CN209518842U - Clean robot - Google Patents
Clean robot Download PDFInfo
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- CN209518842U CN209518842U CN201821740741.3U CN201821740741U CN209518842U CN 209518842 U CN209518842 U CN 209518842U CN 201821740741 U CN201821740741 U CN 201821740741U CN 209518842 U CN209518842 U CN 209518842U
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- upper cover
- pressure sensor
- clean robot
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Abstract
The utility model provides a kind of clean robot, including body and the laser radar being set at the top of body, upper cover is provided at the top of laser radar, the pressure sensor that extraneous barrier collision whether is received for detecting upper cover is provided on upper lid, pressure sensor is fitted in top and the side wall of upper cover.Clean robot provided by the utility model is compared with prior art, pressure sensor is fitted in peripheral outer wall and the top of upper cover by the utility model, so that upper cover with the no dead angle of contact of extraneous barrier, pressure sensor is enabled to sense the pressure signal generated because being collided by extraneous barrier in time, detection coverage rate is improved, clean robot is enabled to make the movement of evacuation in time.
Description
Technical field
The utility model belongs to robotic technology field, is to be related to a kind of clean robot more specifically.
Background technique
With science and technology be constantly progressive and continuous improvement of people's living standards, clean robot is gradually instead of existing
The some manually burnishers having, especially some biggish places, manpower that artificial cleaning mode expends and time at
This is larger.
Currently, being provided with the laser for detecting clean robot body peripheral obstacle at the top of the clean robot of part
The upper cover of radar, laser radar is higher than clean robot body, and clean robot occurs laser radar in the process of movement
Upper cover and barrier the phenomenon that colliding.Fixed-point type collision is provided on the top cover of the laser radar of part clean robot
Formula sensor, when the position for being furnished with fixed-point type collision type sensor is collided, clean robot executes evacuation movement, and not
When being furnished with the position of crash sensor and being collided, evacuation movement is not carried out in robot.
Therefore, it is necessary to a kind of new clean robots to improve current situation.
Utility model content
The purpose of this utility model is to provide a kind of clean robots, to solve cleaning machine existing in the prior art
The pressure that pressure sensor on people can experience the external world is not comprehensive enough, making clean robot, there may be encounter barrier not
The problem of evacuation.
In order to achieve the above purposes, the technical solution adopted by the utility model is: provides a kind of clean robot, including body
And it is set to the laser radar at the top of the body, it is provided with upper cover at the top of the laser radar, is arranged on the upper lid
There is the pressure sensor that extraneous barrier collision whether is received for detecting upper cover, the pressure sensor is fitted in the upper cover
Top and side wall.
Further, the upper cover is cylindrical, the pressure sensor be fitted in the upper cover top edge and
Circumferential surface, the pressure sensor fit in the part of the upper cover in circular ring shape, and the pressure sensor fits in institute
The part for stating upper cover peripheral surface coats the side wall of the upper cover.
Further, the pressure sensor passes through computing the resistor value stress size.
Further, the type of the pressure sensor includes resistance sensor, capacitance type sensor, piezomagnetic sensing
Device, inductance type transducer and fibre optical sensor.
Further, the thickness range of the pressure sensor is 0~0.3mm.
Further, the pressure sensor includes trigger layer and two thin film switch layers, and the trigger layer is located at described in two
Between thin film switch layer, wherein a thin film switch layer fitting is on the cover.
Further, the trigger layer is flexible material.
Further, the bottom of the body is provided with driving wheel group.
Further, the bottom of the body offers the opening for stretching out body for the driving wheel group, the drive
Scalable connection between driving wheel group and the body.
Further, the driving wheel group includes at least two driving wheels, and the surface of the driving wheel is provided with several convex
It rises.
