CN207908969U - A kind of solid-state radar sweeping robot - Google Patents
A kind of solid-state radar sweeping robot Download PDFInfo
- Publication number
- CN207908969U CN207908969U CN201820014550.2U CN201820014550U CN207908969U CN 207908969 U CN207908969 U CN 207908969U CN 201820014550 U CN201820014550 U CN 201820014550U CN 207908969 U CN207908969 U CN 207908969U
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- sensor
- sweeping robot
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- state radar
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- 238000010408 sweeping Methods 0.000 title claims abstract description 54
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008520 organization Effects 0.000 claims description 2
- 238000004387 environmental modeling Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 230000004927 fusion Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
Abstract
The utility model provides a kind of solid-state radar sweeping robot, and the sweeping robot includes control unit, sensor unit, movement and driving unit, cleaning unit, frame unit, charging unit.Sensor unit includes steep cliff sensor, along wall sensor, IMU inertia measurements sensor, electronic compass sensor, speedometer sensor, crash sensor, ultrasonic sensor, solid-state radar distance measuring sensor.The one or more solid-state radar distance measuring sensors of sweeping robot edge arrangement, when sweeping robot moves in the environment, solid-state radar distance measuring sensor can realize the structure of one section of environmental map, in conjunction with the information of one or more of IMU inertia measurements sensor, electronic compass sensor, speedometer sensor sensor, realize Fusion, high-precision structure and the navigation of entire map may be implemented in movement by sweeping robot in the environment again.
Description
Technical field
The utility model is related to sweeping robot field and mobile robot fields, more particularly to radar can
Carry out the sweeping robot field of map structuring and navigation.
Background technology
With the development of smart home, home-use, factory sweeping robot is increasingly valued by people and likes
Love.Partly do not have map structuring and navigation feature in existing family's sweeping robot, " run chaotically " in cleaning process, it is difficult to
Realize that all standing cleans；Another sweeping robot is then by IMU Inertial Measurement Units, electronic compass sensor, odometer
Sensor, crash sensor realize map structuring and the navigation of low precision, and effect is better than the former, but still is difficult to realize cover entirely
Lid cleans；At this stage, it can realize that the home-use sweeping robot of preferable map structuring and navigation mostly uses rotary laser
Radar scheme, which realizes the measurement adjusted the distance by the way of range of triangle, but the program is driven by motor
Measurement module rotation can face slip ring life problems, although this can be solved the problems, such as by way of wireless power and communication,
Also increase the cost of the program.
Utility model content
In view of the above-mentioned problems, solving the problems, such as to be to provide a kind of having admittedly for long-life low-cost required for the utility model
State radarmap build and navigation sweeping robot, it is intended to realized in a manner of most economical sweeping robot map structuring and
The function of navigation.
To achieve the goals above, the utility model uses following technical scheme, and by taking a kind of typical embodiment as an example
It illustrates.Following embodiment contributes to those skilled in the art to further understand the utility model, but not in any form
Limit the utility model.It should be pointed out that those skilled in the art, before not departing from the utility model design
It puts, various modifications and improvements can be made.These belong to scope of protection of the utility model.
A kind of solid-state radar sweeping robot, including control unit, sensor unit, movement and driving unit, cleaning list
Member, charging unit, frame unit；Sensor unit includes steep cliff sensor, is sensed along wall sensor, IMU inertia measurements
Device, electronic compass sensor, speedometer sensor, crash sensor, solid-state radar distance measuring sensor；Control unit realizes control
System, the function of data processing, communication, are fixed on inside frame unit；Sensor unit is for acquiring various kinds of sensors data；Fortune
The dynamic organization plan that double driving wheels and a universal wheel are used with driving unit, three are fixed on frame unit；It cleans single
Member is fixed on frame unit；Charging unit realizes charging and the function of supplying power of sweeping robot, is fixed on frame unit
It is internal；The solid-state radar distance measuring sensor can perceive in environment distance between the object and sensor in one section of region, knot
Close the structure of the global map of the mobile realization environment of sweeping robot.
