CN207590617U - Cleaning device based on indoor map - Google Patents
Cleaning device based on indoor map Download PDFInfo
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- CN207590617U CN207590617U CN201720711571.5U CN201720711571U CN207590617U CN 207590617 U CN207590617 U CN 207590617U CN 201720711571 U CN201720711571 U CN 201720711571U CN 207590617 U CN207590617 U CN 207590617U
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- 238000004140 cleaning Methods 0.000 title claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 13
- 238000005286 illumination Methods 0.000 claims description 14
- 230000005693 optoelectronics Effects 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of cleaning devices based on indoor map, including clean robot, the clean robot includes the pedestal equipped with idler wheel, cleaning device is equipped with below pedestal, cabinet is equipped with above the pedestal, enclosure top is equipped with laser sensor and two infrared video cameras, driving device and processor are equipped in the cabinet, the processor includes driving unit, storage unit, signal receiving unit and signal processing unit, the driving unit is connected with driving device, driving device driving idler wheel movement, the signal receiving unit is connected respectively with laser sensor and infrared video camera, the signal processing unit is connected respectively with signal receiving unit and driving unit, the storage unit is connected with signal processing unit, storage unit is stored with indoor map information.Grid coordinate map need not be re-established after indoor object space changes, effectively improves the efficiency of indoor cleaning.
Description
Technical field
The utility model is related to a kind of cleaning equipments, and in particular to a kind of cleaning device based on indoor map.
Background technology
With the continuous development of science and technology, there are a variety of different clean robots.Clean robot is intelligent domestic
One kind of electric appliance is mainly engaged in the work such as cleaning, the cleaning of domestic hygiene, can rely on certain artificial intelligence, automatically in room
Interior completion floor cleaning work.Clean robot is generally swept using brush and vacuum mode, and ground sundries is first received into itself
Rubbish storage box, so as to complete the function of land clearing.
In general, clean robot establishes coordinate data using cradle as coordinate origin, and using itself impact switch or
Infrared/ultrasonic sensor establishes grid coordinate map and interior is cleaned according to grid coordinate map.But when
When indoor object space changes, such as the position of cradle changes, and the grid coordinate map established originally will
It generates very big error, in the relevant technologies, coordinate data is re-established, and according to coordinate data weight according to the position of current cradle
Grid coordinate map newly is established, reduces the working efficiency of clean robot.
Utility model content
In order to solve the above-mentioned technical problem, the utility model discloses a kind of cleaning device based on indoor map, works as interior
Object space need not re-establish grid coordinate map after changing, and effectively improve the efficiency of indoor cleaning.
The utility model is achieved through the following technical solutions：
Cleaning device based on indoor map, including clean robot, the clean robot includes the bottom equipped with idler wheel
Seat is equipped with cleaning device below pedestal, is equipped with cabinet above the pedestal, and enclosure top is equipped with laser sensor and two infrared
Video camera, the cabinet is interior to be equipped with driving device and processor, and the processor includes driving unit, storage unit, signal and connects
It receives unit and signal processing unit, the driving unit is connected with driving device, driving device driving idler wheel movement, the signal
Receiving unit is connected respectively with laser sensor and infrared video camera, the signal processing unit respectively with signal receiving unit and
Driving unit is connected, and the storage unit is connected with signal processing unit, and storage unit is stored with indoor map information.
The utility model is provided with cabinet above clean robot pedestal, and laser sensor and infrared is provided on cabinet
Video camera, processor is provided in cabinet, and laser sensor is used to realize that nothing connects to indoor environment when clean robot move
Ranging is touched, testing the speed, fast, precision is high, and the wall or the location information of obstacle distance laser sensor measured is sent to processor
Signal receiving unit, signal processing unit processes signal receiving unit obtain location information, laser sensor is with cleaning
Robot moves freely and measures the location information in interior space each position and each corner indoors, passes through signal processing unit
The shape and size of indoor three dimensions are calculated, and then construct an indoor map, and the interior that will finally construct
Cartographic information is stored in storage unit, and after building indoor map, signal processing unit calculates cleaning path, starts sanitizer cartridge
It puts, clean robot clears up each corner of indoor each section according to cleaning path one by one, when temporarily indoor object space is sent out
It is raw change after, clean robot can measure the position that barrier newly locates by laser sensor, with reference to infrared video camera to barrier
Object geomery and position is hindered more fast and accurately to be judged, and the circuit of adjustment cleaning in time, and the interior that will change
In spatial information update to storage unit, new indoor map is obtained, new cleaning path is calculated by signal processing unit,
Whole process speed is fast, and precision is high, effectively improves efficiency and the accuracy of indoor cleaning.
