CN210114402U

CN210114402U - Floor sweeping robot

Info

Publication number: CN210114402U
Application number: CN201920317512.9U
Authority: CN
Inventors: 周妍杉
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-13
Filing date: 2019-03-13
Publication date: 2020-02-28
Anticipated expiration: 2029-03-13

Abstract

The utility model discloses a sweeping robot, which works in a closed area and comprises a control module, an induction module, a driving module, a power module, a cleaning module, a storage module and a communication module; the storage module, the communication module, the induction module, the driving module and the cleaning module are all connected with the control module; the storage module is used for storing a path planning algorithm; the communication module is used for communicating with the mobile terminal and receiving a route sent by the mobile terminal; the control module is used for planning a route according to an algorithm stored in the storage module, and compared with the prior art, collision damage is reduced.

Description

Floor sweeping robot

Technical Field

The utility model relates to a robot of sweeping the floor, especially this robot of sweeping the floor cleans high efficiency, nothing is left hourglass, collision damage few in closed region.

Background

With the improvement of living standard of people and the faster pace of social life, the behavior of doing housework activities such as sweeping floor in person for some people (especially office workers) can not adapt to the fast pace of the people. When the rest time is short and the situation that the house work is not willing to be done during rest is aggravated, the sweeping robot is more and more favored by people. However, the sweeping robot is not satisfactory in some aspects, especially in the sweeping and covering rate of corners, so that sometimes human intervention is still required.

The main obstacle avoidance modes of the sweeping robot in the current market are two types: firstly, collision avoidance, namely, the vehicle immediately moves backwards when an object is sensed to collide; firstly, ultrasonic ranging or laser ranging evades, namely, the ultrasonic or laser is utilized to judge the distance of the obstacle in advance and leave the obstacle early.

Collision avoidance is prone to damage from fragile objects or some damage to the sweeping robot itself during a collision. Moreover, after the sweeping robot collides, the robot generally moves backwards directly, which easily causes that a large area around the obstacle cannot be swept. In addition, the sweeping robot may try a second time after the first collision, and in this case, many of the sweeping robots may stop working due to several consecutive collisions or continue to perform collision attempts on obstacles, and must be manually started or removed.

Although the ultrasonic or laser ranging avoids damage to fragile objects or the sweeping robot caused by collision, the set safe distance of the sweeping robot is difficult to control because the ranging is delayed (even 1 second). Because, if the safety is kept, the cleaning machine will leave in advance and cannot clean a large area; if one wants to sweep the ground a short distance next to the obstacle, there is a high probability of a collision because it will hit when it determines a delay.

Aiming at the problem that the corner coverage rate is not high when the sweeping robot sweeps, the scheme adopted in the prior art is to make the sweeping route of the sweeping robot be in a bow shape. The design of this scheme is mainly to solve the problem of low coverage, but has some shortcomings, for example, the design of making the sweeping robot go "bow" shape can cause a very serious problem to be: due to repeated reciprocating, the sweeping robot can inevitably pass through obstacles such as wall surfaces and the like for multiple times, so that more collision damage or large-area omission of a sweeping area is caused.

Based on the above-mentioned needs of people for more efficient and accurate sweeping robots and the problems of the current sweeping robots, i consider that there is a need to provide a solution for improving the above current situation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome inherent defect in the background art, provide a robot of sweeping floor, it cleans the coverage rate height, and the collision damage is few.

The specific scheme is as follows: the utility model provides a robot of sweeping floor, work in closed zone, the robot of sweeping floor includes control module, response module, drive module, power module, clean module, storage module and communication module. The storage module, the communication module, the induction module, the driving module and the cleaning module are all connected with the control module; the storage module is used for storing a path planning algorithm; the communication module is used for communicating with the mobile terminal and receiving a route sent by the mobile terminal; the control module is used for planning a route according to an algorithm stored in the storage module and controlling the sweeping robot to sweep according to the planned route, and the control module can also control the sweeping robot to sweep according to the route sent by the mobile terminal; the induction module comprises a signal receiver for receiving a signal sent by the charging socket; the driving module is used for driving the sweeping robot to move; the power supply module is connected with each module, and each module provides electric energy; the cleaning module is used for sweeping the ground. Furthermore, the utility model discloses a robot of sweeping floor is rubber including the feeler lever that can stretch out and draw back, the pole head for the buffering reduces the collision damage. The path planning algorithm comprises the following steps: s1: the sweeping robot starts from the position of fixing the charging socket at the wall edge, extends out of the touch rod to touch the wall in the closed area for a circle, and runs around the edge of an obstacle if the touch rod touches the obstacle; s2: returning to the starting point of the previous circle, moving inwards by a distance in the closed space, and starting a new circle, wherein the distance is the diameter of the main body of the sweeping robot; s3: repeating the step S2 until the number of walking turns of the sweeping robot reaches a pre-determined value; s4: and receiving a signal sent by the charging socket and returning to charge in a straight line.

