CN208289912U - A kind of multipurpose sweeping robot system - Google Patents

Abstract

The utility model relates to a kind of multipurpose sweeping robot systems.Wherein, the system passes through the control unit inside toy car, the toy car is indirectly controlled by sweeping robot and drives sweeping robot automatically walk together, so that sweeping robot can not only carry out cleaning works, it can also be combined into one kind with toy car and be capable of the intelligent entertainment for children toy of automatically walk, to improve the function and value of sweeping robot.

Description

A kind of multipurpose sweeping robot system

Technical field

The utility model relates to robot fields, and in particular to a kind of multipurpose sweeping robot system.

Background technique

Sweeping robot is that a kind of intelligent domestic is swept the floor equipment, can rely on certain artificial intelligence, automatic in certain occasions It walks.The body of robot is equipped with various sensors, can detect travel distance, walking angle (i.e. direction of travel), machine Body state and barrier etc. such as encounter wall or other barriers, can voluntarily turn, and according to different settings, and walk different Route is walked with having planning, can also construct grating map according to the various data that detect in walking process, such as detecting Corresponding grid cell is denoted as obstacle unit when barrier, and the grid cell for detecting corresponding when steep cliff is denoted as hanging Precipice unit, the grid cell that normal walking is passed through are denoted as unit etc. of having passed by.Current sweeping robot, which only has, to be swept Ground and the simple functions to mop floor, function is relatively simple, needs further new function research and development.

Utility model content

To solve the above problems, the utility model provides a kind of multipurpose sweeping robot system, it not only can be independent Cleaning works is carried out, the toy car that can be combined with children's ride-on is walked together, and realization cleans on one side, on one side for entertainment for children Function.The specific technical solution of the utility model is as follows:

A kind of multipurpose sweeping robot system, comprising: sweeping robot, it being capable of autonomous and to the ground walked It is cleaned；Toy car is connect with the sweeping robot, the seating for children；Control unit is set to the toy car Inside controls the toy car band for receiving the control instruction of the sweeping robot, and according to the received control instruction of institute Move sweeping robot automatically walk together.

Further, the toy car includes: car body, for the seating of children, the car body be equipped with for it is described The docking section of sweeping robot connection；The bottom of the car body is arranged in wheel, for driving the car body to be moved；Vehicle Power supply is set in car body, for powering to wheel electrical machine and control unit；Described control unit, for receive it is described After the control instruction of sweeping robot, the revolving speed of the wheel electrical machine is controlled.

Further, the sweeping robot includes: main body of sweeping the floor, for adsorbing the impurity on ground, the main body of sweeping the floor It is equipped with the interconnecting piece cooperated with the docking section of the toy car；Driving wheel is connect with the main body of sweeping the floor, described for driving Main body of sweeping the floor walking；Main control module is arranged in the body interior of sweeping the floor, for not having in the interconnecting piece and the docking section When connection, the driving wheel is controlled to drive the main body walking of sweeping the floor, and for connecting in the interconnecting piece and the docking section The steering for main body of sweeping the floor when connecing, described in control, and the control unit of control instruction to the toy car is issued, to control the object for appreciation Has the revolving speed of the wheel electrical machine of vehicle.

Further, the interconnecting piece is equipped with electric connecting terminal, and the electric connecting terminal is connected to the main control module；It is described right Socket part is equipped with electric butt end, and the electricity butt end is connected to described control unit；The interconnecting piece is connected to the docking section When together, the electric connecting terminal contacts with each other with the electric butt end.

Further, it is additionally provided on the interconnecting piece and becomes for detecting the distance between the interconnecting piece and the docking section The range sensor of change.

Further, elastic buffer portion is additionally provided between the interconnecting piece and the docking section.

A kind of multipurpose sweeping robot system provided by the utility model, by the control unit inside toy car, by Sweeping robot indirectly controls the toy car and drives sweeping robot automatically walk together, so that sweeping robot is not only It can carry out cleaning works, moreover it is possible to it is combined into a kind of intelligent entertainment for children toy for capableing of automatically walk with toy car, thus Improve the function and value of sweeping robot.

Detailed description of the invention

Fig. 1 is the construction module schematic block diagram of the multipurpose sweeping robot system.

