CN208957994U - Clean robot - Google Patents
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- CN208957994U CN208957994U CN201820615533.4U CN201820615533U CN208957994U CN 208957994 U CN208957994 U CN 208957994U CN 201820615533 U CN201820615533 U CN 201820615533U CN 208957994 U CN208957994 U CN 208957994U
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Abstract
Clean robot includes: including walking unit, control unit, cleaner unit, display unit, voice unit, collision detection unit, it is characterized by: detection of obstacles unit of the clean robot at least provided with a position data for detecting the barrier in cleaning region, detection of obstacles unit is installed on the top on front side of clean robot and connect with control unit, detection of obstacles unit includes over top the second detection module that whether there are obstacles for detecting the front of the clean robot first detection module that whether there are obstacles and for detecting clean robot.The utility model solves the problems, such as the front side that existing clean robot can not detect simultaneously clean robot and over top, and whether there are obstacles, and charging can not independently be recharged and cause user that can not timely and accurately find clean robot by solving the problems, such as that existing clean robot is easy to appear to rest in the lower area of space of indoor section.
Description
Technical field
The utility model relates to smart home fields, and in particular to a kind of clean robot for indoor cleaning.
Background technique
With popularizing for intellectual product, more and more people replace manually cleaning using clean robot indoor clear
Clean, existing clean robot is mainly divided to two kinds, a kind of to realize other side by the way that gyroscope is arranged in the inside of clean robot
To judgement, and clean robot is guided to advance in the proper direction, by the way that collision inspection is arranged in the front side of clean robot
Unit is surveyed to realize the detection to barrier, avoiding obstacles are walked to carry out indoor cleaning task；Another kind is by cleaning
Laser navigation module is arranged to realize the detection to indoor barrier and construct indoor map, to guide in the top of robot
Clean robot advances in the right direction and avoiding obstacles walking is to carry out indoor cleaning task.
Existing clean robot can only detect the barrier of indoor horizontal direction, can not detect the top of clean robot
Whether there are obstacles above portion, during detecting barrier mainly by collision detection unit or laser navigation module come
It realizes to being detection to the barrier on indoor horizontal direction；When clean robot encounters lower area of space, such as bed
Bottom, the bottom of sofa, tables and chairs the regions such as bottom when, clean robot is easy to appear the problem of blocking or breaking；Existing market
Upper part clean robot can construct map, but the map constructed is only able to display water outlet square upward barrier, can not visit
The correspondence map that whether there are obstacles on vertical direction is surveyed and constructs, clean robot is easy during execution is clean
The problem of appearance is collided or is blocked.
Existing clean robot can not detect the top of clean robot, and whether there are obstacles, corresponding can not generate
Taboo sweeps region, as prevents clean robot entering part cleaning region and executes clean up task, also can not be to not needing often to beat
Region is cleaned to set corresponding cleaning mode in the part disturbed, and such as regular cleaning mode or deep clean mode or restricted area are clear
Clean mode etc.；Such as: indoor bed bottom or the bottom of sofa do not need frequent clean region usually, only need to periodically clean i.e.
Can or user specify clean robot at a time to enter sofa or the bottom at bed bottom is cleaned, existing clean robot
It can not accurately identify the barrier on indoor vertical direction, corresponding can not generate including the barrier on vertical direction
Related local map, also can not corresponding setting is related limits clean mode, lead to that poor user experience, cleaning effect are poor, cover
Lid rate is low.
Existing clean robot exception short of electricity situation is more, and clean robot can rest on the indiscoverable interior space and lead
Family of applying is difficult to find that；Such as the lower area of space such as bed bottom or the bottom of sofa；When clean robot low battery
It waits, clean robot enters the bottom of a bottom or sofa, causes clean robot difficult because of the environment of its bottom space complexity
Timely to exit the region, what clean robot can not be autonomous at this time recharges charging, and the electricity of clean robot is caused to exhaust
The bottom of a bottom or sofa is rested on afterwards, and user is difficult to accurately find clean robot at this time, and user experience effect is poor.
Utility model content
The utility model be intended to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.
