CN208551662U - Sweeping robot - Google Patents

Abstract

The utility model discloses a kind of sweeping robot, wherein the sweeping robot includes shell, control module and the mobile module connecting with control module and dedusting module, sweeping robot further includes connecting with control module: Power Component, can fix including the fixed part opposing stationary with shell and relatively the movable movable part in portion；Laser radar component, including connect with movable part bottom plate, be set on the bottom plate and opposed bottom is around the rotation section that the axis of a vertical direction rotates and the laser radar that connect with rotation section；Wherein, movable part is for being raised and lowered height of the bottom plate with respect to shell；And bottom plate, when being increased to the extreme higher position of opposite shell, the position of laser radar is higher by shell；Power Component, control module, the height of mobile module and dedusting module are not more than the height of shell.It is higher that technical solutions of the utility model are able to solve existing sweeping robot whole height, the problem of without can enter compared with low spatial.

Description

Sweeping robot

Technical field

The utility model relates to sweeping robot field, in particular to a kind of sweeping robot.

Background technique

Sweeping robot huge number at present, in order to improve sweeping robot degree of intelligence, machine of more and more sweeping the floor People is equipped with the function of establishing map, generally realizes the function using following two mode.One is former based on laser radar reflection Reason is to establish map；Another kind is to establish map based on camera visual odometry；Due to building figure often based on camera Influence is illuminated by the light than more serious, and calculation amount is especially big, also fewer at present, market mainly or based on laser radar is established Based on map.

But since laser radar generally requires to be fixed on relatively high position, lead to the whole high of sweeping robot Degree is higher, so that sweeping robot not can enter the relatively low small spaces of many height, such as under sofa, under bed etc. Place cannot enter.

Utility model content

The main purpose of the utility model is to provide a kind of sweeping robot, it is intended to it is whole high to solve existing sweeping robot Spend it is higher, the problem of without can enter compared with low spatial.

To achieve the above object, the utility model provides a kind of sweeping robot, including shell, control module and with institute The mobile module and dedusting module, the sweeping robot for stating control module connection further include connecting with the control module:

Power Component, including the fixed part opposing stationary with the shell and being capable of the relatively described movable activity of fixed part Portion；

Laser radar component, including connect with the movable part bottom plate, be set to the bottom plate on and the relatively described bottom plate Around the rotation section that the axis of a vertical direction rotates and the laser radar being connect with the rotation section；

Wherein, the movable part is used to be raised and lowered the height of the relatively described shell of the bottom plate；And the bottom plate exists When being increased to the extreme higher position of the relatively described shell, the position of the laser radar is higher by the shell；The Power Component, control The height of molding block, mobile module and dedusting module is not more than the height of the shell.

Preferably, the movable part is a shaft being vertically arranged, and the outer wall of the shaft is equipped with external screw thread, the bottom plate It is equipped with the first through hole through itself plate face, the bottom plate is set in the shaft by the first through hole, and described The internal screw thread cooperated with the external screw thread is equipped in through-hole.

Preferably, the laser radar is set in the rotation section；And the lower surface of the rotation section corresponds to the shaft Equipped with the second through-hole, when the height of the relatively described shell of the bottom plate is minimum, the top insertion described second of the shaft is logical In hole.

Preferably, the upper surface of the shell is equipped with an opening, and the laser radar component is contained in by the opening In the shell.

Preferably, the laser radar is set in the rotation section, described when the rotation section enters in the shell The upper surface of rotation section is concordant with the upper surface of the shell.

Preferably, it is formed with protrusion on one in the shell and in the lateral wall of the bottom plate, formation on another There is the groove being adapted to the raised grafting；And the intracorporal raised or elongated setting of groove of shell.

Preferably, the lateral wall of the bottom plate is formed with the protrusion of the plate outer side protrusion outward, shape in the shell The sliding slot of the sliding adaptation of protrusion described in Cheng Youyu；And the cell wall of the sliding slot is formed with a length direction setting along the sliding slot Resistance, the cross-sectional area of the resistance is all the same, and the protrusion is electrically connected with the resistance.

Preferably, the protrusion and the structure setting of groove cooperation are two groups, and two groups of structures are oppositely arranged.

