CN210446916U - Mobile robot - Google Patents
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- CN210446916U CN210446916U CN201920449321.8U CN201920449321U CN210446916U CN 210446916 U CN210446916 U CN 210446916U CN 201920449321 U CN201920449321 U CN 201920449321U CN 210446916 U CN210446916 U CN 210446916U
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Abstract
The utility model discloses a mobile robot, including the robot main part, the front position of chassis (106) of robot main part is equipped with universal wheel (101), and the robot main part is equipped with sound sensor (203) and the signal processing board that has the electric connection relation, and sound sensor (203) assembles inside casing (201) of the concave yield structure that chassis (106) was seted up, and sound sensor array and concave yield structure's casing (201) are separated by packing isolation material (202); wherein, the walking direction of the robot main body is taken as the front; the opening of the concave structure is arranged downwards and is not surrounded by filling isolation materials (202), the carpet detection and identification effect is improved, and noise interference is reduced.
Description
Technical Field
The utility model belongs to the technical field of the robot carpet detects, especially, relate to a mobile robot.
Background
Chinese patent 2016107654250 discloses a carpet determination method and system for a floor sweeping robot, which specifically collects infrared light reflected by the ground through an infrared ranging sensor arranged on the floor sweeping robot and facing downward, detects a carpet according to the ground reflectivity of the infrared light, but if the floor sweeping robot moves in a strong light environment or in a black carpet, erroneous determination is easily caused; JP1994141042 discloses a sweeper, wherein an ultrasonic transmitter and a receiver are arranged at the position of a dust suction port of the sweeper, and are used for detecting the reflection level of ultrasonic waves from a surface to be cleaned so as to judge the surface to be cleaned, and the ultrasonic transmitter needs to be additionally driven to transmit pulse train waves, so that the precision requirement of the assembly position is high. Therefore, how to eliminate interference to accurately detect the carpet during the movement of the sweeping robot becomes one of the problems that the skilled person needs to solve urgently.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical defect, the utility model provides a following technical scheme:
a mobile robot comprises a robot main body and a sound sensor, wherein the sound sensor is arranged on a chassis of the robot main body, and a signal receiving probe of the sound sensor faces the walking ground. The mobile robot provided by the technical scheme has the advantages that the sound sensor is assembled on the chassis to detect sound signals, the device cost and the power consumption are reduced, and the carpet detection and identification effects are improved.
Further, the sound sensor is assembled inside a shell of a concave structure arranged on the chassis, and the sound sensor and the shell of the concave structure are separated by filling isolation materials; wherein the opening of the recess structure is disposed downward and is not surrounded by the filling isolation material. This technical scheme separates the interference with the machine casing through filling isolation material, weakens the noise of organism conduction.
Furthermore, the mobile robot comprises two sound sensors which are respectively assembled in the shell of the concave structure arranged on two sides of the assembly position where the universal wheel is located; wherein, the walking direction of the robot main body is taken as the front end; the front end position of the chassis is provided with universal wheels. Therefore, the mobile robot can detect the position of the carpet before climbing the carpet, and effectively avoid the carpet.
Furthermore, the mobile robot comprises more than two sound sensors which are distributed in the shell of the concave structure arranged on the edge of the chassis. Therefore, the sound signals reflected by the ground medium are detected at a plurality of angles, the covering surface for collecting the sound information is improved, and the sound identification degree is enhanced.
Further, the mobile robot comprises the sound sensor which is assembled inside a shell of the concave structure arranged on the chassis. The carpet detection device is simple in detection structure, and the carpet can be accurately identified by means of one sound sensor.
Further, the filling and isolating material is a sponge sound-insulating material. And under the working state of a cleaning component in the robot, the noise transmitted by the body received by the sound sensor is reduced, and the detection effect of the ground medium reflected sound is enhanced.
Drawings
Fig. 1 is a schematic view of a chassis installation plane of a mobile robot provided by an embodiment of the present invention.
Fig. 2 is an assembly diagram of an acoustic sensor according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a connection relationship between the signal processing board and the sound sensor according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. The utility model discloses a basic concept is a sensor that can gather audio signal is installed below mobile robot's chassis, and the inside treater of rethread machine detects the ground medium type through analysis audio signal's frequency spectrum. In this embodiment, the mobile robot is a cleaning robot, and cleaning assembly including main brush, fan, etc. is installed in the cleaning robot, so when the cleaning robot works on walking ground, a part of sound of main brush, fan operation can be spread to ground, and then reflects back. When the floor cleaning machine is used for cleaning hard floors such as tiles and the like, high-frequency signals in the operation sound of the cleaning components reflected by the floor are rich and have larger amplitude, and the high-frequency signals of the operation sound of the cleaning components reflected by the surface of the carpet are suppressed, so that the integral sound amplitude is reduced, and a processor in the machine distinguishes whether the currently walking floor medium is the carpet or not through the characteristics.
It should be noted that the aforementioned high-frequency signal is the highest-frequency sound signal that can be heard by human ears, and is up to 20KHz or slightly lower than 20 KHz; the aforementioned low frequency signal is the lowest frequency sound signal audible to the human ear, up to 20Hz, or slightly above 20 Hz.