Using solid-state radar distance measuring sensor combination IMU inertia measurements sensor, electronic compass sensor, odometer sensing
One or more sensing datas in device, crash sensor are merged into row information, realize high-precision map structuring and navigation；Institute
The map structuring and air navigation aid stated are equally applicable to all mobile robots, also in claims.
Steep cliff sensor is located at the preceding bottom of sweeping robot in sensor unit, and quantity is even number, is symmetrically arranged, and uses
Whether there is object below detection sensor, prevents sweeping robot from falling；It is located at along wall sensor in sensor unit and cleans
The left side side or right side side of robot, quantity are 1 or 2, and signal transmitting is oriented parallel to ground with reception, when quantity is
At 1, it is preferentially arranged in right side side, when quantity is 2, left side side and right side side respectively arrange one；IMU inertia measurements sense
Device and electronic compass sensor are fixed on the mainboard of control unit；Speedometer sensor is located at movement on driving unit, examines
The angle of driving wheel rotation is surveyed, quantity is 2；Crash sensor is located at the leading flank of sweeping robot, and quantity is even number, left and right
It is arranged symmetrically, has protective cover in front of crash sensor, when collision, protective cover is collided with object, pressing collision crash sensor,
Realize induction.
Solid-state radar distance measuring sensor is arranged in side or the front or back of sweeping robot；Solid-state radar ranging senses
Device includes transmitting module and receiving module, and transmitting module is for launching specific wavelength light, so that receiving module detects；It receives
Module sensors can be the strip sensor (N of 1XN receiving unit>1), the area array sensor (N of NXM receiving unit>1, M
>1) one kind in；Solid-state radar distance measuring sensor quantity is at least 1, before being preferentially arranged in sweeping robot in robot
Side, left front, right front, when solid-state radar distance measuring sensor is circumferentially arranged multiple, it can be achieved that 360 degree of environment is built
Mould.
Compared with prior art, advantageous effect is the utility model：What the utility model embodiment provided has solid-state
Radarmap is built and the sweeping robot scheme of navigation, and the sensor for being used for map structuring and navigation has service life
Advantage long, Costco Wholesale is low, and merged by the information of multisensor, the map structuring for meeting sweeping robot can be reached
And navigation feature.
Description of the drawings
Fig. 1 is a kind of solid-state radar sweeping robot appearance principle schematic that the utility model embodiment provides；
Fig. 2 is the realization principle figure of solid-state radar map structuring and navigation feature that the utility model embodiment provides.
In figure, 1 unit in order to control；2 be sensor unit；21 be steep cliff sensor；22 is along wall sensors；23 be IMU
Inertia measurement sensor；24 be electronic compass sensor；25 be speedometer sensor；26 be crash sensor；27 be solid-state thunder
It is movement and driving unit up to distance measuring sensor (27) 3；4 be cleaning unit；5 be charging unit；6 be frame unit.
Specific implementation mode
The technical issues of in order to keep the utility model solved, technical solution and advantageous effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, does not limit the utility model.
As shown in Figure 1, a kind of solid-state radar sweeping robot, including control unit 1, sensor unit 2, movement and driving
Unit 3, cleaning unit 4, charging unit 5, frame unit 6；Sensor unit 2 includes steep cliff sensor 21, is sensed along wall
Device 22, IMU inertia measurements sensor 23, electronic compass sensor 24, speedometer sensor 25, crash sensor 26, solid-state thunder
Up to distance measuring sensor 27；Control unit 1 realizes the function of control, data processing, communication, is fixed on inside frame unit 6；Sensing
Device unit 2 is for acquiring various kinds of sensors data；Movement is with driving unit 3 using the structure side of double driving wheels and a universal wheel
Case, three are fixed on frame unit 6；Cleaning unit 4 is fixed on frame unit 6；Charging unit 5 realizes scavenging machine
The charging of device people and function of supplying power are fixed on inside frame unit 6；The solid-state radar distance measuring sensor 27 can perceive
Distance between the object and sensor in one section of region in environment, in conjunction with the global map of the mobile realization environment of sweeping robot
Structure.