Preferably, one end of the resistance and the protrusion respectively as an access point and a resistance are series at a circuit In.

Preferably, the movable part is a contractile bar moved along the vertical direction.

The activity that technical solutions of the utility model pass through the height for the relatively described shell of the bottom plate to be raised and lowered Portion, and the rotation section in laser radar component is arranged on the bottom plate, to realize that rotation section is opposite by movable part The shell raises and reduces, and drives raising and reducing for the relatively described shell of the laser radar.By realizing laser Radar raises and reduces, and on the one hand can establish the map of certain altitude range, to obtain a more comprehensive cleaning ground Figure can determine which position sweeping robot can enter, which position cannot enter；On the other hand, as described in setting The position of laser radar can be higher by the shell, and the position of the laser radar is liftable, then, in the utility model The maximum height of sweeping robot can be defaulted as by the position of laser radar come fixed, and the maximum height of the sweeping robot is It can be reduced by reducing the position of laser radar, in this way, when encountering some lower spaces, it can be by reducing laser thunder The position reached, and realize that sweeping robot enters the lower space, to be cleaned.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the structure diagram of the utility model sweeping robot；

Fig. 2 is the broken away view of part-structure in sweeping robot shown in Fig. 1；

Fig. 3 is the circuit for measuring associated components height in the utility model sweeping robot by setting slide rheostat Figure；

Fig. 4 is the flow chart of the method for establishing map of the utility model sweeping robot.

Drawing reference numeral explanation:

Label	Title	Label	Title
				10	Shell	11	Guide rail
111	Sliding slot	21	Movable part
				211	External screw thread	31	Bottom plate
311	Protrusion	312	First through hole
				313	Internal screw thread	32	Rotation section
321	Second through-hole

The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.

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 Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, fall within the protection scope of the utility model.I.e. it should be appreciated that tool described herein Body embodiment is only used to explain the utility model, is not used to limit the utility model.

The utility model proposes a kind of sweeping robots.

As illustrated in fig. 1 and 2, the sweeping robot in the utility model include shell 10, control module and with the control The mobile module and dedusting module, the sweeping robot of molding block connection further include connecting with the control module:

Power Component, including the fixed part opposing stationary with the shell 10 and being capable of the relatively described movable work of fixed part Dynamic portion 21；

Laser radar component, including connect with the movable part 21 bottom plate 31, be set on the bottom plate 31 and opposite institute Bottom plate 31 is stated around the rotation section 32 that the axis of a vertical direction rotates and the laser radar connecting with the rotation section 32；

Wherein, the movable part 21 is used to be raised and lowered the height of the relatively described shell 10 of the bottom plate 31；And it is described For bottom plate 31 when being increased to the extreme higher position of the relatively described shell 10, the position of the laser radar is higher by the shell 10；Institute The height for stating Power Component, control module, mobile module and dedusting module is not more than the height of the shell 10.

The utility model by using the height for the relatively described shell 10 of the bottom plate 31 to be raised and lowered activity Portion 21, and the rotation section 32 in laser radar component is arranged on the bottom plate 31, turns to be realized by movable part 21 The dynamic shell 10 relatively of portion 32 raises and reduces, and drives the raising and drop of the relatively described shell 10 of the laser radar It is low.By realizing raising and reducing for laser radar, the certain altitude range (extreme lower position of the laser radar on the one hand can be established Range between extreme higher position) map, thus obtain one more comprehensively clean map, can determine sweeping robot Which position can enter, which position cannot enter；On the other hand, since the position that the laser radar is arranged can be higher by The shell 10, and the position of the laser radar is liftable, then, the maximum height of sweeping robot in the utility model It can be defaulted as by the position of laser radar come fixed (understanding scheme for convenience, ignore the height of rotation section 32 for the time being), and should The maximum height of sweeping robot is can be reduced by reducing the position of laser radar, in this way, some lower when encountering When space, it can realize sweeping robot by reducing the position of laser radar and enter the lower space, to be cleaned.