The beneficial effect of clean robot provided by the utility model is: compared with prior art, the utility model will
Pressure sensor is fitted in peripheral outer wall and the top of upper cover, so that upper cover is not dead with the sensing contact of extraneous barrier
Angle, the pressure signal for enabling pressure sensor to sense that the extraneous barrier avoidance radars upper cover of any direction generates, mentions
High detection coverage rate, enables clean robot to make the movement of evacuation in time.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of clean robot provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram at another visual angle of clean robot provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of pressure sensor provided by the embodiment of the utility model；
Fig. 4 is resistance value-pressure change schematic diagram of pressure sensor provided by the embodiment of the utility model.
Wherein, each attached drawing main mark in figure:
1- body；
2- laser radar；21- upper cover；
3- pressure sensor；31- trigger layer；32- thin film switch layer；311- convex block；
4- driving wheel group；41- driving wheel；411- protrusion；
5- opening；6- idler wheel.
Specific embodiment
In order to which technical problem to be solved in the utility model, technical solution and beneficial effect is more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
In the description of the present invention, it should be understood that term " center ", " length ", " width ", " thickness ",
The orientation of the instructions such as "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" or
Positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
This should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements or the interaction relationship of two elements.For those of ordinary skill in the art and
Speech, can understand the concrete meaning of above-mentioned term in the present invention as the case may be.
Also referring to Fig. 1, now clean robot provided by the embodiment of the utility model is illustrated.The cleaner
The top of body 1 is arranged in device people, including body 1 and laser radar 2, laser radar 2, and the top of laser radar 2 is equipped with
Lid 21, the plane of upper cover 21 are higher than the top planes of body 1, pressure sensor 3 are provided in upper cover 21, and pressure sensor 3 is used
The generated pressure signal after detection upper cover 21 and extraneous barrier collide, pressure sensor 3 are fitted in upper cover 21
Top and side wall, body 1 be internally provided with for control body 1 movement and make evacuation movement control module, body 1
In the process of movement, pressure signal caused by being collided after the barrier in upper cover 21 and extraneous short transverse collides
Control module is passed to, control module control body 1 makes the movement of evacuation in time.Pressure sensor 3 is at the top of upper cover 21
There is setting with side wall, so that the area that upper cover 21 may be in contact with barrier covers pressure sensor 3 as much as possible, makes
Obtaining pressure sensor 3 can be in time by pressure signal transmission to control module, and then controls body 1 and make evacuation in time
Movement.
Pressure sensor 3 is bonded by clean robot provided by the utility model, compared with prior art, the utility model
Peripheral outer wall and top in upper cover 21, pressure sensor 3 can accurately judge the specific location of collision, pressure sensor
3 can change resolution ratio according to specific needs so that upper cover 21 with the no dead angle of contact of extraneous barrier so that pressure
Sensor 3 can sense the pressure signal that extraneous barrier is generated by collision in time, improve detection coverage rate, so that
Clean robot can make the movement of evacuation in time.
Further, also referring to Fig. 1, as a specific embodiment of this programme, the shape of upper cover 21 is in circle
Cylindricality, pressure sensor 3 is fitted in the top edge of upper cover 21 and the sidewall surfaces of circumferential direction as a whole, due to upper cover 21
Height be higher than the top of body 1, body 1 encounters the barrier in short transverse, upper cover 21 and obstacle in the process of movement
The probability that object collides is larger, due to the connection type between above-mentioned pressure sensor 3 and upper cover 21, so that upper cover 21 may
The part to collide with barrier is comprehensive to be covered by pressure sensor 3, without blind area.Certainly, in other embodiments
In, upper cover 21 can be also shaped to practically necessary shape, or make pressure sensor 3 by the top of upper cover 21
Comprehensive cover.
Further, as the another embodiment of this programme, pressure sensor 3 includes first sensor and the
Two sensors, first sensor are fitted in the top surface of upper cover, and second sensor is fitted in the side wall of upper cover.Certainly, in other realities
It applies in example, pressure sensor 3 can also be mutually to be spliced by multiple pressure sensing pieces.
