CN209564068U - A kind of non-blind area sweeping robot - Google Patents
A kind of non-blind area sweeping robot Download PDFInfo
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- CN209564068U CN209564068U CN201821502863.9U CN201821502863U CN209564068U CN 209564068 U CN209564068 U CN 209564068U CN 201821502863 U CN201821502863 U CN 201821502863U CN 209564068 U CN209564068 U CN 209564068U
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- sweeping robot
- blind area
- shell
- body shell
- sensing unit
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Abstract
The utility model discloses a kind of non-blind area sweeping robots, including body shell, controller, power supply, sensing mechanism, walking mechanism and cleaning agency；The controller is connect with power supply, sensing mechanism, walking mechanism and cleaning agency respectively；The sensing mechanism includes anticollision sensing unit, prevents falling sensing unit and along side sensing unit；Described to include two photoelectrical position sensors along side sensing unit, two photoelectrical position sensors are arranged symmetrically in the left side of body shell and the middle position on right side；Walking mechanism includes driving wheel, driving motor and universal wheel；Cleaning agency includes round brush, round brush motor, micro-cleaner and scalable Bian Shua mechanism；The scalable Bian Shua mechanism include sub-shell, while brush, while brush motor and connecting rod pushing meanss.Robot provided by the utility model is used along side sensing unit and scalable cleaning agency, and sweeping robot can clean blind area in cleaning process.
Description
Technical field
The utility model relates to wipe clean field of mechanical technique more particularly to a kind of non-blind area of all-directional sweeping to sweep the floor
Robot.
Background technique
Domestic intelligent sweeping robot also known as intellective dust collector, frequently referred to precious and dog of sweeping the floor.It is by mobile robot
Technology and cleaner technology are organically fused together, and realize that autonomous cleans the function of ground refuse.Domestic intelligent is swept the floor
Largely manufacture is independently manipulated by computer chip in remote controler and machine at flat circular, can also reserve cleaning for robot.Work as machine
After starting, fuselage presses preset path, direction Mobile cleaning, and meeting automatic turning is hidden when on the way encountering barrier, until
Complete cleaning works；When not enough power supply machine can Automatic-searching cradle charge, it is fully charged after automatically into standby mode.
When sweeping robot works, machine makes the movements such as advance, turning, stop and requires to be predicted by multiple sensors certainly
It is determined after the relationship of body and ambient enviroment, such as differentiates that there is clear in front, if needs are avoided；There is un-grooved below fuselage
Class or step class may cause the state of ground of fuselage collision overturning etc..Since cost is relatively low for infrared sensor, Household floor-sweeping machine
The device National People's Congress all uses multiple groups infrared sensor.Since the range accuracy of infrared sensor is lower and can not detect the object of closer distance
Body, sweeping robot can be separated with certain distance when cleaning along edges such as wall sides with edge, and marginal position, which exists, cleans blind area.
Sweeping robot is mostly disk structure, since inner space needs to install the portions such as battery pack, dust-collecting box, motor
Part, in addition robot needs to have certain obstacle climbing ability, the height of sweeping robot is generally greater than 6 to 8 centimetres.Therefore it sweeps the floor
Robot cannot be introduced into the low place of spatial altitudes such as sofa bottom, bed bottom and be cleaned, can not to the shapes such as corner by
The place of limit is cleaned, and there are biggish cleaning blind areas.
Thus existing sweeping robot technology can't thoroughly be met the needs of users, it is also necessary to be improved, one
Kind can clean blind area non-blind area sweeping robot product become there is an urgent need to.
Summary of the invention
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of non-blind area sweepers of all-directional sweeping
Device people, the robot are used along side sensing unit and scalable cleaning agency, and sweeping robot can be to blind area in cleaning process
It is cleaned.
The purpose of this utility model is realized by technical solution below:
A kind of non-blind area sweeping robot, comprising: body shell (1), controller (2), power supply (3), sensing mechanism, walking
Mechanism and cleaning agency；The controller is connect with power supply, sensing mechanism, walking mechanism and cleaning agency respectively；It is described
Sensing mechanism includes anticollision sensing unit, prevents falling sensing unit and along side sensing unit；It is described along side sensing unit
Including two photoelectrical position sensors (8), two photoelectrical position sensors (8) be arranged symmetrically in the left side of body shell (1) with
The middle position on right side；
Walking mechanism includes driving wheel, driving motor and universal wheel (13)；
Cleaning agency includes round brush (14), round brush motor (15), micro-cleaner and scalable Bian Shua mechanism；It is described to stretch
Cissing brush mechanism include sub-shell (18), while brush (19), while brush motor (20) and connecting rod pushing meanss.