Fig. 2 is the structural schematic diagram of the toy car shown from side.

Fig. 3 is the structural schematic diagram of the toy car shown from top.

Fig. 4 is the schematic perspective view of the sweeping robot.

Fig. 5 is the overlooking structure diagram of the sweeping robot.

Fig. 6 is the structural schematic diagram that sweeping robot and toy car are combined together.

Fig. 7 is a kind of flow diagram of the control method of multipurpose sweeping robot system.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Detailed description.It should be appreciated that specific embodiment disclosed below is only used for explaining the utility model, it is not used to limit this reality With novel.

Sweeping robot described in the utility model is a kind of intelligent sweeping robot, includes at least such as flowering structure: band There is a machine human organism for capableing of autonomous of left driving wheel and right driving wheel, body is equipped with human-computer interaction interface, on body Equipped with obstacle detection unit.Internal body is provided with inertial sensor, and the inertial sensor includes accelerometer and gyroscope etc., It is designed with the odometer (usually code-disc) of the travel distance for detecting driving wheel on two driving wheels, is additionally provided with and is capable of handling The parameter of related sensor, and the main control module of execution unit can be output a control signal to.

As shown in Figure 1, the multipurpose sweeping robot system include: can autonomous and to the ground walked into The sweeping robot that row cleans.The toy car of seating for children, the toy car can removably with the sweeper Device people connection, when not needing for entertainment for children, the two is separated, and sweeping robot individually carries out cleaning works, and sweeping efficiency is high, When needing for entertainment for children, the two is combined, carries children's automatically walk on one side, carries out cleaning works on one side, service efficiency is high. The control unit being set to inside the toy car, described control unit respectively with the main control module of the sweeping robot and institute The wheel electrical machine connection for stating toy car, the control instruction that the main control module for receiving the sweeping robot issues, and according to Received control instruction control the toy car wheel electrical machine operating, to drive the sweeping robot automatic row together It walks.The system is indirectly controlled as sweeping robot and is swept described in the toy car drive by the control unit inside toy car Floor-washing robot automatically walk together, so that sweeping robot can not only carry out cleaning works, moreover it is possible to be combined into toy car A kind of intelligent entertainment for children toy for capableing of automatically walk, to improve the function and value of sweeping robot.

Preferably, the toy car includes the car body for children's ride-on, and the shape of car body can be small similar to spacious paulin The body shapes of automobile are also possible to upper surface and are equipped with the cylindrical shape, etc. for taking space.The car body be equipped with for The docking section of the sweeping robot connection, the docking section can be set in the front end of car body, also can be set in car body Rear end, the docking section can be set to bulge-structure, and perhaps groove structure may be set to be latch or card slot, can be with It is set as the fixed structure, etc. being fixedly connected with appended claims such as bolts.The toy car further includes described for driving Car body carries out mobile wheel, and the bottom of the car body is arranged in the wheel, is driven and is operated by wheel electrical machine.It is also set in car body There is vehicle power supply, vehicle power supply is powered by power supply line to power devices such as wheel electrical machine and control units.Described control unit is one A control circuit is arranged in car body, and the control circuit can control toy car and realize not according to the unlike signal received Same operating status.For example, described control unit is after the control instruction for receiving the sweeping robot, according to the control Instruction is to control the revolving speed of the wheel electrical machine, so that the speed of travel of the sweeping robot and toy car is controlled, at this point, playing The walking for having vehicle and sweeping robot is automatically controlled by sweeping robot.If toy car and sweeping robot are in separation State, then described control unit is according to the acceleration signals of the toy car received itself, brake signal, car body wig-wag signal, sound Happy play signal etc. controls the toy car and executes corresponding movement, at this point, the toy car can be grasped completely by user oneself Control.As shown in Figures 2 and 3, the toy car uses the body shapes of convertible car, and 11 bottom of car body is set there are four wheel 12, the front end of car body 11 is equipped with latch 13, be equipped in the middle part of car body 11 take space 111, seat 112 and steering wheel 113 etc. can be with For the structure member of children's ride-on and operation.Since the toy car has independent control unit, and described control unit is also Communication control can be carried out with sweeping robot, so the toy car not only can supply to have independently separately as normal toy The children of control ability carry out operation traveling, moreover it is possible in conjunction with sweeping robot, as the toy for capableing of automatically walk, for not having There is the children's ride-on of autonomous control ability, makes children not need to operate the enjoyment that can also enjoy by bus, to improve toy The use scope and using effect of vehicle.