Further, referring to Fig. 4, pressure sensor 3 passes through computing the resistor value stress size, in the present embodiment, pressure
Pressure suffered by the resistance value and pressure sensor 3 of sensor 3 is inversely proportional, and pressure sensor 3 is bigger by the effect of external force,
Resistance value will be smaller, and generated pressure signal is also just correspondingly stronger.It certainly in other embodiments, can also be according to practical feelings
The type of condition selection pressure sensor 3.
Further, in the present embodiment, resistance sensor, capacitance type sensor, pressure magnetic can be selected in pressure sensor 3
One kind of formula sensor and inductance type transducer, alternatively, being pressed if pressure sensor 3 is that multiple pressure sensing pieces are spliced
Power vane can select type any combination of one of the above or multiple sensors according to specific position.
Further, in the present embodiment, the thickness range of pressure sensor 3 is 0~0.3mm.
Further, referring to Fig. 3, pressure sensor 3 includes trigger layer 31 and double-layer films switching layer 32, trigger layer 31
Between two thin film switch layers 32, wherein thin film switching layer 32 is contacted with upper cover 21.
Further, Fig. 3 and Fig. 4 is please referred to, trigger layer 31 is flexible material, and trigger layer 31 includes several is arranged successively
The working principle of convex block 311, the pressure sensor 3 of the present embodiment is as follows: under the effect of external force, convex block 311 deforms, and makes
The contact area of the thin film switch layer 32 and trigger layer 31 that obtain two sides changes, so that the resistance electricity of pressure sensor 3
The characteristic parameters such as stream correspondingly change, and after external force reduces or removes, trigger layer 31 has the automatic recovery of elastomer
Ability, so that the contact area between double-layer films switch and trigger layer 31 restores to the original state, the resistance electricity of pressure sensor 3
Corresponding change occurs simultaneously for the characteristic parameters such as stream.
Further, referring to Fig. 2, the bottom of body 1 is provided with driving wheel group 4, driving wheel group 4 and control module communication
Connection, control module can control driving wheel group 4 for driving body 1 to enable body 1 in the room according to the route of setting
Movement.
Further, referring to Fig. 2, the bottom of body 1 offers the opening 5 for stretching out body 1 for driving wheel group 4,
Scalable connection between driving wheel group 4 and body 1, when body 1 is normally placed, body 1 makes by the gravity of itself
Driving wheel group 4 can partially protrude into body 1, to reduce the whole height of body 1.
Further, referring to Fig. 2, driving wheel group 4 includes at least two driving wheels 41, the surface of driving wheel 41 is provided with
Several raised 411, after the surface of driving wheel 41 opens up protrusion 411, the coefficient of friction between driving wheel 41 and ground is increased, with
There is a phenomenon where driving wheels 41 and ground to skid in the process of movement for anti-body 1.This is set as ordinary skill in the art hand
Section, details are not described herein.
Further, referring to Fig. 2, the bottom of body 1 is additionally provided with several idler wheels 6, in the present embodiment, body 1
There are one idler wheels 6 for bottom, rounded projections arranged are formed between idler wheel 6 and two driving wheels 41, so that body 1 is in the process of movement
More steady, this is set as ordinary skill in the art means, and details are not described herein.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. clean robot, including body and the laser radar being set at the top of the body, it is characterised in that: the laser
It is provided with upper cover at the top of radar, the pressure whether collided by extraneous barrier for detecting upper cover is provided on the upper lid
Sensor, the pressure sensor are fitted in top and the side wall of the upper cover.
2. clean robot as described in claim 1, it is characterised in that: the upper cover is cylindrical, the pressure sensor
It is fitted in the top edge of the upper cover and the surface of circumferential direction, the pressure sensor fits in the part of the upper cover in circle
Ring plate shape, the part that the pressure sensor fits in the upper cover peripheral surface coat the side wall of the upper cover.
3. clean robot as described in claim 1, it is characterised in that: the pressure sensor includes first sensor and
Two sensors, first sensor are fitted in the top surface of the upper cover, and the second sensor is fitted in the side wall of the upper cover.