Compared with prior art, one or more embodiments of the utility model can have following advantage:
1, using extension type Bian Shua mechanism, when sweeping robot is swept into corner or unapproachable hanging bottom,
Controller controls rotary electric machine rotation, and torque is acted on by the deceleration increment of retarder, and drive link mechanism slow rotation pushes
Sub-shell forward extends out, and the side brush of sub-shell bottom can clean blind area, eliminates and cleans blind area.
2, calculate along side using photoelectrical position sensor, when sweeping robot is cleaned along wall side, photoelectric sensor
By calculating sweeping robot at a distance from edge, judges whether robot can execute cleaning along side for closer distance, make machine
People can sufficiently welt clean, and eliminate and clean blind area.
Detailed description of the invention
Fig. 1 is non-blind area sweeping robot schematic diagram of internal structure；
Fig. 2 is non-blind area sweeping robot main view；
Fig. 3 is non-blind area sweeping robot top view；
Fig. 4 is non-blind area sweeping robot bottom view；
Fig. 5 is non-blind area sweeping robot side view；
Fig. 6 is non-blind area sweeping robot controller principle schematic diagram；
Fig. 7 is non-blind area sweeping robot walking mechanism working principle diagram；
Fig. 8 is non-blind area sweeping robot anticollision sensing unit working principle diagram；
Fig. 9, which is that non-blind area sweeping robot is anti-, falls sensing unit working principle diagram；
Figure 10 is non-blind area sweeping robot along side sensing unit working principle diagram；
Figure 11 a, 11b, 11c and 11d are that sweeping robot eliminates corner blind area effect picture.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with examples and drawings pair
The utility model embodiment is described in further detail.
As shown in Figure 1, being non-blind area sweeping robot internal structure, including body shell 1, controller 2, power supply 3, sensing
Mechanism, walking mechanism and cleaning agency；The controller is connect with power supply, sensing mechanism, walking mechanism and cleaning agency respectively；
It is described
Sensing mechanism includes anticollision sensing unit, prevents falling sensing unit and along side sensing unit；It is described along side sensing unit
Including two photoelectrical position sensors 8, two photoelectrical position sensors 8 are arranged symmetrically in the left side and right side of body shell 1
Middle position；
Walking mechanism includes driving wheel, driving motor and universal wheel 13；
Cleaning agency includes round brush 14, round brush motor 15, micro-cleaner and scalable Bian Shua mechanism；For executing machine
The cleaning function of people；The scalable Bian Shua mechanism include sub-shell 18, while brush 19, while brush motor 20 and connecting rod pushing meanss.
When sweeping robot is cleaned along side, photoelectric sensor can calculate sweeping robot to the distance at edge in real time, sentence
Whether disconnected sweeping robot can be such that the abundant welt of sweeping robot cleans, dead zone-eliminating closer to edge.
The outside of above-mentioned body shell 1 is provided with the rubber buffer ring 4 for crusherbull zone protection；1 bottom of body shell
Centre is provided with plenum chamber 5.
As shown in fig. 6, above controller 2 is fixedly arranged in the rear of body shell 1, and including sensor signal analysis mould
Block, control walking module and control clean module.
Above-mentioned driving wheel includes left driving wheel 9 and right driving wheel 10, and left driving wheel 9 and right driving wheel 10 are arranged symmetrically in machine
The left and right sides of body housing bottom；The driving motor includes left driving motor 11 and right driving motor 12, left driving motor 11
Output shaft connect with left driving wheel 9, the output shaft of right driving motor 12 is connect with right driving wheel 10.Above-mentioned universal wheel 13 is arranged
On the top of housing bottom, on the axis of symmetry of two driving wheels；Controller 2 is connect with driving motor；Controller 2 passes through control
It makes two driving motors and generates different revolving speed and steering, sweeping robot is made to realize different walking motions, control walking principle
As shown in Figure 7.
Sensing mechanism is used to obtain the information of sweeping robot ambient enviroment, then information is transferred to as electronic signals
Controller 2 is analyzed, and controller 2 issues other mechanisms according to present circumstances and instructs.