The cabinet outer wall is equipped with a layer solar electro-optical package, and the solar opto-electronic board is connected with accumulator, accumulator
In cabinet, for powering for clean robot.
The utility model is generated electricity using solar opto-electronic board, and the electric energy of conversion is used to power for clean robot,
Energy conservation and environmental protection effectively reduces the energy consumption of clean robot, reduces the use cost of the utility model.
The solar opto-electronic board is externally provided with one layer of anticollision layer, and the anticollision layer is made of transparent silica gel.
Anticollision layer plays cushioning effect, for clean robot to be protected to be particularly its external solar opto-electronic board, using saturating
Bright silica gel can not only play buffering effect, moreover it is possible to avoid conversion of the blocking solar opto-electronic board to light.
The enclosure top is additionally provided with an illumination photometer, and the illumination photometer is connected with signal receiving unit.
Illumination photometer is used to measure the intensity of illumination of current location, and the illumination intensity information measured is sent to signal receiving unit
Then arriving signal processing unit, when charging is required, clean robot move freely indoors, while illumination photometer measures respectively not
With the intensity of illumination of position, optimum illumination position is obtained through signal processing unit comparative analysis, then clean robot is moved to
Optimum illumination position carries out solar power generation.More electric energy is obtained to meet the conversion within the same time.
The driving device is driving motor.
The utility model compared with prior art, has the following advantages and advantages：
Cleaning device of the utility model based on indoor map, is provided with cabinet, cabinet above clean robot pedestal
On be provided with laser sensor and infrared video camera, be provided with processor in cabinet, laser sensor is used in clean robot
Realize Contactless Measurement away from testing the speed, fast, precision is high, as clean robot moves freely indoors when mobile to indoor environment
And the location information in interior space each position and each corner is measured, indoor three dimensions is calculated by signal processing unit
Shape and size, and then construct an indoor map, signal processing unit recycled to calculate cleaning path, clean machine
People clears up each corner of indoor each section according to cleaning path one by one, after indoor object space changes temporarily, clearly
Clean robot can measure the position that barrier newly locates by laser sensor, with reference to infrared video camera to barrier geomery
More fast and accurately judged with position, and pass through signal processing unit and calculate new cleaning path, whole process speed
Degree is fast, and precision is high, effectively improves efficiency and the accuracy of indoor cleaning.
Description of the drawings
Attached drawing described herein is used for providing further understanding the utility model embodiment, forms the one of the application
Part does not form the restriction to the utility model embodiment.In the accompanying drawings：
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model control principle drawing；
Label and corresponding parts title in attached drawing：
1- idler wheels, 2- pedestals, 3- cleaning devices, 4- cabinets, 41- laser sensors, 42- infrared video cameras, 5- driving dresses
It puts, 6- processors, 61- driving units, 62- storage units, 63- signal receiving units, 64- signal processing units, 7- solar energy
Electro-optical package, 71- accumulators, 8- anticollision layers, 9- illumination photometers.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As shown in Figure 1, 2, cleaning device of the utility model based on indoor map, including clean robot, the cleaning
Robot includes the pedestal 2 equipped with idler wheel 1, and 2 lower section of pedestal is equipped with cleaning device 3, and 2 top of pedestal is equipped with cabinet 4, cabinet
4 tops are equipped with laser sensor 41 and two infrared video cameras 42, and driving device 5 and processor 6, institute are equipped in the cabinet 4
It states processor 6 and includes driving unit 61, storage unit 62, signal receiving unit 63 and signal processing unit 64, the driving is single
Member 61 is connected with driving device 5, and the driving idler wheel 1 of driving device 5 moves, the signal receiving unit 63 respectively with laser sensor
41 are connected with infrared video camera 42, and the signal processing unit 64 is connected respectively with signal receiving unit 63 and driving unit 61,
The storage unit 62 is connected with signal processing unit 64, and storage unit 62 is stored with indoor map information.