For this purpose, the purpose of this utility model is to provide a kind of clean robots, mainly solve existing clean robot without
The problem of whether there are obstacles on vertical direction in method detection cleaning region, can not as detect on the top of clean robot
Square the problem of whether there are obstacles；Solving existing clean robot can not detect simultaneously on the front side and top of clean robot
Square the problem of whether there are obstacles；Corresponding deep clean can not be set to part cleaning region by solving existing clean robot
The problem of mode or taboo sweep the specific cleaning modes such as cleaning mode solves existing clean robot and is easy to appear stop indoors
The problem of charging can not be independently recharged in the lower area of space in part and user can not timely and accurately find clean robot
The problem of in indoor where.
The embodiments of the present invention provides a kind of clean robot, clean robot include: including walking unit,
Control unit, cleaner unit, display unit, voice unit, collision detection unit, it is characterised in that: clean robot is at least set
It is equipped with the detection of obstacles unit of a position data for detecting the barrier in cleaning region, detection of obstacles unit peace
It connect loaded on the top on front side of clean robot and with control unit, detection of obstacles unit includes for detecting clean robot
The front first detection module that whether there are obstacles and over top for detecting clean robot whether there is obstacle
Second detection module of object.
A kind of clean robot above-mentioned, the first detection module include the first emission part of emission level detection signal
With the first receiving unit for receiving the horizontal detection signal that the first emission part issues；When the first receiving unit receives horizontal detection signal
When, control unit determines that there are barriers in front of clean robot at this time.
A kind of clean robot above-mentioned, second detection module include the second emission part for emitting vertical detection signal
With the second receiving unit for receiving the vertical detection signal that the second emission part issues；When the second receiving unit receives vertical detection signal
When, there are barriers for the over top of the clean robot of control unit judgement at this time.
A kind of clean robot above-mentioned, described control unit and display unit are wirelessly connected, and position data includes level
The position data of barrier in the position data and vertical direction of barrier on direction, control unit are wireless by position data
It is transferred to display unit and generates indoor map.
A kind of clean robot above-mentioned, the indoor map include horizontal obstacle object area, and control unit is correspondingly arranged on
Plan cleaning mode, the quantity in horizontal obstacle object area is one or more.
A kind of clean robot above-mentioned, the indoor map further include the area Jin Sao or indoor short area, control unit pair
Taboo should be provided with and sweep cleaning mode or deep clean mode, the quantity in the short area in the area Jin Sao and interior is one or more.
A kind of clean robot above-mentioned, described when the electricity of clean robot is lower than preset threshold value, cleaning
Robot does not execute deep clean mode or clean robot automatically exits from deep clean mode.
A kind of clean robot above-mentioned, the display unit are cell phone application display end, and cell phone application display end is for showing
Show cleaning mode, clean conditions, cleaning progress, the map of building, operational order of clean robot.
A kind of clean robot above-mentioned, the first detection module and the second detection module are infrared sensor or ultrasound
Wave sensor is one such.
Compared with prior art, the utility model has the following beneficial effects:
The utility model realizes the detection of the position to indoor barrier by placing obstacles analyte detection unit,
Clean robot marks the position of clean robot and the position of barrier and corresponding generation indoor map during walking,
Main setting first detection module detects to detect barrier and second detection module of setting in the front of clean robot
The barrier of the over top of clean robot, over top can not be detected with the presence or absence of obstacle by solving existing clean robot
The problem of object, and solve existing clean robot and can not detect the front side of clean robot and over top simultaneously and whether there is
The problem of barrier.
The utility model detects clean robot over top by the second detection module of setting, the second detection module
Barrier and corresponding map indoors in generate the area Jin Sao, and sweep cleaning mode by being arranged to prohibit come to the taboo in indoor map
It sweeps the cleaning region other than area to be cleaned, clean robot can be limited and entered in the area Jin Sao, solve existing cleaning machine
People is easy to appear to rest on and can not independently recharge charging in the lower area of space of indoor section and cause user can not be promptly and accurately
Find the problem of clean robot in ground.
The utility model detects clean robot over top by the second detection module of setting, the second detection module
Barrier existing for the time generate indoor short area when being more than preset value and in corresponding map indoors, and it is indoor by setting
Deep clean mode to carry out deep clean to indoor short area, and solve that existing clean robot can not be short to part is clear
Clean region carries out specified clean up task to reach better cleaning effect.