Above-mentioned anticollision sensing unit includes nine anticollision infrared sensors 6, and nine anticollision infrared sensors 6 are evenly arranged in
The front side of body shell, and the angle between adjacent anticollision infrared sensor is 15 degree (as shown in Figure 2).Anticollision sensing unit can be right
120 degree of barriers within the vision are detected in front of sweeping robot.Transducing signal analysis module sets two apart from threshold
Value L1 and L2 (L1 > L2), when sensor 6 detects that front obstacle distance is less than L1, controller 2 refers to driving motor sending
It enables, controls sweeping robot Easy abeadl；When sensor detects that front obstacle distance is less than L2, controller 2 is to driving
Motor issues instruction, and control robot is moved to the left or right, avoiding obstacles, the workflow of anticollision sensing unit such as Fig. 8
It is shown.
It is above-mentioned it is anti-fall sensing unit include three it is anti-fall infrared sensor 7, and before being evenly arranged in body shell bottom
End, and be located in same horizontal line；The anti-working principle for falling sensing unit is: infrared sensor 7 is by a transmitter and one
A receiver composition, transmitter emits infrared-ray to the ground at regular intervals, when transducing signal analysis module sets one
Between threshold value T1, if the time that receiver receives infrared-ray is greater than T1, judge in front of sweeping robot for height fall compared with
Big ground.When it is anti-fall sensing unit and detect that front is the height falls such as step big ground when, controller is to driving motor
Instruction is issued, control sweeping robot first moves backward, and prevents sweeping robot from falling, and the anti-workflow for falling sensing unit is as schemed
Shown in 9.
Above-mentioned photoelectrical position sensor 8 can carry out ranging to the barrier of closer distance, and signal analysis module sets one
Distance threshold L3 (L3 < L2).When sweeping robot is cleaned along side, photoelectric sensor 8 can calculate sweeping robot to barrier in real time
Hinder the distance at object edge, if distance be greater than L3, controller 2 can calculate sweeping robot can to edge promote safety away from
From control sweeping robot is close to edge, sufficiently cleans along side, edge blind area is eliminated, along the workflow of side sensing unit
As shown in Figure 10.
Above-mentioned round brush 14 is arranged in plenum chamber 5, and the output axis connection with round brush motor 15.Above-mentioned micro-cleaner packet
Include the true dust-collecting box 16 (as shown in Figure 3) suction pump 17 and be arranged in above plenum chamber；When sweeping robot work, round brush
Motor 15 drives the rotation of round brush 14 to raise the dust on ground and sundries, while vacuum suction and pumping device 17 passes through plenum chamber 5 dust
In sundries inspiration dust-collecting box 16.
There are two above-mentioned sub-shell 18 includes, and it is set as segment, before two sub-shells are arranged symmetrically in body shell
The arranged on left and right sides at end；20 fixed and arranged of side brush motor is in the inside of the sub-shell；The side brush 19 is arranged in the pair
The bottom (as shown in Figure 4) of shell, and the output axis connection with side brush motor 20；The height of sub-shell 18 is less than body shell 1
Height, and it is separable with body shell 1, cleaned for side brush 19 to be put in the unapproachable blind area of sweeping robot.
Above-mentioned connecting rod pushing meanss include rotary electric machine 25, retarder 26 and two link mechanisms；The two link mechanisms packet
It includes master connecting-rod 23 that fulcrum is hinged in body shell 1 and fulcrum is hinged on slave connecting rod 24 in sub-shell 18；The retarder
26 fixed and arrangeds are inside body shell 1, and the input shaft of retarder 26 is connect with rotary electric machine 25, the output shaft of retarder 26
Connect with master connecting-rod 23, in order to realize that link mechanism can start smoothly and slow rotation, rotary electric machine 25 and master connecting-rod 23 it
Between be equipped with retarder 26 play deceleration increment.
Above-mentioned body shell 1 and sub-shell 18 are equipped with matching used guide rail 22 and guide wheel 21, for limiting sub-shell
It moves forward and backward, the mounting structure of guide rail 22 is as shown in Figure 5.
The maximum distance that above-mentioned sub-shell 18 forward extends out depends on length, initial position and the angle of rotation of master connecting-rod 23
Degree considers the height of body shell 1, the master connecting-rod of this example since the link mechanism rotational plane of this example is perpendicular to ground
23 length are 3 centimetres；Consider the dead-centre position of link mechanism, in order to avoid dead point, the master connecting-rod 23 of this example sub-shell not
The initial angle and bottom shell (direction retreated with sweeping robot) forward extended out is in 30 degree of angles；Consider sub-shell 18 to
The maximum distance of preceding stretching, the 23 maximum rotation angle of master connecting-rod of this example are 150 degree；It can be calculated by geometric formula, this reality
The maximum distance that the sub-shell 18 of example forward extends out is 5.1 centimetres.When sweeping robot is cleaned to the hanging high reciprocal of duty cycle in corner, bottom
When the positions such as low furniture edge, controller 2 first controls driving motor and stops operating, and so that sweeping robot is halted, then
It controls rotary electric machine 25 to rotate, torque acts on drive link mechanism slow rotation by the deceleration increment of retarder 26, pushes secondary
Shell 18 moves forward, and the side of sub-shell bottom is brushed 19 pairs of blind zones and cleaned.