Preferably, as shown in Figure 4 and Figure 5, the sweeping robot includes: the main body of sweeping the floor for adsorbing the impurity on ground 21, the body interior of sweeping the floor is equipped with cleaning vacuum plant and corresponding suction and exhaust structure.It is additionally provided in the main body 21 of sweeping the floor The interconnecting piece 22 cooperated with the docking section of the toy car, the interconnecting piece are the card slot that 21 top surface of main body of sweeping the floor is arranged in The latch of structure, the notch and above-mentioned toy car cooperates, when the two is fastened togather, toy car and machine of sweeping the floor People can be securely attached together.Certainly, the interconnecting piece may be set to be other shapes, such as boss structure, then institute Stating docking section needs the groove structure for being provided accordingly to be cooperatively connected with the boss or interconnecting piece and docking section to be set as connecting Connect the mating connection structure, etc. of column and connecting hole.The front end (i.e. that one end of direction of advance) of the main body of sweeping the floor is equipped with and touches Detector bar 24 is hit, when sweeping robot collides barrier, which can shrink and trigger a detection signal To main control module, main control module can learn that sweeping robot encounters barrier, and control robot carry out turn to or The other operations of person.The bottom of the main body of sweeping the floor, which is set, sees Fig. 6 there are two driving wheel 23 and a universal wheel 27(), pass through the drive The operating of driving wheel 23 can drive the main body walking of sweeping the floor.The body interior of sweeping the floor is equipped with main control module, the master control mould Block can control the positioning and independent navigation walking of sweeping robot.The main control module judge the interconnecting piece with it is described right When socket part does not connect, show that sweeping robot can individually carry out cleaning works, as long as at this point, receiving beginning sweeper The control instruction of work, the main control module will directly control the driving wheel operating, to sweep the floor main body by system described in driving The planning path of setting is walked, and corresponding cleaning works is carried out.Judge that the interconnecting piece is docked with described in the main control module When portion connects, show that sweeping robot needs to move together with toy car, user wishes that child can the object for appreciation of one side vehicles as toys It plays, sweeping robot can carry out cleaning works on one side, as long as at this point, sweeping robot receives the instruction of start-up operation, The control unit of control instruction to the toy car is issued, is got into smooth with controlling the wheel electrical machine of the toy car, It pushes the sweeping robot to walk by toy car, at this point, the driving wheel 23 of sweeping robot is set as dallying, can save in this way The electric energy of sweeping robot improves the cleaning time for cleaning main body, only when main control module judgement is turned to, just meeting The driving wheel operating is controlled, the steering of the main body of sweeping the floor is realized by the rotational speed difference of two driving wheels, thus drives and plays Tool vehicle turns to together.So the system is by the driving force by toy car as walking, sweeping robot as steering power, The reasonable disposition that the energy of system may be implemented improves system and uses time and using effect.

Preferably, as shown in figure 5, the interconnecting piece 22 is equipped with electric connecting terminal 26, the electric connecting terminal is connected to the master Control module.As shown in Fig. 2, the docking section 13 is equipped with electric butt end 14, the electricity butt end 14 is connected to described control unit. As shown in fig. 6, the front end of toy car rides on the body of sweeping robot, so that the front end wheel of toy car does not land, toy Vehicle is walked by the wheel driving toy car of rear end, and can be push sweeping robot and be walked together, the driving of sweeping robot Wheel lands always, plays a part of course changing control.At this point, what the interconnecting piece 22 was connected together with the docking section 13, The electric connecting terminal 26 contacts with each other with the electric butt end 14, electrical connection is realized, so that the main control module and the control It can carry out data transmission between unit.The electric connecting terminal 26 and electric butt end 14 are simple fast using the connection type abutted Victory, user's operation are got up very convenient, are not needed to carry out additional attended operation, are improved product usage experience.