The utility model detects front and the over top of clean robot by placing obstacles analyte detection unit
Barrier, can correspond to and generate a variety of cleaning modes, user may be selected corresponding cleaning mode to carry out indoor cleaning, improve
The experience effect of user, and the abnormal conditions for having prevented clean robot occur, and use more secure and reliable.
Voice unit is arranged in the utility model, when clean robot runs to the short area in edge or interior in the area Jin Sao
Edge when, voice unit can broadcast state and the progress of current clean robot by voice to remind user in time, use
Family can specify corresponding cleaning mode according to current demand in time, improve the experience effect of user, and improve cleaner
Device people is to indoor cleaning efficiency.
Detailed description of the invention
Fig. 1 is the perspective view of the clean robot of the utility model；
Fig. 2 is that the detection of obstacles unit of the utility model detects the schematic diagram of barrier；
Fig. 3 is the schematic diagram of the clean robot of the utility model；
Fig. 4 is the partial enlargement diagram in Fig. 3 of the utility model at A；
Fig. 5 is that the detection of obstacles unit of the utility model detects the schematic diagram of barrier above clean robot；
Fig. 6 is that the detection of obstacles unit of the utility model detects the schematic diagram of clean robot front obstacle；
Fig. 7 be the utility model clean robot at desk bottom the detecting state of detection of obstacles unit show
It is intended to；
Fig. 8 is schematic diagram of the horizontal obstacle object area of the utility model in the area Jin Sao；
Fig. 9 is the horizontal obstacle object area schematic diagram in short area indoors of the utility model；
Figure 10 is the horizontal obstacle object area, the area Jin Sao, the indoor short partly overlapping schematic diagram in area of the utility model；
Figure 11 is that the taboo of the utility model sweeps the cleaning schematic diagram of cleaning mode；
Figure 12 is the cleaning schematic diagram of the deep clean mode of the utility model.
Appended drawing reference: 1- clean robot, 2- detection of obstacles unit, 201- first detection module, 2011- first emit
Portion, the first receiving unit of 2012-, the second detection module of 202-, the second emission part of 2021-, 2,022 second receiving units, the area M- Jin Sao,
Short area in the room N-, K- horizontal obstacle object area, D- desk.
Specific embodiment
In order to be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, under
In conjunction with specific embodiments, the utility model is further described in face.
Embodiment: the clean robot of the utility model, as shown in Fig. 1 to Figure 12 composition, clean robot 1 includes:
Include walking unit, control unit, cleaner unit, display unit, voice unit, collision detection unit, it is characterised in that: cleaner
Detection of obstacles unit 2 of the device people 1 at least provided with a position data for detecting the barrier in cleaning region, obstacle
Analyte detection unit 2 is installed on the top of 1 front side of clean robot and connect with control unit, and detection of obstacles unit 2 includes using
In the front first detection module that whether there are obstacles 201 of detection clean robot 1 and for detecting clean robot 1
Over top the second detection module 202 that whether there are obstacles.
The first detection module 201 includes the first transmitting of the first emission part 2011 and reception of emission level detection signal
First receiving unit 2012 of the horizontal detection signal that portion 2011 issues；When the first receiving unit 2012 receives horizontal detection signal
When, there are barriers in the front of the clean robot 1 of control unit judgement at this time；Second detection module 202 includes that transmitting is perpendicular
Second emission part 2021 of straight detection signal and the second receiving unit for receiving the vertical detection signal that the second emission part 2021 issues
2022；When the second receiving unit 2022 receives vertical detection signal, control unit determines on the top of clean robot 1 at this time
There are barriers for side.
Described control unit and display unit are wirelessly connected, and position data includes the positional number of the barrier in horizontal direction
According to the position data with the barrier on vertical direction, position data is wirelessly transmitted to display unit and generates room by control unit
Interior map；The indoor map includes horizontal obstacle object area K, and control unit is correspondingly arranged on planning cleaning mode, horizontal obstacle
The quantity of object area K is one or more；The indoor map further includes the area Jin Sao M or indoor short area N, and control unit correspondence is set
It is equipped with taboo and sweeps cleaning mode or deep clean mode, the quantity of the area Jin Sao M and indoor short area N are one or more；It is described to work as
When the electricity of clean robot 1 is lower than preset threshold value, clean robot 1 does not execute deep clean mode or cleaning machine
People 1 automatically exits from deep clean mode.