Specifically, when the height in the lower space is 7cm, by the shell that sweeping robot in the utility model is arranged The minimum altitude of body 10 is less than 7cm, and setting laser radar component can be contained in the shell 10, in this way, should when reducing When the height of laser radar component, sweeping robot can be made to enter the lower space；And when increasing the laser radar, then One can be established and more comprehensively clean map, laser radar can be such as increased to the height apart from ground 9cm, then in 7-9cm It the space of this altitude range can be by laser radar scanning.

It is noted that the control module mentioned in the utility model can be set to shell 10 in, mobile module and Dedusting module part is set in shell 10, and the mobile module and dedusting module need after all and ground face contact, and shell 10 cannot It is not more than the height of shell 10 with the height of ground face contact, and setting control module, mobile module and dedusting module；Wherein power Fixed part in component can connect directly and inside shell 10, can also be indirectly connected with by other connectors；Wherein, rotation section 32 A brushless motor can be collectively formed between bottom plate 31, rotation section 32 is equivalent to the rotor of the brushless motor at this time, to realize Rotation of the rotation section 32 relative to bottom plate 31, certainly, other types of motor can also.

Wherein, movable part 21 can be a contractile bar moved along the vertical direction, such as the moving lever in air cylinder structure, At this point, the bottom plate 31 in laser radar component can directly and the moving lever is connected and fixed connection.

As illustrated in fig. 1 and 2, it is a shaft being vertically arranged that the movable part 21, which is arranged, and the outer wall of the shaft is equipped with outer Screw thread 211, the bottom plate 31 are equipped with the first through hole 312 through itself plate face, and the bottom plate 31 passes through the first through hole 312 are set in the shaft, and the internal screw thread 313 cooperated with the external screw thread 211 is equipped in the through-hole.This specific turn Axis can be the shaft of a motor, at this point, fixed part is equivalent to the stator of the motor, the stator can with shell 10 directly or It connects and is fixedly connected, thus realize that the relatively described shell 10 of fixed part is static, and movable part 21 being capable of the relatively described fixed part activity Purpose.At this point, the external screw thread 211 being arranged on the shaft outer wall is matched with the internal screw thread 313 in first through hole 312 on bottom plate 31 It closes, the relatively described shell 10 of bottom plate 31 can be realized during shaft positive and negative rotation and be raised and lowered, swash to finally drive Optical radar is raised and lowered.It is contemplated that the shaft is also possible to through cylinder or motor connection gear and/or belt Equal driving members drive the bull stick having, as long as the bull stick is able to satisfy rotating requires among the above.

In order to further simplify the structure of sweeping robot, the laser radar is set in the rotation section 32, " perspective structure " passed in and out for the light of laser radar, such as glass can be set in the outer wall of rotation section 32 at this time；Meanwhile in order to Entire sweeping robot minimum altitude is reduced, the lower surface that the rotation section 32 is arranged corresponds to the shaft equipped with the second through-hole 321, when the height of the relatively described shell 10 of the bottom plate 31 is minimum, second through-hole 321 is inserted on the top of the shaft It is interior, it is preferred that as shown in Figure 1, the second through-hole 321 of setting runs through rotation section 32；In this way, when the bottom plate 31 be lowered to it is minimum When position, the top of shaft is inserted into second through-hole 321, is inserted into second through-hole 321 at this point, the shaft can be saved The occupied space of structure, and the rotation section 32 can be made to reduce position as much as possible, to reduce entire sweeping robot Minimum altitude.

It is equipped with an opening (not identifying) in the upper surface of the shell 10 in the utility model, the laser radar component is logical It crosses the opening to be contained in the shell 10, be passed in and out in the shell 10 in this way, laser radar can be realized by the opening, And when the laser radar component is contained in the shell 10, at this point, the minimum altitude of the sweeping robot is shell 10 Maximum height；Meanwhile laser radar is in shell 10, can prevent extraneous dust from sheltering from the transmitting and reception of laser radar Mouthful.

In order to maximumlly utilize space, the laser radar is set in the rotation section 32, when the rotation section When in the 32 entrance shells 10, the upper surface of the rotation section 32 is concordant with the upper surface of the shell 10, in this way, can also prevent Only dust is fallen into shell 10 by above-mentioned opening.Wherein, plane can be set into the upper surface of shell 10, also can be set At curved face type, correspondingly, the upper surface of rotation section 32 is matching.