Preferably, it is additionally provided on the interconnecting piece for detecting the variation of the distance between the interconnecting piece and the docking section Range sensor, the range sensor can be using the devices such as infrared distance sensor or laser range sensor.Such as Shown in Fig. 4 and Fig. 6, the interconnecting piece uses the structure type of arc groove, in outer arc side (the i.e. camber line phase of the arc groove Compare longer side) inner sidewall on the range sensor 25 is set, when toy car push sweeping robot normal walking When, the distance value that range sensor 25 detects remains a certain numerical value, might have some floatings.If sweeping robot does not have Barrier is collided, but toy car collides barrier, at this point, the distance value that range sensor 25 detects can become suddenly Greatly, then sweeping robot carries out steering operation it is determined that toy car encounters barrier.For example, sweeping robot bores Into sofa bottom, but toy car volume is larger, cannot be introduced into sofa bottom, at this point, toy car will collide the side wall of sofa.

Preferably, it is additionally provided with elastic buffer portion between the interconnecting piece and the docking section, the elastic buffer portion can be with Using elastomeric elements such as elastic rubber or springs.The elastic buffer portion can be set on interconnecting piece, also can be set right In socket part.By the way that elastic buffer portion is arranged, the hard contact between toy car and sweeping robot can be effectively relieved, improve system Service life and the comfort that uses.

As shown in fig. 7, a kind of control method of multipurpose sweeping robot system, includes the following steps: firstly, described sweep The main control module of floor-washing robot receives the docking section of the toy car and the interconnecting piece of the sweeping robot is interconnected Trigger signal is connected, determines that the toy car has linked together with sweeping robot.Then, user presses sweeping robot Beginning key, the main control module of sweeping robot receives the starting trigger signal to bring into operation.Then, the main control module Main body of sweeping the floor with regard to controlling the sweeping robot starts to adsorb the impurity on ground, at this point, the driving wheel of sweeping robot is not Operating.And then, the control signal that the main control module is inputted by system configuration information or user, determines walking path Afterwards, the main control module issues the control unit of corresponding control instruction to the toy car, and described control unit receives this It after control instruction, analyzes the control instruction and outputs control signals to wheel electrical machine, control the wheel electrical machine and start running, from And drive toy car that sweeping robot is driven to start to walk together.During walking, sweeping robot is based on the used of itself Property navigation system and SLAM technology, real-time perfoming self poisoning and navigation, when needing to turn to, the main control module will issue drive Dynamic instruction controls the main body of sweeping the floor to the driving wheel of the sweeping robot with the rotational speed difference by two driving wheels Steering so that the toy car follows the sweeping robot to be turned to together.The method by control toy car into Row driving walking, then course changing control is carried out by sweeping robot, so that the intelligent walking of whole system is realized, so that sweeper Device people not only has cleaning function, while also having amusement function, improves the purposes and using effect of sweeping robot.

Preferably, start the impurity on absorption ground in the main body of sweeping the floor that the main control module controls the sweeping robot It further include following steps after step, and before the main control module issues the control instruction or driving instruction: search Grating map constructed by the sweeping robot determines that path width is greater than the walking of the sweeping robot body width of three times Path.Wherein, the path refers to the path that the grid cell that robot had walked is constituted.The path width refers to vertically Width in the path both ends in robot ambulation direction.Since the car body of toy car is more roomy, there are some robots that can go The region arrived, but toy car is but gone not.So sweeping robot needs first to search for and determine that toy car can be with normal walking Path be determine path width be greater than three times sweeping robot body width walking path.It is determining and can walk Behind path, it is also necessary to extend the mode that situation determines walking for different paths.At this point, main control module judges the walking Whether path constitutes closed circuit, if it is, walking around the closed loop cycle, with the children rided in toy car It plays.If it is not, then walking one by one along the walking path, while realization is played, ground-to-ground face is carried out clearly comprehensively as far as possible It sweeps, achievees the effect that play and clean to neglect neither.