The display unit is cell phone application display end, and cell phone application display end is used to show the cleaning mould of clean robot 1
Formula, clean conditions, cleaning progress, the map of building, operational order, the first detection module 201 and the second detection module 202
It is one such for infrared sensor or ultrasonic sensor.
Clean robot 1 includes walking unit, control unit, cleaner unit, display unit, voice unit, collision detection
Unit, detection of obstacles unit 2, the bottom that clean robot 1 is arranged in walking unit are used for the mobile row of clean robot 1
It walks, the middle position that the bottom of clean robot 1 is arranged in cleaner unit absorbs dust or particulate matter, collision detection for cleaning
The barrier in the front end face of clean robot 1 for 1 front side of collision detection clean robot, voice unit is arranged in unit
The instructions such as state of the rear side for voice broadcast clean robot 1, the execution order of clean robot 1, display unit are set
It is used to show cleaning mode, clean conditions, cleaning progress, the map of building, behaviour of clean robot 1 for cell phone application display end
The information such as instruct, control unit controls walking, dust suction, voice broadcast, display information of clean robot 1 etc..
The utility model is placed obstacles analyte detection unit 2, and detection of obstacles unit 2 is for detecting clean robot 1
Front and over top barrier, and record the Obstacle Position data that detect, position data is transferred to display unit
Generate indoor map, i.e., detection of obstacles unit 2 is used to detect the position of barrier and constructs map, and then according to indoor ground
The barrier of the region internal labeling of figure carrys out the navigation avoidance walking to clean robot 1；Detection of obstacles unit 2 predominantly detects water
The barrier of square upward barrier and vertical direction, by marking each difference in the detection to barrier indoors map
Region with guide clean robot 1 walking carry out clean up task.
The first detection module 201 of the utility model is used to detect the front of clean robot 1 with the presence or absence of obstacle
Object, first detection module 201 are located at the top of the front side of clean robot 1, and clean robot 1 is during walking, and first
Detecting to 201 timing synchronization of detection module the front of clean robot 1, whether there are obstacles, to guide clean robot 1 to keep away
Open the barrier walking in front；Clean robot 1, which passes through, during walking the constantly adjustment clean robot such as turns to, turns around
1 direction of advance is further completed with completing the detection of the barrier to the front in 1 direction of advance of clean robot to room
The detection of all barriers in horizontal direction in interior cleaning region is correspondingly formed horizontal obstacle object area K and indoors map
In be marked；It can be according in indoor map when carrying out indoor cleaning within next time or later time so as to clean robot 1
Horizontal obstacle object area K carry out avoidance walking, prevent the collision of clean robot 1 Yu barrier.
The first emission part 2011, the first receiving unit 2012 is arranged in first detection module 201, and the first emission part 2011 is mainly used
In the horizontal detection signal on emission level direction, level detection signal to whether there is obstacle in detecting chamber in horizontal direction
Object, when, there are when barrier, level detection signal changes direction due to the blocking by barrier, horizontal on indoor horizontal direction
Detection signal is obscured by an obstacle and reflects or direction that bounce back is opposite makes the first receiving unit 2012 can receive horizontal inspection
Signal is surveyed, control unit determines that there are the position datas of barrier and barrier in indoor horizontal direction in turn；Optionally, may be used
Multiple first detection modules 201 are set at the top in the front of clean robot 1, including multiple first emission parts 2011 and multiple
First receiving unit 2012, the first emission part 2011 and the first receiving unit 2012 of single first detection module 201 are correspondingly arranged.
