrasonic transmitter (113) are arranged between the first ultrasonic transmitter and the second ultrasonic transmitter
The first ultrasonic receiver (121) and be arranged between the first ultrasonic transmitter and the 3rd ultrasonic transmitter
Two ultrasonic receivers (122)；
Wherein, the signal that the first ultrasonic transmitter is sent can surpass by the first ultrasonic receiver and the second after barrier reflects
Acoustic receiver receives, and the signal that the second ultrasonic transmitter is sent is only capable of after barrier reflects by the first ultrasonic receiver
It receives, the signal that the 3rd ultrasonic transmitter is sent is only capable of being received by the second ultrasonic transmitter after barrier reflects.
3. self-movement robot as claimed in claim 2, first ultrasonic transmitter (111) is arranged on main body (100)
Front.
4. self-movement robot as claimed in claim 3, which is characterized in that the ultrasonic transmitter and ultrasonic receiver
Between be equipped with anti-crosstalk barriers.
5. self-movement robot as described in claim 1, which is characterized in that the stopper (200) is sound chamber component, described
Sound chamber component includes sound chamber enclosure (201), sound cavity main body (202), ultrasonic receiver or ultrasonic wave transmitting successively from outside to inside
Device and cover board (203), ultrasonic receiver or ultrasonic transmitter are fixed on by sealing element and are arranged in robot body
In the cover board in portion, sound chamber enclosure and cover board fix sound cavity main body, ultrasonic receiver or ultrasonic transmitter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721429202.3U CN207415379U (en) | 2017-10-31 | 2017-10-31 | Self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721429202.3U CN207415379U (en) | 2017-10-31 | 2017-10-31 | Self-movement robot |
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| CN207415379U true CN207415379U (en) | 2018-05-29 |
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ID=62309512
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN109213151A (en) * | 2018-08-07 | 2019-01-15 | 北京云迹科技有限公司 | A kind of paths planning method and distributed robot |
| CN109719736A (en) * | 2017-10-31 | 2019-05-07 | 科沃斯机器人股份有限公司 | Self-movement robot and its control method |
| WO2020155863A1 (en) * | 2019-02-03 | 2020-08-06 | 苏州宝时得电动工具有限公司 | Self-moving device and obstacle detection method therefor, and obstacle detection modules |
-
2017
- 2017-10-31 CN CN201721429202.3U patent/CN207415379U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109719736A (en) * | 2017-10-31 | 2019-05-07 | 科沃斯机器人股份有限公司 | Self-movement robot and its control method |
| CN109719736B (en) * | 2017-10-31 | 2024-03-26 | 科沃斯机器人股份有限公司 | Self-moving robot and control method thereof |
| CN109213151A (en) * | 2018-08-07 | 2019-01-15 | 北京云迹科技有限公司 | A kind of paths planning method and distributed robot |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| WO2020155863A1 (en) * | 2019-02-03 | 2020-08-06 | 苏州宝时得电动工具有限公司 | Self-moving device and obstacle detection method therefor, and obstacle detection modules |
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