CN209863652U

CN209863652U - Floor sweeping robot

Info

Publication number: CN209863652U
Application number: CN201822109203.0U
Authority: CN
Inventors: 檀冲; 赵胜利; 孙明辉; 严涛
Original assignee: Xiaogou Electric Internet Technology Beijing Co Ltd
Current assignee: Beijing Puppy Vacuum Cleaner Group Co Ltd
Priority date: 2018-12-14
Filing date: 2018-12-14
Publication date: 2019-12-31
Anticipated expiration: 2028-12-14

Abstract

The utility model relates to a robot of sweeping floor belongs to intelligent dust catcher technical field, has solved the easy collision of LDS subassembly of the robot of sweeping floor among the prior art damage, the untimely and poor problem of operating stability of path planning. The utility model discloses a robot of sweeping floor is equipped with the LDS subassembly including the robot body of sweeping the floor, the top of robot body of sweeping the floor, and top, bottom or the lateral part of LDS subassembly still are equipped with the subassembly of making a video recording. The utility model provides a robot of sweeping floor carries out image analysis through the LDS subassembly with the cooperation of subassembly of making a video recording, and the path planning is in time made to the concrete condition of knowing the robot direction of advance of sweeping floor that can be clear more, and operating stability is good.

Description

Floor sweeping robot

Technical Field

The utility model relates to an intelligence household electrical appliances technical field especially relates to a robot of sweeping floor.

Background

The floor sweeping robot is also called an automatic cleaner, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. Generally, a robot that performs cleaning, dust collection and floor wiping is also collectively called a floor sweeping robot.

The fuselage of the machine of sweeping the floor now is wireless machine to the disc type is given first place to, and the fuselage top is equipped with LDS subassembly (laser rangefinder) and sweeps floor when the robot walked, and the easy striking leads to the LDS subassembly to take place to damage on the barrier. In addition, the sweeping robot with the LDS module on the body often cannot know the forward direction of the sweeping robot, which results in a large error of the sweeping robot during path planning, and therefore, a sweeping robot capable of more clearly knowing the forward direction of the sweeping robot through image analysis is needed to be provided.

SUMMERY OF THE UTILITY MODEL

In view of the above analysis, the utility model aims at providing a robot of sweeping floor for solve among the prior art the LDS subassembly of robot of sweeping floor collision damage easily, route planning untimely and the poor problem of operating stability.

The purpose of the utility model is mainly realized through the following technical scheme:

the utility model provides a robot of sweeping floor, includes the robot body of sweeping floor and sets up in the LDS subassembly at its top, and the top of the robot body of sweeping floor still is equipped with the subassembly of making a video recording.

Further, the camera assembly is arranged at the top, the bottom or the side of the LDS assembly.

Furthermore, the camera shooting assembly is arranged at the top of the LDS assembly through a supporting piece, and the supporting piece and the LDS assembly are coaxially arranged.

Further, the support member comprises at least two upright posts, and the upright posts are higher than the LDS assembly.

Further, gaps are arranged between the top surface of the LDS assembly and the bottom surface of the camera shooting assembly, and between the side wall surface of the LDS assembly and the upright post.

Further, the column comprises a plurality of sheet structures, and gaps for the LDS assembly signals to pass through are formed among the sheet structures.

Furthermore, the vertical column is provided with a plurality of through holes for the signals of the LDS component to pass through along the longitudinal direction.

Furthermore, the supporting piece also comprises a supporting plate which is fixedly arranged at the top end of the upright post.

Further, the upright post is made of non-metallic material.

Furthermore, an illumination assembly is further arranged, and the illumination direction of the illumination assembly is the same as the shooting direction of the camera shooting assembly.

Compared with the prior art, the utility model discloses one of following beneficial effect has at least:

a) the utility model provides a robot of sweeping floor is equipped with the LDS subassembly and makes a video recording the subassembly, carries out image analysis through the cooperation of LDS subassembly and the subassembly of making a video recording and can be clearer the concrete condition who learns the robot direction of advance of sweeping floor, in time makes the path planning, and operating stability is high.

b) The utility model provides a robot of sweeping floor, the subassembly of making a video recording sets up in the top of LDS subassembly through the support piece axle with all being equipped with the clearance between the bottom surface of the top surface of LDS subassembly and the subassembly of making a video recording, the outer wall of LDS subassembly and the stand, LDS subassembly holding is in support piece inner space, can avoid LDS subassembly and barrier to take place direct collision, plays the cushioning effect, has improved the life of LDS subassembly and the job stabilization nature and the security of robot of sweeping floor.

c) The utility model provides a floor sweeping robot, the upright post comprises a plurality of sheet structures, and a gap for LDS assembly signals to pass through is formed between the sheet structures; or, the stand is along vertically being equipped with a plurality of through-holes that supply LDS subassembly signal to pass, and the stand of this structure not only can alleviate the whole weight of robot of sweeping the floor, increases the operation flexibility of robot of sweeping the floor, can also furthest's reduction LDS subassembly transmission signal's loss, promotes laser rangefinder's precision and degree of accuracy.