Sweeping robot has been able to high-precision in the requirement for being satisfied with solid-state radar distance measuring sensor finding range
Identify environmental information, but in the scene of part, due to the field of front vision of the solid-state radar distance measuring sensor of sweeping robot
It is open, object information can not be recognized, sweeping robot does not just know itself position in the environment at this time.Therefore, it uses
Solid-state radar distance measuring sensor 27 combine IMU inertia measurements sensor 23, electronic compass sensor 24, speedometer sensor 25,
One or more sensing datas in crash sensor 26 are merged into row information, realize high-precision map structuring and navigation；Institute
The map structuring and air navigation aid stated are equally applicable to all mobile robots.
Steep cliff sensor 21 is located at the preceding bottom of sweeping robot in sensor unit, and quantity is even number, is symmetrically arranged,
For whether having object below detection sensor, prevent sweeping robot from falling；It is located at along wall sensor 22 in sensor unit
The left side side or right side side of sweeping robot, quantity are 1 or 2, and signal transmitting is oriented parallel to ground with reception, works as number
When amount is 1, it is preferentially arranged in right side side, when quantity is 2, left side side and right side side respectively arrange one；IMU inertia measurements
Sensor 23 and electronic compass sensor 24 are fixed on the mainboard of control unit；Speedometer sensor 25 is located at movement and driving
On unit 3, the angle of detection driving wheel rotation, quantity is 2；Crash sensor 26 is located at the leading flank of sweeping robot, number
Amount is even number, is symmetrically arranged, and there is protective cover in 26 front of crash sensor, and when collision, protective cover is collided with object, pressing
Crash sensor 26 is collided, realizes induction.
Solid-state radar distance measuring sensor 27 is arranged in side or the front or back of sweeping robot；Solid-state radar ranging passes
Sensor 27 includes transmitting module and receiving module, and transmitting module is for launching specific wavelength light, so that receiving module detects；
Receiving module sensor can be the strip sensor (N of 1XN receiving unit>1), the area array sensor (N of NXM receiving unit
>1, M>1) one kind in；27 quantity of solid-state radar distance measuring sensor is at least 1 in robot, is preferentially arranged in sweeping machine
Front, left front, the right front of people, when solid-state radar distance measuring sensor is circumferentially arranged multiple, it can be achieved that 360 degree of ring
Border models.
As shown in Fig. 2, when sweeping robot is in certain point in environment, the transmitting mould of solid-state radar distance measuring sensor 27
Block launches light signal, acts on the object within the scope of the certain angle of front, and light will be acted on by reflection, some light
Onto sensor receiving module, multiple points of objects in front are can be obtained to the distance and angle of sweeping robot by calculating,
The contour shape of object, i.e. three-dimensional environment can be established at this time, such as the dotted portion in Fig. 2.By sweeping robot in environment
In constantly move, and so on, then can construct entire environmental map.After being provided with cartographic information, by sweeping machine
People is passed using 27 information of solid-state radar distance measuring sensor, IMU inertia measurements sensor 23, electronic compass sensor 24, odometer
The one or more sensors such as sensor 25 data can accurately position the position of sweeping robot in the environment, be led to realize
Boat.