Sweeping robot eliminates the corner blind area that can not clean effect such as Figure 11 a of corner blind area, 11b is cleaned in X direction
Shown in the corner blind area of corner blind area, 11c behind Y-direction cleaning corner blind area and 11d cleaning corner, the radius of sweeping robot
Having a size of 175mm；The length of side brush is 77mm；It is 77mm and sweeper that side brush, which is mounted on sweeping robot front end distance,
It is the position of 67mm that device people most left (right side), which holds distance,；Circle of dotted line is the cleaning range of side brush in figure；Due to anticollision infrared sensor
Detection accuracy it is not high, sweeping robot detect front 20mm at have barrier when i.e. execute avoidance act；Shade in figure
For that can not clean corner blind area existing for the sweeping robot in corner, area is denoted as S1 for part.As shown in Figure 11 b and 11c, sweep the floor
Robot can carry out X and Y both direction to the same corner and clean blind area, due to being mounted with along side sensor, sweeping robot
It can be cleaned with the safe distance of 10mm along edge.When being swept into corner, in situ, then forward sweeping robot stops
Side brush is stretched out to clean corner blind area.Dash area is that can clean corner existing for the sweeping robot in corner in Figure 11 d
Blind area is denoted as S2.Area can be acquired by CAD mapping: S1=73.71cm2, S2=6.48cm2, sweeping robot is to the clear of corner
Sweeping rate is 91.21%, and relative to entire purging zone, the corner area that can not be cleaned is negligible.Therefore, nothing of the invention
Blind area sweeping robot can thoroughly clean corner blind area.
Although embodiment disclosed by the utility model is as above, the content is only to facilitate understand that this is practical
Novel and use embodiment, is not intended to limit the utility model.Skill in any the utility model technical field
Art personnel can be in the formal and details of implementation under the premise of not departing from spirit and scope disclosed by the utility model
On make any modification and variation, but the scope of patent protection of the utility model, must still be defined with appended claims
Range subject to.
Claims (10)
1. a kind of non-blind area sweeping robot, which is characterized in that including body shell (1), controller (2), power supply (3), sensing
Mechanism, walking mechanism and cleaning agency；The controller is connect with power supply, sensing mechanism, walking mechanism and cleaning agency respectively；
It is described
Sensing mechanism includes anticollision sensing unit, prevents falling sensing unit and along side sensing unit；It is described to include along side sensing unit
Two photoelectrical position sensors (8), two photoelectrical position sensors (8) are arranged symmetrically in the left side and right side of body shell (1)
Middle position；
Walking mechanism includes driving wheel, driving motor and universal wheel (13)；
Cleaning agency includes round brush (14), round brush motor (15), micro-cleaner and scalable Bian Shua mechanism；The scalable side
Brush mechanism include sub-shell (18), while brush (19), while brush motor (20) and connecting rod pushing meanss.
2. non-blind area sweeping robot as described in claim 1, which is characterized in that the outside of the body shell (1) is arranged
There is the rubber buffer ring (4) for crusherbull zone protection；Plenum chamber (5) are provided among body shell (1) bottom.
3. non-blind area sweeping robot as described in claim 1, which is characterized in that the controller (2) is fixedly arranged in machine
The rear of body shell (1), and module is cleaned including sensor signal analysis module, control walking module and control.
4. non-blind area sweeping robot as described in claim 1, which is characterized in that the anticollision sensing unit includes nine anti-
It hits infrared sensor (6), nine anticollision infrared sensors (6) are evenly arranged in the front side of body shell, and adjacent anticollision is infrared
Angle between sensor is 15 degree.
5. non-blind area sweeping robot as described in claim 1, which is characterized in that the anti-sensing unit that falls includes three anti-
Fall infrared sensor, and is evenly arranged in the front end of body shell bottom.
6. non-blind area sweeping robot as described in claim 1, which is characterized in that
The driving wheel includes left driving wheel (9) and right driving wheel (10), and left driving wheel (9) and right driving wheel (10) are arranged symmetrically
In the left and right sides of body shell bottom；
The driving motor includes left driving motor (11) and right driving motor (12), output shaft and the left side of left driving motor (11)
Driving wheel (9) connection, the output shaft of right driving motor (12) are connect with right driving wheel (10).