The over top that second detection module 202 of the utility model is used to detect clean robot 1 whether there is
Barrier, clean robot 1 constantly adjust the direction of travel of itself, the second detection module in walking process during walking
Whether there are obstacles for the over top of 202 timing synchronizations detection clean robot 1, when the top for detecting clean robot 1
There are when barrier, clean robot 1 is marked according to the concrete condition of the barrier detected；Optionally, machine is cleaned
People 1 at a time detects the over top of clean robot 1, and there are the regions that barrier, clean robot 1 will test
Mark and generate the area Jin Sao M, interior there can be the multiple area Jin Sao M, and 1 need of clean robot are multiple and different in map indoors
Zone marker go out and generate the area Jin Sao M.
The second emission part 2021, the second receiving unit 2022 is arranged in second detection module 202, and the second emission part 2021 is mainly used
Vertical detection signal on transmitting vertical direction, the vertical direction of the launch for detecting signal are the top at 1 top of clean robot
Region, the vertical signal that detects comes in detecting chamber that whether there are obstacles on vertical direction, when there are obstacles on indoor vertical direction
When object, it is vertical detect signal and change direction due to the blocking by barrier and to detect signal vertically reflected or bounce back court
The downwardly direction on vertical direction, the second receiving unit 2022 can receive vertical detection signal, control unit and then determining room
There are the position datas of barrier and barrier on interior vertical direction；It optionally, can be at the top in the front of clean robot 1
Multiple second detection modules 202, including multiple second emission parts 2021 and multiple second receiving units 2022, single second inspection are set
The second emission part 2021 for surveying module 202 is correspondingly arranged with the second receiving unit 2022.
The short area N in interior in the second detection module 202 detection cleaning region of the utility model, when cleaning machine
People 1 is at a time consecutively detected the over top of clean robot 1 there are when barrier, and clean robot 1 will test
Zone marker and generate indoor short area N；Preferably, the second detection module 202 detects in cleaning region on vertical direction
It is more than preset value there are barrier and there are the time of barrier, it is pre- under the premise of clean robot 1 has not been changed direction of travel
If value is preset time value, preset time value is more than or equal to 3 seconds, then clean robot 1 marks the region and indoors in map
Generate indoor short area N；Preferably, the second detection module 202 of clean robot 1 detects in cleaning region on vertical direction
It is more than preset value there are barrier and there are the time of barrier, clean robot 1 is at least in two or more differences
Under the premise of continuously changing direction walking on direction, preset value is preset time value, preset time value in a plurality of directions
More than or equal to 3 seconds, then clean robot 1 marked the region and generates indoor short area N in map indoors；Second detection module
202 mainly for detection of indoor barrier and for realizing that clean robot 1 constructs room according to the position data detected
Interior map, and mark the barrier on vertical direction to generate multiple independent cleaning regions to correspond in map indoors, so as to
The walking of guidance clean robot 1 facilitates user to specify clean robot 1 to execute the different cleaning mode of multizone.
The cleaning mode of the utility model has planning cleaning mode, prohibits and sweep cleaning mode, deep clean mode, plans
Cleaning mode is mainly common cleaning mode, is cleaned mainly for the region other than indoor horizontal obstacle object area K, clearly
Clean robot 1 plans that cleaning mode is the cleaning mode of default in the not specified cleaning mode of user, after clean robot 1 is opened
That is Execution plan cleaning mode；Taboo is swept cleaning mode and is cleaned mainly for the region other than the indoor area Jin Sao M, prevents clear
Clean robot 1 enters in the region of the area Jin Sao M, avoids horizontal obstacle object area K simultaneously during clean robot 1 is walked
Walking, can be improved the cleaning efficiency of clean robot 1, and user can specify clean robot 1 to execute taboo at any time and sweep cleaning mode；It is deep
Degree cleaning mode is cleaned mainly for the region of the short area N in indoor interior, the short area N in interior can periodically be cleaned or and
Shi Qingjie, user can specify clean robot 1 to execute deep clean mode at any time；It is different clear by the way that different zones can be performed
Clean mode realizes that cleaning efficiency is higher to indoor cleaning, and cleaning experience effect is more preferable.