The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.

Fig. 1 is a front view of the sweeping robot in the embodiment;

fig. 2 is a side view of the sweeping robot in the embodiment;

fig. 3 is a partially enlarged view of the area a in fig. 2.

Reference numerals:

1. a sweeping robot body; 2. an LDS component; 3. a camera assembly; 4. and (4) a column.

Detailed Description

The following detailed description of the preferred embodiments of the invention, which is to be read in connection with the accompanying drawings, forms a part of this application, and together with the embodiments of the invention, serve to explain the principles of the invention and not to limit its scope.

The utility model discloses a concrete embodiment, as shown in fig. 1 to 3, discloses a robot of sweeping floor, including the robot body 1 of sweeping floor, the top of the robot body 1 of sweeping floor is equipped with LDS subassembly 2, and the top of the robot body 1 of sweeping floor still is equipped with camera module 3, preferably, camera module 3 sets up in top, bottom or the lateral part of LDS subassembly 2, and camera module 3's the shooting direction is the same with the advancing direction of the robot body 1 of sweeping floor.

The robot of sweeping the floor at the during operation, LDS subassembly 2's signalling direction, the shooting direction of subassembly 3 and the advancing direction of robot body 1 of sweeping the floor are the same, and subassembly 3 of making a video recording can shoot and acquire environment image information, and the robot of sweeping the floor can be more clear through image analysis learn the condition that the robot the place ahead of sweeping the floor carries out the direction, plan the route in advance, avoid bumping with the barrier.

Compared with the prior art, the robot of sweeping the floor that this embodiment provided is provided with camera module 3, with LDS subassembly 2 cooperation, can learn the robot direction of travel environmental condition of sweeping the floor in real time, avoids sweeping the floor robot effectively and bumps with the place ahead barrier to can plan the route in advance, improve the intelligent degree and the job stabilization nature of the robot of sweeping the floor.

In this embodiment, the camera module 3 is preferably disposed on the top of the LDS module 2, and the camera module 3 is connected to the top of the LDS module 2 through a support member. Considering that the sweeping robot works, because the LDS assembly 2 can rotate, therefore, gaps are provided between the top surface of the LDS assembly 2 and the bottom surface of the camera assembly 3, and between the outer wall surface of the LDS assembly 2 and the upright 4, for example, as shown in fig. 3, the camera assembly 3 is arranged at the top of the LDS assembly 2 through a support member, the support member is coaxially arranged with the LDS assembly 2, the support member includes at least two upright 4, the upright 4 is higher than the LDS assembly 2, gaps are provided between the top surface of the LDS assembly 2 and the bottom surface of the camera assembly 3, and between the side wall surface of the LDS assembly 2 and the upright 4, so that interference between the LDS assembly 2 and the support member is avoided, and normal operation of the sweeping robot is ensured.

Considering that LDS subassembly 2 probably collides the damage with the barrier in the course of advancing, on the robot that sweeps the floor gos forward and retreat the direction on the straight line, LDS subassembly 2's both sides are equipped with a stand 4 respectively, when sweeping the floor the robot and the barrier in the place ahead or rear and colliding, the stand 4 that LDS subassembly 2 both sides set up will contact with the barrier earlier, avoid LDS subassembly 2 and barrier to take place direct collision, play the cushioning effect, the life of LDS subassembly 2 has been improved, and then the job stabilization nature and the security of robot of sweeping the floor have been improved.

In the embodiment, in order to reduce the loss of the LDS assembly 2 transmitting signals, the upright column 4 of the support comprises a plurality of sheet structures, and gaps for the LDS assembly signals to pass through are formed between the sheet structures; alternatively, the column 4 is provided with a plurality of through holes for passing signals of the LDS assembly 2 along the longitudinal direction. Set up stand 4 into lamellar structure or stand 4 and be equipped with a plurality of through-holes, can alleviate the whole weight of robot of sweeping the floor on the one hand, increase the operation flexibility of robot of sweeping the floor, on the other hand can furthest's the loss that reduces LDS subassembly 2 transmission signal, promotes laser rangefinder's precision and degree of accuracy.