As illustrated in fig. 1 and 2, when the laser radar component can be contained in the shell 10 by the opening, When the height of the relatively described shell 10 of the bottom plate 31 is raised and lowered, in order to reinforce the stability that the bottom plate 31 moves, if It sets and is formed with protrusion 311 on one in the shell 10 and in the lateral wall of the bottom plate 31, be formed on another and institute State the groove of raised 311 grafting adaptation；And protrusion 311 or the elongated setting of groove in the shell 10, so as to form institute The structure for stating the protrusion 311 or groove in shell 10 forms a guide rail 11, accordingly in the lateral wall of bottom plate 31 described above Groove or protrusion 311 can be moved along the guide rail 11, to achieve the purpose that limiting bottom plate 31 moves, to guarantee the steady of its movement It is qualitative.Preferably, as illustrated in fig. 1 and 2, the protrusion 311 and the structure of groove cooperation may be configured as two groups, which may be used also It is oppositely arranged, further to reinforce the stability of the movement of bottom plate 31.

As shown in Fig. 2, the lateral wall that the bottom plate 31 is arranged is formed with the protrusion protruded on the outside of the outside bottom plate 31 311, the sliding slot 111 being adapted to raised 311 sliding is formed in the shell 10；And the cell wall of the sliding slot 111 is formed Have one along the sliding slot 111 length direction be arranged resistance, the cross-sectional area of the resistance is all the same, described raised 311 with The resistance electrical connection.At this point, when the opposite shell 10 of the bottom plate 31 moves up and down, it is convex on 31 lateral wall of bottom plate It plays 311 to be electrically connected along the resistance length direction position different from resistance, aobvious and opinion, the protrusion 311 and resistance form one Slide rheostat can be counted when by one circuit of the slide rheostat and access by way of detecting voltage and or current The resistance value of the slide rheostat is calculated, then according to the formula R=ρ L/S and Ohm's law formula I=of the resistance value, the law of resistance U/R, you can get it L, i.e., that point to the protrusion 311 and resistance of above-mentioned resistance access circuit are electrically connected the distance of contact, then root According to the height of each component in the L and sweeping robot, the height of laser radar can be easily calculated.

Specifically, one end of that is, described resistance and the protrusion are respectively as shown in figure 3, giving a kind of simple circuit It is series in a circuit as an access point and a resistance, to be used to measure L, by slide rheostat R1 and a resistance among the above R2 series connection, and R1 and R2 it, carry out a voltage sample measure voltage V2, V1/ (R1+R2)=V2/ can be obtained according to Ohm's law R2 can calculate R1=(V1-V2) R2/V2, according to law of resistance formula R=ρ L/S, can calculate L=S (V1-V2) R2/ ρ V2.It is contemplated that can also be measured by other circuits, can also be measured by detecting electric current；Generally all due to control chip Has the function of sampled voltage, it is therefore preferable that the circuit of detection voltage.

The invention also discloses a kind of method for establishing map of sweeping robot, wherein the sweeping robot Referring to the sweeping robot in above-described embodiment, the laser radar has to be higher by the minimum of shell 10 and exceeds specific structure Position and highest exceed position, as shown in figure 4, the method for establishing map of the sweeping robot includes:

S10: the minimum height exceeded between position beyond position to the highest is divided into the vertical direction N number of Position；

S20: it controls after the laser radar moves to each position in N number of position, controls the rotation section 32 The laser radar is driven to rotate at least one week relative to the bottom plate 31, with foundation N number of plane earth corresponding with the N number of position Figure.

In order to enhance the accuracy of the map, the value of N is the bigger the better；Preferably, wherein N number of position may include minimum super Out position and highest exceed position.

It is noted that the measure of each position that the laser radar moves in N number of position can lead to Cross realizing by way of forming slide rheostat of mentioning in above-described embodiment.

The invention also discloses a kind of control method of sweeping robot, the control method packet of the sweeping robot The method for establishing relief map for the sweeping robot mentioned in above-described embodiment is included, the control method of the sweeping robot is also Include:

When the laser radar is in the position in N number of position, control the mobile module according to the N Plane map movement corresponding with the position in a plane map.The control method is the control when laser radar is higher by shell 10 Method processed.