Preferably, the charging socket is not suitable for being placed at corners, so that the inconvenience of omission and corners is avoided.

Preferably, the path planning algorithm adopts a left-hand rule or a right-hand rule.

Preferably, the sweeping robot can be directly controlled by the mobile terminal.

The utility model provides a robot of sweeping floor walks along the barrier earlier to reduce the mode of route circle gradually, compared with the prior art, not only reduced the collision damage, still improved and cleaned the coverage, and almost no repetition cleans, greatly reduced the energy consumption.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. The drawings in the following description are examples of the present invention, and it will be clear to those skilled in the art that other drawings can be obtained without inventive step.

Fig. 1 is a schematic block diagram of a sweeping robot provided by the present invention.

Fig. 2 is a schematic structural view of the sweeping robot provided by the present invention.

Fig. 3 is a schematic covering diagram of the sweeping robot in fig. 1 moving according to the left-hand rule.

Fig. 4 is a schematic covering diagram of the sweeping robot in fig. 1 moving according to the right-hand rule.

Detailed Description

The embodiments of the present invention will be described more fully hereinafter with reference to the accompanying drawings. The specific embodiments described herein are merely illustrative of some, and not all, embodiments of the invention. Based on the specific embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, the present invention is an embodiment. The utility model provides a robot of sweeping floor is worked in closed interval, and robot 1 of sweeping floor includes control module 2, response module 3, drive module 4, power module 5, clean module 6, storage module 7 and communication module 8. The storage module 7, the communication module 8, the induction module 3, the driving module 4 and the cleaning module 6 are all connected with the control module 2; the storage module 7 is used for storing a path planning algorithm; the communication module 8 is used for communicating with the mobile terminal and receiving a route sent by the mobile terminal; the control module 2 is used for planning a route according to an algorithm stored in the storage module 7 and controlling the sweeping robot to sweep according to the planned route, and the control module 2 can also control the sweeping robot to sweep according to a route sent by the mobile terminal; the induction module 3 comprises a signal receiver 9 for receiving a signal sent by the charging socket; the driving module 4 is used for driving the sweeping robot to move; the power supply module 5 is connected with each module and provides electric energy for each module; the cleaning module 6 is used for sweeping the floor. The utility model discloses a robot of sweeping floor is including the feeler lever 10 that can stretch out and draw back, and the pole head is rubber for the buffering reduces the collision damage.

The control module of the sweeping robot in the embodiment adopts a microcontroller; the driving module comprises a left driving wheel, a right driving wheel and a universal wheel and is driven by the motor driving chip; the power supply module is a rechargeable lithium battery and is used for providing electric energy for the sweeping robot and supporting the work of the sweeping robot; the cleaning module comprises a rolling brush, a side brush and a fan.

The steps of the path planning algorithm include S1-S4.

S1: the sweeping robot starts from the position of fixing the charging socket beside the wall, extends out of the touch rod to touch the wall in the closed area for a circle, and moves around the edge of the obstacle (namely moves along the wall of the obstacle) if the touch rod touches the obstacle.