4. clean robot as described in claim 1, it is characterised in that: the pressure sensor is big by computing the resistor value stress
It is small.
5. clean robot as described in claim 1, it is characterised in that: the type of the pressure sensor includes that resistance-type passes
Sensor, capacitance type sensor, piezomagnetic sensor, inductance type transducer and fibre optical sensor.
6. clean robot as described in claim 1, it is characterised in that: the thickness range of the pressure sensor be 0~
0.3mm。
7. clean robot as described in claim 1, it is characterised in that: the pressure sensor includes trigger layer and two films
Switching layer, the trigger layer is between two thin film switch layers, wherein a thin film switch layer is fitted in the upper cover
On.
8. clean robot as claimed in claim 7, it is characterised in that: the trigger layer is flexible material.
9. clean robot as described in claim 1, it is characterised in that: the bottom of the body is provided with driving wheel group.
10. clean robot as claimed in claim 9, it is characterised in that: the bottom of the body is offered for described in confession
Driving wheel group stretches out the opening of body, scalable connection between the driving wheel group and the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821740741.3U CN209518842U (en) | 2018-10-25 | 2018-10-25 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821740741.3U CN209518842U (en) | 2018-10-25 | 2018-10-25 | Clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209518842U true CN209518842U (en) | 2019-10-22 |
Family
ID=68211403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821740741.3U Active CN209518842U (en) | 2018-10-25 | 2018-10-25 | Clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209518842U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888438A (en) * | 2019-11-26 | 2020-03-17 | 珠海格力电器股份有限公司 | Robot, control method thereof and storage medium |
| CN111012256A (en) * | 2019-12-31 | 2020-04-17 | 北京石头世纪科技股份有限公司 | Robot and obstacle detection method |
| CN112587049A (en) * | 2020-12-08 | 2021-04-02 | 深圳市无限动力发展有限公司 | Radome assembly and sweeper |
| CN113510750A (en) * | 2021-07-09 | 2021-10-19 | 云鲸智能(深圳)有限公司 | Collision detection method, collision detection device, robot and storage medium |
| WO2022151753A1 (en) * | 2021-01-15 | 2022-07-21 | 北京石头世纪科技股份有限公司 | Obstacle detection apparatus of cleaning robot and cleaning robot |
-
2018
- 2018-10-25 CN CN201821740741.3U patent/CN209518842U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110888438A (en) * | 2019-11-26 | 2020-03-17 | 珠海格力电器股份有限公司 | Robot, control method thereof and storage medium |
| CN111012256A (en) * | 2019-12-31 | 2020-04-17 | 北京石头世纪科技股份有限公司 | Robot and obstacle detection method |
| CN111012256B (en) * | 2019-12-31 | 2021-12-24 | 北京石头世纪科技股份有限公司 | Robot and obstacle detection method |
| CN112587049A (en) * | 2020-12-08 | 2021-04-02 | 深圳市无限动力发展有限公司 | Radome assembly and sweeper |
| WO2022151753A1 (en) * | 2021-01-15 | 2022-07-21 | 北京石头世纪科技股份有限公司 | Obstacle detection apparatus of cleaning robot and cleaning robot |
| CN113510750A (en) * | 2021-07-09 | 2021-10-19 | 云鲸智能(深圳)有限公司 | Collision detection method, collision detection device, robot and storage medium |
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| GR01 | Patent grant | ||
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| CP03 | Change of name, title or address |
Address after: 518000 room 1601, building 2, Vanke Cloud City phase 6, Tongfa South Road, Xili community, Xili street, Nanshan District, Shenzhen City, Guangdong Province (16th floor, block a, building 6, Shenzhen International Innovation Valley) Patentee after: Shenzhen Ledong robot Co.,Ltd. Address before: 518000 16th floor, building B1, Nanshan wisdom garden, 1001 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN LD ROBOT Co.,Ltd. |