The utility model may specify that clean robot 1 carries out planning cleaning mode, clean robot 1 to room area
During walking indoors for the first time, the detection and life to indoor barrier are completed under the detection of detection of obstacles unit 2
At indoor map, horizontal obstacle object area K is included at least in indoor map, is avoided under 1 Execution plan cleaning mode of clean robot
Horizontal obstacle object area K walking cleaning, in user without especially setting outside restrictive condition, when clean robot 1 runs to the area Jin Sao M
Edge or indoor short area N edge when, at this time collision detection unit not by barrier trigger and first detection module 201 not
Detect barrier, clean robot 1, which is then defaulted, carries out indoor cleaning normal through indoor short area N Huo Jinsao area M, to room
It is cleaned in interior larger range of ground cleaning region.
The utility model may specify that the short area N in 1 pair of interior of clean robot carries out deep clean mode, such as Figure 12 institute
Show, after clean robot 1 constructs indoor map, indoor map includes at least indoor short area N, and indoor short area N generally may be used
To be determined as indoor bed bottom, sofa bottom, the bottom of tables and chairs or the bottom of other conventional furnitures, used for indoor short area N
Family can set reservation execution deep clean mode or user during defined and can specify in cell phone application client at any time
The short area N in 1 pair of interior of clean robot carries out clean up task；During clean robot 1 executes deep clean mode, when
When 1 electricity of clean robot is lower than preset threshold value, preset threshold value is that 1 electricity of clean robot is lower than 20%,
Clean robot 1 automatically exits from deep clean mode, and the region that clean robot 1 runs to indoor spaciousness, which independently recharge, to be filled
Electricity, it is ensured that clean robot 1 can normally recharge charging, prevent 1 electricity of clean robot from exhausting and stop nothing in short area N indoors
Method independently recharges charging and is difficult to be found by user.
The utility model may specify clean robot 1 to the region other than the indoor area Jin Sao M carry out prohibit clear away it is clean
Mode, as shown in figure 11, after clean robot 1 constructs indoor map, indoor map includes at least the area Jin Sao M, and taboo is cleared away clean
Mode limitation clean robot 1 enters in the area Jin Sao M；The area Jin Sao M is mainly the barrier on indoor some vertical directions,
It may include indoor short area N, the as area Jin Sao M can be Chong Die with indoor short area's N section, as shown in figure 9, being primarily present room
The region of the fixed barrier of interior vertical direction and unbounded size is realized by generating the area Jin Sao M to clean robot 1
Guidance walking, to complete indoor walking cleaning, the cleaning efficiency of promotion clean robot 1 faster.
When first detection module 201 and the second detection module 202 are detected simultaneously by barrier, 201 He of first detection module
The Obstacle Position data that detect of basis of second detection module 202 independently mark in map indoors and generate correspondence
Region, first detection module 201, which detects, simultaneously generates horizontal obstacle object area K, the detection of the second detection module 202 and the area Sheng Jinsao M
Or indoor short area N；It is this reality that the region that second detection module 202 detects, which can mark to sweep area M or indoor short area N,
The two kinds of detection effects that may be implemented with New Scheme are correspondingly arranged taboo when being labeled as the area Jin Sao M and sweep cleaning mode, work as label
To be correspondingly arranged deep clean mode when the short area N in interior；Such as: as shown in fig. 7, clean robot 1 is empty in the bottom of desk D
Between walk in region and detect table leg, when clean robot 1 runs to position near table leg, detection of obstacles list at this time
The bottom that member 2 is detected simultaneously by desk D is that barrier, table leg on vertical direction is barrier in horizontal direction, cleaner
The bottom of 1 correspondence markings desk D of device people is indoor short area N Huo Jinsao area M, and correspondence markings table leg is horizontal obstacle object area K, two
Detection module detects non-interference independently of each other, and does not influence each other to the detection effect of the position data of barrier；As Fig. 7,
Shown in Fig. 8, Fig. 9, the region that the horizontal obstacle object area area K and Jin Sao M or indoor short area N are generated in the horizontal direction can part
Or all overlappings, it may include indoor short area N in the map Zhong Jinsao area M of same detection zone, do not influence to clean machine
Avoiding obstacles during walking of people 1.