When the sweeping robot starts from the charging socket, the contact rod is contacted on the wall. And the movement of the feeler lever is prior to the main body part of the sweeping robot, so as to explore the condition. When the feeler lever feels the corner, the feeler lever can utilize the toughness of the feeler lever and give a momentum to the feeler lever by virtue of a wall or other obstacles so as to achieve the aim of steering the body of the sweeping robot. At the moment, the force is very small, the sweeping robot can be aware of obstacles only by a little force, the driving module can drive to turn, and the feeler lever only plays a role in assisting to turn. In addition, the feeler lever is tough, and the lever head is made of rubber, so that the sweeping robot or other obstacles cannot be damaged. And, when passing through the corner, the side brush of the sweeping robot is driven by the force to sweep the corner in a sharp shape.

S2: returning to the starting point of the previous circle, moving inwards a distance in the closed space, and starting a new circle, wherein the distance is the diameter of the main body of the sweeping robot.

When the sweeping robot sweeps a circle along the indoor edge (or inner circle), the sweeping robot returns to the position of the starting point of the previous circle. At this time, the sweeping robot moves to the right for a distance as long as the diameter of the sweeping robot, and continues to move around. However, this circle movement is not performed by the touch stick, but is memorized based on the route of the previous circle, and a portion of the diameter of itself is removed over the route length of the previous circle. Therefore, almost seamless connection with the track of the previous circle can be ensured, so that the cleaning efficiency is improved, and the repetition is reduced.

S3: and repeating the step S2 until the number of walking turns of the sweeping robot reaches the pre-determined value.

And (5) repeating the step S2 by the sweeping robot, wherein the number of walking turns of the sweeping robot reaches a pre-judgment value. The pre-judging value can be obtained by memorizing the route of the first circle of the sweeping robot and automatically calculating and estimating, the approximate diameter of the closed area can be estimated when the sweeping robot walks the first circle, the number of turns required for walking the whole closed area is estimated based on the approximate diameter of the closed area and the diameter of the sweeping robot body, and the number of turns is set as the pre-judging value. The sweeping robot can store the walking route of the closed area in the storage module, when the same closed area is passed through each time, the walking route in the closed area is extracted from the storage module, and if the route is not extracted for a long time, the route is deleted from the storage module.

S4: and receiving a signal of the charging socket and returning to charge linearly.

The corner covering effect of the utility model is shown in fig. 3 and 4, fig. 3 is a schematic covering diagram of the sweeping robot moving according to the left-hand rule; fig. 4 is a schematic covering diagram of the sweeping robot moving according to the right-hand rule.

As shown in fig. 3, the sweeping robot starts to move and work from the charging socket point a by taking the left feeler lever as a main feeler lever. And when the robot returns to the starting point of the previous circle, the robot moves to the right by a distance which is the diameter of the main body of the sweeping robot. After the operation is finished, the straight line returns to the charging socket for charging, and the next operation is waited.

As shown in fig. 4, the sweeping robot starts to move and work from the charging socket point a with the right feeler lever as the main feeler lever. When the robot returns to the starting point of the previous circle, the robot moves to the left by a distance which is the diameter of the main body of the sweeping robot. After the operation is finished, the straight line returns to the charging socket for charging, and the next operation is waited.

As can be seen from fig. 3 to 4, the full coverage of the entire working area can be achieved regardless of whether the sweeping robot works according to the left-hand rule or the right-hand rule. And the side brush treatment at the corner is added, so that the problem of difficulty at the corner is solved. And the contact rod is used for buffering, so that the impact and the damage are greatly reduced.

The above disclosure is only an example of the present invention, and the protection scope of the present invention is not limited thereto, so that the equivalent changes made according to the embodiments of the present invention still belong to the protection scope of the present invention.

Claims

1. A sweeping robot works in a closed space and is characterized by comprising a control module, an induction module, a driving module, a power module, a cleaning module, a storage module and a communication module; the storage module, the communication module, the induction module, the driving module and the cleaning module are all connected with the control module; the storage module is used for storing a path planning algorithm; the communication module is used for communicating with the mobile terminal and receiving a route sent by the mobile terminal; the control module is used for planning a route according to an algorithm stored in the storage module and controlling the sweeping robot to sweep according to the planned route; the induction module comprises a signal receiver for receiving a signal sent by the charging socket; the driving module is used for driving the sweeping robot to move; the power supply module is connected with each module and provides electric energy for each module; the cleaning module is used for sweeping the ground; the sweeping robot also comprises a telescopic feeler lever, and the lever head is made of rubber.