It preferably, further include following steps during along walking path walking: when the main control module judges Sensor distance detected in the distance between the docking section of the interconnecting piece of the sweeping robot and the toy car is greater than pre- If distance value, show that the front end crash of toy car has arrived barrier, and sweeping robot is not impinging upon barrier, for example sweeps the floor Robot has crept into sofa bottom, and toy car is blocked in outside sofa side wall, pushes away at this point, toy car loses to sweeping robot Power, sweeping robot continue to move along under the action of inertia so that docking section far from the position where range sensor (such as Shown in Fig. 6), the distance value that range sensor detects increases.The pre-determined distance value can be according to specific sensor type Accordingly it is arranged with the structure type of interconnecting piece and docking section, is not limited thereto.The main control module judgement is detected Distance value be greater than pre-determined distance value after, the control unit of control instruction to the toy car is issued, to indicate the control singly Member controls the wheel electrical machine and stops operating, so that toy car and sweeping robot halt, and issues driving instruction to institute The driving wheel of sweeping robot, the steering for main body of sweeping the floor described in adjustment are stated, the mode of adjustment can be first two driving wheels of control Certain distance is retreated, recycles the forward speed difference of two driving wheels to realize and turns to adjustment, can also directly utilize two drives The forward speed difference of driving wheel realizes that fixed point turns to adjustment using the effect of skidding.After adjusting steering, main control module is issued Control instruction is to the control unit of the toy car, and instruction described control unit controls the wheel electrical machine and starts turning, by playing Tool vehicle pushes sweeping robot and walks together, leaves the barrier.The method passes through between detection interconnecting piece and docking section Distance change determine that toy car collides barrier, clean robot will not hit on the state of barrier, to avoid sweeping The problems such as robot or toy car that floor-washing robot unconsciously advances caused by force are impaired, and original place exhausts electricity, improves The intelligence of system and wheel efficiency.

Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to The relevant hardware of program instruction is crossed to complete.These programs can store in computer-readable storage medium (such as ROM, The various media that can store program code such as RAM, CPU, MCU, magnetic or disk) in.The program when being executed, executes packet The step of including above-mentioned each method embodiment.

Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis What is illustrated is all differences from other embodiments, and same or similar part may refer to each other between each embodiment, respectively Technical solution between embodiment can be combined with each other.The above various embodiments is merely to illustrate the technical side of the utility model Case, rather than its limitations, although the present invention has been described in detail with reference to the aforementioned embodiments, this field it is common Technical staff is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new The range of each embodiment technical solution of type.

Claims (6)

1. a kind of multipurpose sweeping robot system characterized by comprising

Sweeping robot autonomous and can clean the ground walked；

Toy car is connect with the sweeping robot, the seating for children；

Control unit is set to inside the toy car, for receiving the control instruction of the sweeping robot, and according to being connect The control instruction of receipts controls the toy car and drives sweeping robot automatically walk together.

2. system according to claim 1, which is characterized in that the toy car includes:

Car body, for the seating of children, the car body is equipped with the docking section for connecting with the sweeping robot；

The bottom of the car body is arranged in wheel, for driving the car body to be moved；

Vehicle power supply, is set in car body, for powering to wheel electrical machine and control unit；

Described control unit, for after the control instruction for receiving the sweeping robot, controlling turning for the wheel electrical machine Speed.

3. system according to claim 2, which is characterized in that the sweeping robot includes:

It sweeps the floor main body, for adsorbing the impurity on ground, the main body of sweeping the floor is equipped with and the cooperation of the docking section of the toy car Interconnecting piece；

Driving wheel is connect with the main body of sweeping the floor, for driving the main body walking of sweeping the floor；

Main control module, setting is in the body interior of sweeping the floor, for controlling when the interconnecting piece is not connect with the docking section The driving wheel is made to drive the main body walking of sweeping the floor, and for controlling when the interconnecting piece is connect with the docking section The steering of the main body of sweeping the floor, and the control unit of control instruction to the toy car is issued, to control the institute of the toy car State the revolving speed of wheel electrical machine.

4. system according to claim 3, it is characterised in that:

The interconnecting piece is equipped with electric connecting terminal, and the electric connecting terminal is connected to the main control module；

The docking section is equipped with electric butt end, and the electricity butt end is connected to described control unit；

When the interconnecting piece and the docking section link together, the electric connecting terminal contacts with each other with the electric butt end.

5. system according to claim 4, it is characterised in that:

The Distance-sensing for detecting the variation of the distance between the interconnecting piece and the docking section is additionally provided on the interconnecting piece Device.

6. system according to claim 4, it is characterised in that:

Elastic buffer portion is additionally provided between the interconnecting piece and the docking section.