Claims (4)
1. a kind of solid-state radar sweeping robot, it is characterised in that including control unit (1), sensor unit (2), movement and drive
Moving cell (3), cleaning unit (4), charging unit (5), frame unit (6)；Sensor unit (2) includes steep cliff sensor
(21), along wall sensor (22), IMU inertia measurements sensor (23), electronic compass sensor (24), speedometer sensor
(25), crash sensor (26), solid-state radar distance measuring sensor (27)；Control unit (1) realizes control, data processing, communication
Function, it is internal to be fixed on frame unit (6)；Sensor unit (2) is for acquiring various kinds of sensors data；Movement is single with driving
First (3) use the organization plan of double driving wheels and a universal wheel, three to be all fixed on frame unit (6)；Cleaning unit (4)
It is fixed on frame unit (6)；Charging unit (5) realizes charging and the function of supplying power of sweeping robot, is fixed on frame
Unit (6) is internal；The solid-state radar distance measuring sensor (27) can perceive the object and sensor in one section of region in environment
Between distance, in conjunction with the structure of the global map of the mobile realization environment of solid-state radar sweeping robot.
2. a kind of solid-state radar sweeping robot according to claim 1, which is characterized in that passed using solid-state radar ranging
Sensor (27) combines IMU inertia measurements sensor (23), electronic compass sensor (24), speedometer sensor (25), collision to pass
One or more sensing datas in sensor (26) are merged into row information.
3. a kind of solid-state radar sweeping robot according to claim 1, which is characterized in that steep cliff passes in sensor unit
Whether sensor (21) is located at the preceding bottom of sweeping robot, and quantity is even number, is symmetrically arranged, for having below detection sensor
Object prevents sweeping robot from falling；It is located at the left side side or the right side of sweeping robot in sensor unit along wall sensor (22)
Side, quantity are 1 or 2, and signal transmitting is oriented parallel to ground with reception, when quantity is 1, are arranged in right side side
Or left side side, when quantity is 2, left side side and right side side respectively arrange one；IMU inertia measurements sensor (23) and electronics sieve
Disk sensor (24) is fixed on the mainboard of control unit；Speedometer sensor (25) is located at movement on driving unit (3), examines
The angle of driving wheel rotation is surveyed, quantity is 2；Crash sensor (26) is located at the leading flank of sweeping robot, and quantity is even number,
It is symmetrically arranged, has protective cover in front of crash sensor (26), when collision, protective cover is collided with object, and pressing is touched
Sensor (26) is hit, realizes induction.
4. a kind of solid-state radar sweeping robot according to claim 1, which is characterized in that solid-state radar distance measuring sensor
(27) side or the front or back of sweeping robot are arranged in；Solid-state radar distance measuring sensor (27) includes transmitting module and connects
Module is received, transmitting module is for launching light, so that receiving module detects；Receiving module sensor can be 1XN and receive list
The strip sensor of member, N>1, one kind in the area array sensor of NXM receiving unit, N>1, M>1；Solid-state radar in robot
Distance measuring sensor (27) quantity is at least 1, be arranged in sweeping robot front or one or more of left front or right front
A direction, when solid-state radar distance measuring sensor is circumferentially arranged multiple, it can be achieved that 360 degree of environmental modeling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820014550.2U CN207908969U (en) | 2018-01-06 | 2018-01-06 | A kind of solid-state radar sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820014550.2U CN207908969U (en) | 2018-01-06 | 2018-01-06 | A kind of solid-state radar sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207908969U true CN207908969U (en) | 2018-09-25 |
Family
ID=63566652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820014550.2U Expired - Fee Related CN207908969U (en) | 2018-01-06 | 2018-01-06 | A kind of solid-state radar sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207908969U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018684A (en) * | 2018-01-06 | 2019-07-16 | 深圳慎始科技有限公司 | A kind of solid-state radar sweeping robot |
| CN113440049A (en) * | 2020-03-25 | 2021-09-28 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
-
2018
- 2018-01-06 CN CN201820014550.2U patent/CN207908969U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110018684A (en) * | 2018-01-06 | 2019-07-16 | 深圳慎始科技有限公司 | A kind of solid-state radar sweeping robot |
| CN113440049A (en) * | 2020-03-25 | 2021-09-28 | 尚科宁家(中国)科技有限公司 | Cleaning robot and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180925 |
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| CF01 | Termination of patent right due to non-payment of annual fee |