The utility model can prevent the exception that clean robot 1 independently recharges charging, and detection of obstacles unit 2 detects
The indoor area Jin Sao M and short area out, the area Jin Sao M and indoor short area N can generally be determined as indoor bed bottom, sofa bottom
The bottom in portion, the bottom of tables and chairs or other conventional furnitures；The area Jin Sao M or indoor short area N do not need frequent cleans generally, this
Utility model scheme can limit clean robot 1 and enter the area Jin Sao M or indoor short area N；Clean robot 1 can wherein be set
When electricity is lower than 20%, clean robot 1 cannot execute deep clean mode or clean robot 1 to automatically exit from depth clear
Clean mode has prevented clean robot 1 at this time and has entered indoor short area in the case where low battery, it is ensured that clear
In region spacious indoors in the case where low battery, robot 1 convenient for cleaning independently recharges charging for clean robot 1, solves
Existing clean robot 1 of having determined is easy to appear in lower area of space indoors can not independently recharge in time because of environment complexity
The problem of charging；When 1 electricity of clean robot is lower when and when clean robot 1 is in indoor short area N, at this time
Therefore clean robot 1 may cause electricity to exhaust to eventually settle at indoor short area N to walk out indoor short area N
Interior, clean robot 1 independently recharges charging failure at this time, and user can not find clean robot 1 is in indoor where, especially
When to be indoor short area N be the relatively very short area of space such as bed bottom or sofa bottom, user is difficult to find clean robot 1
Present position, lead to user experience poor effect.
Voice unit is arranged in the utility model, and voice unit is mainly used for carrying out voice broadcast to remind user to clean
The current position of robot 1 or the current state of clean robot 1, main users remind user's clean robot 1 to be presently in
Region or will by region；The utility model is provided with the area Jin Sao M, indoor short area N, horizontal obstacle object area K,
And it is correspondingly arranged on taboo and sweeps cleaning mode, deep clean mode, planning cleaning mode；Optionally, when clean robot 1 is run to
The cleaning region of indoor short area N and when executing deep clean mode, voice unit prompts user to clean by voice broadcast
Robot 1 will execute deep clean mode, and clean robot 1 can record the region and time that this executes deep clean mode
So that user checks in cell phone application；Optionally, when clean robot 1, which starts execution taboo, sweeps cleaning mode, voice list
Member is promoted user's clean robot 1 by voice broadcast and execution taboo is swept cleaning mode, and clean robot 1 can record this
It executes and prohibits region and the time of sweeping cleaning mode so that user checks in cell phone application；Optionally, user cleans in Execution plan
During mode, when clean robot 1 run to the area Jin Sao M edge or indoor short area N edge when, collision inspection at this time
Survey that unit is not triggered by barrier and first detection module 201 is not detected barrier, voice unit can by voice broadcast come
Prompt user's clean robot 1 that can accordingly choose whether to open taboo normal through the area Jin Sao M or indoor short area N, user
Sweep cleaning mode or deep clean mode.
Display unit is arranged in the utility model, and display unit is mainly cell phone application display end, cell phone application display end
For showing the related boundary of the cleaning mode of clean robot 1, clean conditions, cleaning progress, the map of building, operational order
Face；Clean robot 1 can be wirelessly connected with display unit, and it is aobvious that the coherent detection data of clean robot 1 are transferred to cell phone application
Showing end, user can check position and the state of current clean robot 1, it can also check the previous cleaning course of clean robot 1,
Which kind of checked by comparison to determine clean robot 1 currently with greater need for execution cleaning mode；Such as: clean robot 1 is just held
Went depth cleaning mode, user determines that indoor short area N does not need frequently to clean, when user can set recent one section at this time
Interior clean robot 1 does not execute deep clean mode；It is clear to specify that cell phone application display end is also used to the instruction of user's selection operation
Clean robot 1 executes any cleaning mode；Cell phone application display end shows the indoor map that clean robot 1 is planned, display is indoor
Map Zhong Jinsao area M, indoor short area N, horizontal obstacle object area K, and show that taboo sweeps cleaning mode, deep clean mode, rule
The interfaces such as cleaning mode are drawn to select for user；Cell phone application display end is mainly used for interacting between clean robot 1 and user
Interaction and manipulation, facilitate user directly to issue operational order, the remote controlled clean robot 1 of user to clean robot 1
Execute corresponding clean up task.