It is noted that wherein N number of position is preferably mean allocation；When the position that the laser radar moves to When any position being not belonging in N number of position, at this point, can judge what the laser radar moved to according to nearby principle Position belongs to which position in N number of position, specifically, the position that the laser radar moves to is in location A and B When between setting, the location A and B location are defaulted as the laser radar movement close to the position that the laser radar moves to The position arrived；If the distance of the location A and B location apart from the position that the laser radar moves to is identical, can be defaulted as leaning on The position of nearly top or lower position.

When the height of the laser radar is less than or equal to 10 height of shell, at this point, laser radar may accommodate In shell 10, for the scanning effect of the laser radar with regard to very poor, the sweeping robot settable at this time further includes opposite institute State at least one static sensor of shell 10, the control method of the sweeping robot further include: control the mobile module It is mobile, sensor map is established by the sensor；The mobile module is controlled to move according to the sensor map.The control Method processed is the control method when the height of laser radar is less than or equal to shell 10.

Preferably, the sensor includes crash sensor, infrared sensor, ultrasonic sensor and acceleration transducer At least one of.

The above is only the preferred embodiments of the utility model, and therefore it does not limit the scope of the patent of the utility model, all Under the inventive concept of the utility model, equivalent structure transformation made based on the specification and figures of the utility model, or Directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.

Claims (10)

1. a kind of sweeping robot, including shell, control module and the mobile module being connect with the control module and dedusting Module, which is characterized in that the sweeping robot further includes connecting with the control module:

Power Component, including the fixed part opposing stationary with the shell and being capable of the relatively described movable movable part of fixed part；

Laser radar component, including connect with the movable part bottom plate, be set to the bottom plate on and the relatively described bottom plate around The rotation section of the axis rotation of one vertical direction and the laser radar being connect with the rotation section；

Wherein, the movable part is used to be raised and lowered the height of the relatively described shell of the bottom plate；And the bottom plate is increasing When to the extreme higher position of the relatively described shell, the position of the laser radar is higher by the shell；The Power Component, control mould The height of block, mobile module and dedusting module is not more than the height of the shell.

2. sweeping robot as described in claim 1, which is characterized in that the movable part is a shaft being vertically arranged, institute The outer wall for stating shaft is equipped with external screw thread, and the bottom plate is equipped with the first through hole through itself plate face, and the bottom plate passes through described First through hole is set in the shaft, and the internal screw thread cooperated with the external screw thread is equipped in the through-hole.

3. sweeping robot as claimed in claim 2, which is characterized in that the laser radar is set in the rotation section；And The lower surface of the rotation section corresponds to the shaft equipped with the second through-hole, when the height of the relatively described shell of the bottom plate is minimum When, the top of the shaft is inserted into second through-hole.

4. sweeping robot as described in claim 1, which is characterized in that the upper surface of the shell is equipped with an opening, described Laser radar component is contained in the shell by the opening.

5. sweeping robot as claimed in claim 4, which is characterized in that the laser radar is set in the rotation section, when When the rotation section is entered in the shell, the upper surface of the rotation section is concordant with the upper surface of the shell.

6. sweeping robot as claimed in claim 4, which is characterized in that in the shell and in the lateral wall of the bottom plate It is formed with protrusion on one, the groove being adapted to the raised grafting is formed on another；And the intracorporal protrusion of the shell or The elongated setting of groove.

7. sweeping robot as claimed in claim 6, which is characterized in that the structure setting that the protrusion and groove cooperate is two Group, and two groups of structures are oppositely arranged.

8. sweeping robot as claimed in claim 6, which is characterized in that the lateral wall of the bottom plate is formed with the outside bottom The protrusion protruded on the outside of plate is formed with the sliding slot being adapted to the protrusion sliding in the shell；And the cell wall shape of the sliding slot Cheng Youyi along the sliding slot length direction be arranged resistance, the cross-sectional area of the resistance is all the same, it is described protrusion with it is described Resistance electrical connection.

9. sweeping robot as claimed in claim 8, which is characterized in that one end of the resistance and it is described protrusion respectively as One access point and a resistance are series in a circuit.

10. sweeping robot as described in claim 1, which is characterized in that the movable part is a contractile vertically side To the bar of movement.