7. non-blind area sweeping robot as described in claim 1, which is characterized in that
The universal wheel (13) is arranged in the top of housing bottom, on the axis of symmetry of two driving wheels；
The round brush (14) is arranged in plenum chamber (5), and the output axis connection with round brush motor (15).
8. non-blind area sweeping robot as described in claim 1, which is characterized in that the micro-cleaner includes vacuum suction and pumping
Machine (17) and the dust-collecting box (16) being arranged in above plenum chamber (5).
9. non-blind area sweeping robot as described in claim 1, which is characterized in that
There are two the sub-shell (18) includes, and it is set as segment, two sub-shells are arranged symmetrically in body shell front end
Arranged on left and right sides；
Side brush motor (20) fixed and arranged is in the inside of the sub-shell；
The side brush (19) is arranged in the bottom of the sub-shell, and the output axis connection with side brush motor (20)；
The connecting rod pushing meanss include rotary electric machine (25), retarder (26) and two link mechanisms；The two link mechanisms packet
It includes master connecting-rod (23) that fulcrum is hinged in body shell (1) and fulcrum is hinged on slave connecting rod (24) in sub-shell (18)；Institute
It is internal in body shell (1) to state retarder (26) fixed and arranged, and the input shaft of retarder (26) is connect with rotary electric machine (25),
The output shaft of retarder (26) is connect with master connecting-rod (23).
10. non-blind area sweeping robot as described in claim 1, which is characterized in that the body shell (1) and sub-shell
(18) it is equipped with matching used guide rail (22) and guide wheel (21), is moved forward and backward for limiting sub-shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821502863.9U CN209564068U (en) | 2018-09-14 | 2018-09-14 | A kind of non-blind area sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821502863.9U CN209564068U (en) | 2018-09-14 | 2018-09-14 | A kind of non-blind area sweeping robot |
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| Publication Number | Publication Date |
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| CN209564068U true CN209564068U (en) | 2019-11-01 |
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|---|---|---|---|
| CN201821502863.9U Expired - Fee Related CN209564068U (en) | 2018-09-14 | 2018-09-14 | A kind of non-blind area sweeping robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852184A (en) * | 2018-09-14 | 2018-11-23 | 李子璐 | A kind of non-blind area sweeping robot and its cleaning control method based on deep learning algorithm |
| CN110840336A (en) * | 2019-11-22 | 2020-02-28 | 黄秉润 | Sweeping robot system and sweeping method thereof |
| CN112022006A (en) * | 2020-09-04 | 2020-12-04 | 六安十方信息科技有限公司 | Deformable floor sweeping robot |
| CN112690703A (en) * | 2020-12-18 | 2021-04-23 | 苏州寻迹智行机器人技术有限公司 | Novel autonomous mobile robot |
| CN113273929A (en) * | 2021-05-25 | 2021-08-20 | 聂荣桓 | No dead angle robot of sweeping floor |
| CN113796780A (en) * | 2021-09-01 | 2021-12-17 | 无锡太湖学院 | Intelligent cleaning robot with identification function |
-
2018
- 2018-09-14 CN CN201821502863.9U patent/CN209564068U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852184A (en) * | 2018-09-14 | 2018-11-23 | 李子璐 | A kind of non-blind area sweeping robot and its cleaning control method based on deep learning algorithm |
| CN108852184B (en) * | 2018-09-14 | 2023-12-26 | 李子璐 | Non-blind area sweeping robot based on deep learning algorithm and sweeping control method thereof |
| CN110840336A (en) * | 2019-11-22 | 2020-02-28 | 黄秉润 | Sweeping robot system and sweeping method thereof |
| CN110840336B (en) * | 2019-11-22 | 2023-01-17 | 珠海凯浩电子有限公司 | Sweeping robot system and sweeping method thereof |
| CN112022006A (en) * | 2020-09-04 | 2020-12-04 | 六安十方信息科技有限公司 | Deformable floor sweeping robot |
| CN112690703A (en) * | 2020-12-18 | 2021-04-23 | 苏州寻迹智行机器人技术有限公司 | Novel autonomous mobile robot |
| CN113273929A (en) * | 2021-05-25 | 2021-08-20 | 聂荣桓 | No dead angle robot of sweeping floor |
| CN113796780A (en) * | 2021-09-01 | 2021-12-17 | 无锡太湖学院 | Intelligent cleaning robot with identification function |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191101 Termination date: 20200914 |
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| CF01 | Termination of patent right due to non-payment of annual fee |