Working principle: the utility model detects indoor barrier, obstacle by placing obstacles analyte detection unit 2
Analyte detection unit 2 primarily serves detection barrier and the corresponding effect for generating indoor map, by the way that first detection module 201 is arranged
It detects the barrier of indoor horizontal direction, the second detection module 202 is set detecting the barrier of indoor vertical direction,
And the position data of the associated disorders object detected is transferred to control unit, position data of the control unit associated disorders object
It is wirelessly transmitted to display unit and shows and generate corresponding indoor map, and according to first detection module 201 or the second detection mould
The information that block 202 detects corresponds to mark indoor barrier region, the main area You Jinsao M, indoor short area N, horizontal barrier
The area Ai Wu K mainly has taboo to clear away clean mould by corresponding to the corresponding cleaning mode of setting to being the label in indoor cleaning region
Formula, deep clean module, planning cleaning mode are promoted and are used to realize the cleaning to the different cleaning mode of indoor different zones
The usage experience effect at family, the further cleaning efficiency for promoting clean robot 1, user can be according to indoor cleaning need at that time
It asks to specify corresponding cleaning mode to carry out clean up task.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific implementation of the utility model
Example, and in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit of the utility model
And range, it is within the protection scope of the present utility model.
Claims (6)
1. clean robot, clean robot includes: including walking unit, control unit, cleaner unit, display unit, voice
Unit, collision detection unit, it is characterised in that:
Detection of obstacles of the clean robot at least provided with a position data for detecting the barrier in cleaning region
Unit, detection of obstacles unit are installed on the top on front side of clean robot and connect with control unit, detection of obstacles unit
Including the first detection module that whether there are obstacles of the front for detecting clean robot and for detecting clean robot
Over top the second detection module that whether there are obstacles.
2. clean robot according to claim 1, it is characterised in that: first detection module includes emission level detection letter
Number the first emission part and receive the first receiving unit of the horizontal detection signal that the first emission part issues；When the first receiving unit receives
When detecting signal to level, control unit determines that there are barriers in front of clean robot at this time.
3. clean robot according to claim 1, it is characterised in that: the second detection module includes the vertical detection letter of transmitting
Number the second emission part and receive the second emission part issue vertical detection signal the second receiving unit；When the second receiving unit receives
To when detecting signal vertically, there are barriers for the over top of the clean robot of control unit judgement at this time.
4. clean robot according to claim 2 or 3, it is characterised in that: control unit and display unit are wirelessly connected,
Position data includes the position data of the barrier in the position data and vertical direction of the barrier in horizontal direction.
5. clean robot according to claim 4, it is characterised in that: preset when the electricity of clean robot is lower than
Threshold value when, clean robot does not execute deep clean mode or clean robot automatically exits from deep clean mode.
6. clean robot according to claim 1, it is characterised in that: first detection module and the second detection module are red
Outer sensor or ultrasonic sensor are one such.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820615533.4U CN208957994U (en) | 2018-04-27 | 2018-04-27 | Clean robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820615533.4U CN208957994U (en) | 2018-04-27 | 2018-04-27 | Clean robot |
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| CN208957994U true CN208957994U (en) | 2019-06-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112020041A (en) * | 2020-08-27 | 2020-12-01 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN114190821A (en) * | 2020-09-16 | 2022-03-18 | 尚科宁家(中国)科技有限公司 | Cleaning robot capable of walking smoothly |
| CN115191888A (en) * | 2022-07-14 | 2022-10-18 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and control method for cleaning base station |
-
2018
- 2018-04-27 CN CN201820615533.4U patent/CN208957994U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112020041A (en) * | 2020-08-27 | 2020-12-01 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN112020041B (en) * | 2020-08-27 | 2024-03-15 | 尚科宁家(中国)科技有限公司 | Communication system of cleaning robot and base station |
| CN114190821A (en) * | 2020-09-16 | 2022-03-18 | 尚科宁家(中国)科技有限公司 | Cleaning robot capable of walking smoothly |
| CN115191888A (en) * | 2022-07-14 | 2022-10-18 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and control method for cleaning base station |
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