As shown in fig. 1, the embodiment of the utility model provides a mobile robot, including the robot main part, universal wheel 101 and sound sensor 203, the front position on the chassis 106 of the robot main part is equipped with universal wheel 101, and the intermediate position on the chassis 106 of the robot main part is equipped with round brush subassembly 102, and the rear end position on the chassis 106 of the robot main part is equipped with the lower surface of water tank and has the rag (not shown in the figure), and the rear end position on the chassis 106 of the robot main part still is equipped with the dirt box (not shown in the figure), dirt box internally mounted fan. The rolling brush assembly 102 and the water tank can be used as detachable cleaning assemblies arranged on a robot main body of the mobile robot, and different cleaning assemblies can help the mobile robot to complete different cleaning works. The front side of the traveling direction of the robot main body corresponds to the front end of the chassis 106.
As can be seen from fig. 1 and 2, the robot body is provided with a sound sensor 203, the sound sensor 203 is mounted inside a housing 201 of a recessed structure formed in the chassis 106, the sound sensor 203 and the housing 201 of the recessed structure are separated by a filling isolation material 202, an opening of the recessed structure is arranged downward and is not surrounded by the filling isolation material 202, the shape of the recessed structure is similar to that of the housing 201 of fig. 2, the opening of the housing 201 is arranged vertically downward, and the filling isolation material 202 does not cover the lower surface of the sound sensor 203 included in the sound sensor array, so that the sound sensor 203 can be aligned with the ground to receive sound signals reflected by ground media during walking of the mobile robot. The filling insulating material is preferably a sponge sound insulating material. In this embodiment, a sound sensor 203 is disposed in a recessed structure formed in the chassis 106 of the mobile robot, and a signal receiving probe of the sound sensor 203 faces the walking ground. In general, the distance between the sound sensor 203 and the ground is fixed. In this embodiment, the mobile robot is a cleaning robot, when the cleaning robot performs a floor cleaning operation, a part of sound generated by the operation of the main brush and the fan inside the cleaning robot is transmitted to the floor and then reflected back, and since the floor reflectivity of the sound signals is different according to the material of the floor, for example, the signal reflectivity of a hard floor or a floor tile is much larger than that of a carpet, the sound signal absorption effect of the carpet is good, and the vibration reduction effect is obvious, it can be determined whether the floor medium on which the mobile robot currently travels is the carpet through the sound sensor 203.
In the working state of the rolling brush assembly 102, since the main brush inside the rolling brush assembly 102 rotates to generate noise and is conducted through the shell 201, the sound sensor 203 receives the noise conducted from the shell 201 under the condition that the sound sensor is not surrounded by the filling isolation material 202, and at the moment, the sound sensor 203 also receives the sound reflected by the walking ground of the robot body, and the two sounds are superposed together to inevitably influence the effect of detecting the sound signal reflected by the ground medium. Therefore, in order to reduce the noise influence conducted by the housing 201 and enhance the detection effect of the ground medium reflected sound, the sound sensor 203 in this embodiment is isolated and mounted by using a sound insulation material such as sponge, so as to realize that the sound sensor array isolates the surface of the housing 201.
Preferably, the mobile robot comprises two sound sensors, namely a left sound sensor 105 and a right sound sensor 104 in fig. 1, the left sound sensor 105 is mounted inside a housing 201 of the recessed structure opened on the left side of the mounting position of the universal wheel 103, the right sound sensor 104 is mounted inside the housing 201 of the recessed structure opened on the right side of the mounting position of the universal wheel 103, and the left sound sensor 105 and the right sound sensor 104 are mounted at the front end of the chassis 106, so that the mobile robot can detect the position of a carpet before climbing the carpet, the sound detection is more effective, and the machine is prevented from entering the surface of the carpet. Based on the above structure, the sound sensor array may further include two or more sound sensors 203, which are distributed inside the housing 201 of the recessed structure formed on the edge of the chassis 106, and can detect sound signals reflected from the floor medium from multiple angles, so as to identify the carpet position, for example, right in front of the machine or on the side, and improve the comprehensiveness and accuracy of detection, so that the machine avoids crossing into the carpet from various floor media.
Preferably, the acoustic sensor array may comprise only one acoustic sensor 203, mounted inside a housing 201 of one of the recessed structures provided in the chassis 106. The structure is simple in arrangement, can be used for identifying the carpet, achieves the carpet detection function, can be used for avoiding the carpet, and saves the cost of the device.
As shown in fig. 3, the robot main body is provided with a sound sensor and a signal processing board which are electrically connected, wherein the sound sensor can be a microphone, has a certain frequency response section and cannot respond to ultrasonic waves and infrasonic waves. The sound sensor converts the sound signal reflected by the ground into an electric signal and transmits the electric signal to the signal processing board. The signal processing board comprises a microprocessor and an amplifier, in the embodiment, the microprocessor is a robot main control chip AM380S specially used for audio analysis, the amplifier is a low-cost four-way operational amplifier LM324 from an ideological semiconductor, and the signal input end of the amplifier is connected with the signal output end of the sound sensor array, namely the signal output end corresponding to the sound sensor 203; the signal output end of the amplifier is connected with the signal input end of the microprocessor. The amplifier is provided with a gain value and internally comprises a low-pass filter, and is used for amplifying the voltage or power corresponding to the acquired sound signal according to the set gain value and filtering out a high-frequency noise signal which does not have contribution value to sound signal analysis, so that the restoration and the enhancement of the acquired original sound signal are realized.