4 outer wall of cabinet is equipped with a layer solar electro-optical package 7, and the solar opto-electronic board 7 is connected with accumulator 71, stores
Battery 71 is set in cabinet 4, for powering for clean robot.
The solar opto-electronic board 7 is externally provided with one layer of anticollision layer 8, and the anticollision layer 8 is made of transparent silica gel.
4 top of cabinet is additionally provided with an illumination photometer 9, and the illumination photometer 9 is connected with signal receiving unit 63.
The driving device 5 is driving motor.
Above-described specific embodiment, the purpose of this utility model, technical solution and advantageous effect have been carried out into
One step is described in detail, it should be understood that the foregoing is merely specific embodiment of the present utility model, is not used to limit
Determine the scope of protection of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (5)
1. the cleaning device based on indoor map, including clean robot, the clean robot includes the pedestal equipped with idler wheel,
Cleaning device is equipped with below pedestal, which is characterized in that be equipped with cabinet above the pedestal, enclosure top be equipped with laser sensor and
Two infrared video cameras, the cabinet is interior to be equipped with driving device and processor, and the processor includes driving unit, storage list
Member, signal receiving unit and signal processing unit, the driving unit are connected with driving device, and driving device driving idler wheel moves
Dynamic, the signal receiving unit is connected respectively with laser sensor and infrared video camera, the signal processing unit respectively with letter
Number receiving unit is connected with driving unit, and the storage unit is connected with signal processing unit, and storage unit is stored with indoor ground
Figure information.
2. the cleaning device according to claim 1 based on indoor map, which is characterized in that the cabinet outer wall is equipped with one
Layer solar electro-optical package, the solar opto-electronic board are connected with accumulator, and accumulator is set in cabinet, for for clean robot
Power supply.
3. the cleaning device according to claim 2 based on indoor map, which is characterized in that outside the solar opto-electronic board
Equipped with one layer of anticollision layer, the anticollision layer is made of transparent silica gel.
4. the cleaning device according to claim 2 based on indoor map, which is characterized in that the enclosure top is additionally provided with
One illumination photometer, the illumination photometer are connected with signal receiving unit.
5. the cleaning device according to claim 1 based on indoor map, which is characterized in that the driving device is driving
Motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720711571.5U CN207590617U (en) | 2017-06-19 | 2017-06-19 | Cleaning device based on indoor map |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720711571.5U CN207590617U (en) | 2017-06-19 | 2017-06-19 | Cleaning device based on indoor map |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207590617U true CN207590617U (en) | 2018-07-10 |
Family
ID=62753190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720711571.5U Active CN207590617U (en) | 2017-06-19 | 2017-06-19 | Cleaning device based on indoor map |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207590617U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017492A (en) * | 2021-02-23 | 2021-06-25 | 江苏柯林博特智能科技有限公司 | Object recognition intelligent control system based on cleaning robot |
-
2017
- 2017-06-19 CN CN201720711571.5U patent/CN207590617U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113017492A (en) * | 2021-02-23 | 2021-06-25 | 江苏柯林博特智能科技有限公司 | Object recognition intelligent control system based on cleaning robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210114 Address after: 311800 no.26-3 Ping'an Road, jinjishanhou village, Jiyang street, Zhuji City, Shaoxing City, Zhejiang Province Patentee after: Zheng Hanxin Address before: 610000 No. 5, 1 Building 5, Tianfu Avenue, high tech Zone, Chengdu, Sichuan, China, 566 Patentee before: CHENGDU LINGCHUANGXIAN TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |