CN209391863U - A kind of Intelligent cleaning robot system based on indoor positioning - Google Patents
A kind of Intelligent cleaning robot system based on indoor positioning Download PDFInfo
- Publication number
- CN209391863U CN209391863U CN201821246393.4U CN201821246393U CN209391863U CN 209391863 U CN209391863 U CN 209391863U CN 201821246393 U CN201821246393 U CN 201821246393U CN 209391863 U CN209391863 U CN 209391863U
- Authority
- CN
- China
- Prior art keywords
- module
- detection module
- microprocessor
- cleaning robot
- robot system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The Intelligent cleaning robot system based on indoor positioning that the utility model discloses a kind of, including body, the body is navigated by gyroscope, body internal fan and garbage collection box, the bottom of garbage collection box is equipped with pressure sensor, rotation speed of fan detection module is installed on blower, rotation speed of fan detection module, pressure sensor and gyroscope are all connected with microprocessor, the microprocessor is also connected with RFID electronic label, obstacle detection module, alarm modules and network module, the RFID electronic label, obstacle detection module, rotation speed of fan detection module, the case where pressure sensor and gyroscope will monitor is transferred to microprocessor by network module, the microprocessor sounds an alarm abnormal conditions by alarm modules.The utility model combines a variety of avoidance modes, can be carried out accurate avoidance, and combines collision sensing module, can plan again that travelling route, multiple network module are combined according to collision situation, the timely transmission of data can be effectively ensured.
Description
Technical field
The utility model relates to cleaning robot system more particularly to a kind of Intelligent cleaning robots based on indoor positioning
System.
Background technique
Existing Intelligent cleaning robot is directly during ultrasonic wave and gyroscope mode are cleaned mostly using laser
Avoidance, pain spot are can not to identify difference in height, and caused by robot fall, can not climb and continue to clean.
Utility model content
In view of this, the embodiments of the present invention provide a kind of position with avoidance more accurately based on indoor positioning
Intelligent cleaning robot system.
The embodiments of the present invention provide a kind of Intelligent cleaning robot system based on indoor positioning, including body,
The body is navigated by gyroscope, the body internal fan and garbage collection box, and the blower driving garbage collection box is received
Collecting rubbish, the bottom of the garbage collection box is equipped with pressure sensor, rotation speed of fan detection module is equipped on the blower,
The rotation speed of fan detection module, pressure sensor and gyroscope are all connected with microprocessor, the rotation speed of fan detection module prison
The case where surveying the working order of blower, collecting rubbish in the pressure sensor monitoring garbage collection box, the gyroscope monitoring
The traveling situation of body, the microprocessor are also connected with RFID electronic label, obstacle detection module, alarm modules and network mould
Block.
Further, the obstacle detection module includes laser detection module and ultrasonic wave module in parallel, the laser inspection
Module is surveyed by laser induced barrier, the ultrasonic wave module passes through ultrasonic sensing barrier.
Further, the network module includes that NB-IoT communication module and WIFI module in parallel pass through when there is WIFI
WIFI module realizes the transmission between data, when not having WIFI, realizes the transmission between data by NB-IoT communication module.
It further, further include collision sensing module, the collision sensing module connects microprocessor, the collision sensing mould
Block is for monitoring collision frequency and feeding back to microprocessor, for the optimization to indoor positioning plan view.
It further, further include power module, the power module is for giving Intelligent cleaning robot system power supply.
Further, indoors, the UWB positioning system can be to indoor accurate position, in turn for the UWB positioning system installation
Carry out the division in region.
Compared with prior art, the utility model has the following beneficial effects: it is simple in sturcture, ingenious in design；A variety of avoidances
Mode combines, and can be carried out accurate avoidance, and combines collision sensing module, and traveling road can be planned again according to collision situation
Line, multiple network module combine, and the timely transmission of data can be effectively ensured.
Detailed description of the invention
Fig. 1 is an a kind of schematic diagram of the Intelligent cleaning robot system based on indoor positioning of the utility model.
Fig. 2 is a kind of another schematic diagram of the Intelligent cleaning robot system based on indoor positioning of the utility model.
Fig. 3 is a kind of course of work schematic diagram of the Intelligent cleaning robot system based on indoor positioning of the utility model.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
Fig. 1 and Fig. 2 are please referred to, the embodiments of the present invention provide a kind of Intelligent cleaning machine based on indoor positioning
People's system, including body 1, gyroscope 2, blower 3, garbage collection box (not shown).
The lower section of body 1 is equipped with gyroscope 2 and blower 3, gyroscope 2 and blower 3 there are two, be symmetrically arranged at body 1
Two sides, garbage collection box built in body 1, the body 1 are navigated by gyroscope 2, and the blower 3 drives garbage collection box to collect
Rubbish.
The bottom of garbage collection box is equipped with pressure sensor 4, and pressure sensor 4 is located in the bottom of garbage collection box
Between, it is more accurate to the monitoring of rubbish in garbage collection box, rotation speed of fan detection module 31 is installed on the blower 3, it is described
Rotation speed of fan detection module 31, pressure sensor 4 and gyroscope 2 are all connected with microprocessor 5, and the microprocessor 5 is placed on machine
It is electrically connected inside body 1 with each monitoring modular, the rotation speed of fan detection module 31 monitors the working order of blower 3, described
Pressure sensor 4 monitors the case where rubbish is collected in garbage collection box, and the gyroscope 2 monitors the traveling situation of body 1.
The microprocessor 5 is also connected with RFID electronic label 6, obstacle detection module 7, alarm modules 8 and network module 9,
RFID electronic label 6 is located at the top of body 1, and the front of body 1 is arranged in obstacle detection module 7, and is located at two gyroscopes 2
Centre, the alarm modules 8 can be voice alarm or light alarm, when alarm modules 8 are voice alarms, can choose installation
In any position of body 1, when the alarm modules 8 when light alarm, it is preferably mounted at the top of body 1.
The RFID electronic label 6 carries out data interaction, real time scan area monitoring body to be cleaned with UWB positioning system
1 position, the 7 real-time monitoring barrier situation of obstacle detection module, the RFID electronic label 6, obstacle detection module 7, wind
The case where machine Rotating speed measring module 31, pressure sensor 4 and gyroscope 2 will monitor is transferred to micro process by network module 9
Device 5, the microprocessor 5 sound an alarm abnormal conditions by alarm modules 8.
Preferably, obstacle detection module 7 includes laser detection module 71 and ultrasonic wave module 72 in parallel, the laser inspection
Module 71 is surveyed by laser induced barrier, the ultrasonic wave module 72 passes through ultrasonic sensing barrier.
Preferably, the network module 9 includes NB-IoT communication module 91 and WIFI module 92 in parallel, is there is WIFI
When, the transmission between data is realized by WIFI module 92, when there is no WIFI, by between the realization data of NB-IoT communication module 91
Transmission.
It further include collision sensing module 10, the collision sensing module 10 connects microprocessor 5, the collision sensing module
10 for monitoring collision frequency and feeding back to microprocessor 5, for the optimization to indoor positioning plan view.
It further include power module 11, the power module 11 is for giving Intelligent cleaning robot system power supply.
Indoors, the UWB positioning system can be to indoor accurate position, and then carries out area for the UWB positioning system installation
The division in domain.
Referring to FIG. 3, a kind of intelligent cleaning method of the Intelligent cleaning robot system based on indoor positioning, including it is following
Step:
S1. starting energy cleaning robot system, RFID electronic label 6 are treated cleaning region and are scanned, tied according to scanning
Fruit establishes cleaning area map, and is transferred to microprocessor 5；
S2. microprocessor 5 determines the travelling route of gyroscope 2 according to cleaning area map, and is driven by gyroscope 2 whole
A Intelligent cleaning robot system is advanced according to travelling route；
S3. during traveling, starting blower 3, blower 3 drives the rubbish collected in travelling route in garbage collection box,
The working order of 31 real-time monitoring blower 3 of rotation speed of fan detection module, 7 real-time monitoring barrier situation of obstacle detection module, pressure
The case where rubbish is collected in 4 real-time monitoring garbage collection box of force snesor, and it is transferred to microprocessor 5；Rotation speed of fan detects mould
It is micro- when block 31 monitors that blower 3 operates exception or pressure sensor 4 monitors that the rubbish collected in garbage collection box reaches threshold value
Processor 5 starts alarm modules 8 and sounds an alarm, meanwhile, microprocessor 5, which controls gyroscope 2, to be stopped advancing；Obstacle detection module 7
When having monitored barrier, microprocessor 5 plans travelling route again, and controls gyroscope 2 and change travelling route.
The use of RFID electronic label 6 is edible, can modify wherein essential information by control system controlling terminal.?
Clean robot number information is written in RFID electronic label 6, with activity staff essential information, RFID electronic label 6 is sent out
Radiofrequency signal will be received by UWB positioning system, and show location information in the controls.There is shape height higher
The position of difference can divide purging zone by adding anchor point.
The utility model is simple in sturcture, ingenious in design；A variety of avoidance modes combine, and can be carried out accurate avoidance, Er Qiejie
Collision sensing module has been closed, can plan again that travelling route, multiple network module are combined according to collision situation, can be effectively ensured
The timely transmission of data.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (5)
1. a kind of Intelligent cleaning robot system based on indoor positioning, including body, the body is navigated by gyroscope, institute
Body internal fan and garbage collection box are stated, the blower driving garbage collection box collects rubbish, which is characterized in that the rubbish
The bottom of collection box is equipped with pressure sensor, and rotation speed of fan detection module, the rotation speed of fan inspection are equipped on the blower
It surveys module, pressure sensor and gyroscope and is all connected with microprocessor, the operating feelings of the rotation speed of fan detection module monitoring blower
Condition, the case where rubbish is collected in the pressure sensor monitoring garbage collection box, the traveling situation of the gyroscope monitoring body,
The microprocessor is also connected with RFID electronic label, obstacle detection module, alarm modules and network module.
2. the Intelligent cleaning robot system according to claim 1 based on indoor positioning, which is characterized in that the obstacle
Detection module includes laser detection module and ultrasonic wave module in parallel, and the laser detection module passes through laser induced obstacle
Object, the ultrasonic wave module pass through ultrasonic sensing barrier.
3. the Intelligent cleaning robot system according to claim 1 based on indoor positioning, which is characterized in that the network
Module includes NB-IoT communication module and WIFI module in parallel, when there is WIFI, realizes the biography between data by WIFI module
It is defeated, when not having WIFI, the transmission between data is realized by NB-IoT communication module.
4. the Intelligent cleaning robot system according to claim 1 based on indoor positioning, which is characterized in that further include touching
Hit sensing module, the collision sensing module connects microprocessor, and the collision sensing module is for monitoring collision frequency and anti-
It feeds microprocessor, for the optimization to indoor positioning plan view.
5. the Intelligent cleaning robot system according to claim 1 based on indoor positioning, which is characterized in that further include electricity
Source module, the power module is for giving Intelligent cleaning robot system power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821246393.4U CN209391863U (en) | 2018-08-03 | 2018-08-03 | A kind of Intelligent cleaning robot system based on indoor positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821246393.4U CN209391863U (en) | 2018-08-03 | 2018-08-03 | A kind of Intelligent cleaning robot system based on indoor positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209391863U true CN209391863U (en) | 2019-09-17 |
Family
ID=67877337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821246393.4U Expired - Fee Related CN209391863U (en) | 2018-08-03 | 2018-08-03 | A kind of Intelligent cleaning robot system based on indoor positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209391863U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108634886A (en) * | 2018-05-29 | 2018-10-12 | 珠海市微半导体有限公司 | Robot cleans control method and chip after interrupting |
-
2018
- 2018-08-03 CN CN201821246393.4U patent/CN209391863U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108634886A (en) * | 2018-05-29 | 2018-10-12 | 珠海市微半导体有限公司 | Robot cleans control method and chip after interrupting |
| CN108634886B (en) * | 2018-05-29 | 2020-08-28 | 珠海市一微半导体有限公司 | Control method and chip after robot cleaning interruption |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206568169U (en) | A kind of city piping lane crusing robot | |
| CN107193282A (en) | A kind of intelligent security guard robot and intelligent safety and defence system | |
| CN104414590A (en) | Robot cleaner and method for controlling a robot cleaner | |
| CN208095198U (en) | Intelligent grass-removing | |
| CN108682098A (en) | A kind of cable external force damage prevention monitoring and alarming system and its working method | |
| CN105807760A (en) | Intelligent robot, method of intelligent robot of automatically planning paths, and device | |
| CN207571586U (en) | A kind of sterilizing unmanned plane | |
| CN205941781U (en) | Cable run on -line monitoring system | |
| CN105956696A (en) | Garbage collection and transportation management system and method | |
| CN109799760A (en) | The bird-repellent robots control system and control method of power industry | |
| CN108836198A (en) | A kind of Intelligent cleaning robot system based on indoor positioning | |
| CN209391863U (en) | A kind of Intelligent cleaning robot system based on indoor positioning | |
| CN104890761A (en) | Intelligent security patrol robot and control system thereof | |
| CN105835908A (en) | Train approach warning device | |
| CN108685532A (en) | A kind of sweeping robot system and sweeping robot | |
| CN213130997U (en) | All-round sterile disinfection and killing robot | |
| CN210823833U (en) | Intelligent sanitation robot | |
| CN209623854U (en) | A kind of vibration and noise on-Line Monitor Device for subway | |
| CN211406883U (en) | Automatic tea-picking device | |
| CN204932185U (en) | Multifunctional intellectual blind guiding stick | |
| CN207182092U (en) | A kind of drive device for mobile robot | |
| CN112554115B (en) | Robot for tour guide and floor sweeping and voice interaction method thereof | |
| CN114879273A (en) | Clean room environment detection device mobile carrying platform control system and method | |
| CN204871279U (en) | Intelligence security personnel go on patrol machine people | |
| CN113031594A (en) | Maintenance operation-based adjoint type active safety warning robot, system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190917 Termination date: 20200803 |