As shown in fig. 3, the microprocessor includes an analog-to-digital conversion module, a spectrum analysis module, and a determination module, which are electrically connected in sequence, and the analog-to-digital conversion module, the spectrum analysis module, and the determination module are circuits inside the microprocessor and configured with corresponding functions depending on program codes. Specifically, the analog-to-digital conversion module is used for converting an analog signal at a signal output end of the amplifier into a digital signal, namely a continuous voice analog signal subjected to sampling amplification processing, and then converting the digital signal into a binary discrete digital signal, and the AD converter is composed of a comparator, a D/a converter, a buffer register and a control logic circuit. The analog-to-digital conversion module transfers the converted digital signals to the frequency spectrum analysis module for time-frequency domain conversion processing, mainly performs Fourier transform, namely time-frequency domain conversion of the digital signals, so as to obtain signals with different amplitudes on a frequency spectrogram, and therefore, a digital signal processing algorithm is built in the frequency spectrum analysis module. Finally, the frequency spectrum analysis module transmits the amplitude value of the high-frequency signal and the amplitude value of the low-frequency signal in the frequency domain to the judgment module, wherein the frequency value of the high-frequency signal is close to the highest frequency 20KHz of the sound signal which can be heard by the human ear, and the frequency value of the low-frequency signal is close to the lowest frequency 20Hz of the sound signal which can be heard by the human ear; and the judgment module respectively compares the two amplitude values with corresponding preset threshold values, obtains the identification condition of the ground medium for the mobile robot to walk according to the comparison result, outputs the identification condition by the signal output end of the microprocessor and serves as an interrupt signal of the planned path or the working mode of the mobile robot so as to avoid climbing a carpet. Because when the mobile robot walks on a hard ground, the audio high-frequency signal received by the sound sensor 203 is not inhibited, the amplitude is higher, when the mobile robot walks on the surface of the carpet, the carpet can absorb the audio signal, particularly the high-frequency signal, so that the overall amplitude of the signal received by the sound sensor 203 is reduced greatly, and the judgment module can well detect the carpet through the judgment of the threshold value. The time domain spectrogram is an attribute feature of a sound signal collected by the sound sensor.
Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. In the system, the PC remotely controls the equipment or the device through the Internet, and accurately controls each operation step of the equipment or the device. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Thus, the program of the present invention may be stored on a computer-readable medium, and the files or documents generated by the program may be statistical, data reports generated, and the like. It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.
Claims (6)
1. A mobile robot comprises a robot main body and a sound sensor, and is characterized in that the sound sensor (203) is arranged on a chassis (106) of the robot main body, and a signal receiving probe of the sound sensor faces to a walking ground.
2. The mobile robot as claimed in claim 1, characterised in that the sound sensor (203) is fitted inside a housing (201) of a recessed structure made in the chassis (106), and the sound sensor (203) is separated from the housing (201) of the recessed structure by a filling insulating material (202); wherein the opening of the recess structure is arranged downwards and is not surrounded by the filling isolation material (202).
3. The mobile robot according to claim 2, characterized in that it comprises two sound sensors (203) respectively fitted inside the housings (201) of the recessed structure provided on both sides of the fitting position of the universal wheel (101); wherein, the walking direction of the robot main body is taken as the front; the front end position of the chassis (106) is provided with universal wheels (101).
4. The mobile robot according to claim 2, characterized in that it comprises more than two sound sensors (203) distributed inside the housing (201) of the recessed structure made at the edge of the chassis (106).
5. A mobile robot as claimed in claim 2, characterized in that it comprises a sound sensor (203) fitted inside a housing (201) of a recess structure made in the chassis (106).
6. The mobile robot as claimed in any one of claims 2 to 5, wherein the filling and isolating material is a sponge sound insulating material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920449321.8U CN210446916U (en) | 2019-04-04 | 2019-04-04 | Mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920449321.8U CN210446916U (en) | 2019-04-04 | 2019-04-04 | Mobile robot |
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| CN210446916U true CN210446916U (en) | 2020-05-05 |
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| CN201920449321.8U Active CN210446916U (en) | 2019-04-04 | 2019-04-04 | Mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907703A (en) * | 2019-04-04 | 2019-06-21 | 珠海市一微半导体有限公司 | A kind of mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109907703A (en) * | 2019-04-04 | 2019-06-21 | 珠海市一微半导体有限公司 | A kind of mobile robot |
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| GR01 | Patent grant | ||
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| CP03 | Change of name, title or address |
Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Patentee after: Zhuhai Yiwei Semiconductor Co.,Ltd. Country or region after: China Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Patentee before: AMICRO SEMICONDUCTOR Co.,Ltd. Country or region before: China |
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