In order to further prevent LDS subassembly 2 collision from taking place to damage, support piece still includes the backup pad, the fixed top of locating stand 4 of backup pad, the area of backup pad is greater than the area at LDS subassembly top, thereby can prevent the object that the top dropped, cause LDS subassembly 2 to damage with the barrier collision among the operation process, especially can effectively avoid the liquid of top drippage to contact with LDS subassembly 2, prevent to take place the short circuit, the life of LDS subassembly 2 and the work safety nature of robot of sweeping the floor have been prolonged.

In order to further promote the operation flexibility of the sweeping robot, the supporting piece is made of a non-metal material, such as an epoxy resin material, plastic and the like, particularly, the upright post 4 is made of the non-metal material, so that the overall weight of the sweeping robot can be reduced, and the influence of the supporting piece with a metal structure on the signal emission intensity of the LDS assembly 2 can be overcome. It is further preferred that the upright post 4 is made of an elastic non-metallic material, such as rubber, or that the outer surface of the upright post 4 is provided with an elastic rubber layer for cushioning during a collision. When the stand 4 collides with the barrier, the stand 4 of rubber material or the stand 4 of which the surface is provided with the rubber layer can reduce the impact on the vibration of the internal structure of the sweeping robot, and the running stability and the safety of the sweeping robot are improved.

In the present embodiment, the camera module 3 is preferably a vision camera. The camera shooting assembly 3 can be in wireless connection with a mobile phone or a computer, the working state of the sweeping robot can be observed in real time through the mobile phone or the computer, and the sweeping robot is more intelligent.

In order to improve the shooting range of the camera assembly 3 and prepare for the sweeping robot to perform path planning in advance, the camera assembly 3 can rotate, specifically, the camera assembly 3 is connected with the supporting piece through the rotating assembly, the rotating assembly is driven by the motor and is connected with a controller of the sweeping robot, the controller controls the rotating assembly to rotate at any angle, and when the sweeping robot retreats, the rotating assembly rotates 180 degrees, so that the shooting direction of the camera assembly 3 is the retreating direction of the sweeping robot; or, the camera shooting component 3 is arranged at the top of the sweeping robot body 1, and through the rotating component arranged, the camera shooting component 3 can rotate synchronously with the LDS component 2, and is matched with the LDS component 2 to acquire the environmental conditions of the range where the LDS component 2 transmits signals, so that the path can be planned and changed in time, and the intelligent degree and flexibility of the sweeping robot are improved.

Considering that the brightness of the working and operating environment of the sweeping robot is greatly uncertain, the image shot by the camera module 3 in the low-brightness environment is poor in definition, and the working and operating requirements of the sweeping robot cannot be met, therefore, the sweeping robot of the embodiment can be further provided with the lighting module, the lighting module is connected with the battery and the controller wire of the sweeping robot, the lighting module can be provided with a plurality of groups, and the lighting direction of at least one group of lighting module is the same as the camera shooting direction of the camera module 3. Preferably, there are two sets of lighting assemblies, which are respectively disposed at the outer circumference of the sweeping robot body 1 in the advancing direction and the retreating direction of the sweeping robot body 1, when the sweeping robot advances, the lighting assembly disposed in the advancing direction of the sweeping robot body starts lighting, and when the sweeping robot retreats, the lighting assembly disposed in the retreating direction of the sweeping robot body starts lighting, so that the image shot by the camera assembly 3 is clearer.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims

1. The utility model provides a robot of sweeping floor, includes the robot body of sweeping the floor and sets up in the LDS subassembly at its top, its characterized in that, the top of robot body of sweeping the floor still is equipped with the subassembly of making a video recording.

2. The sweeping robot of claim 1, wherein the camera assembly is disposed at a top, a bottom or a side of the LDS assembly.

3. The sweeping robot of claim 1, wherein the camera assembly is disposed on top of the LDS assembly via a support member, the support member being disposed coaxially with the LDS assembly.

4. The sweeping robot of claim 3, wherein the support comprises at least two uprights, the uprights being higher than the LDS assembly.

5. The sweeping robot of claim 4, wherein gaps are formed between the top surface of the LDS assembly and the bottom surface of the camera assembly, and between the side wall surface of the LDS assembly and the upright post.

6. The sweeping robot of claim 4, wherein the upright comprises a plurality of sheet structures, and gaps are formed between the sheet structures for LDS assembly signals to pass through.

7. The sweeping robot of claim 4, wherein the upright is longitudinally provided with a plurality of through holes for LDS assembly signals to pass through.

8. The sweeping robot according to any one of claims 3 to 7, wherein the support member further comprises a support plate fixedly mounted to a top end of the upright.

9. The sweeping robot of claim 8, wherein said posts are made of a non-metallic material.

10. The sweeping robot according to claim 9, further comprising an illumination assembly, wherein the illumination direction of the illumination assembly is the same as the camera shooting direction of the camera assembly.