CN215820783U

CN215820783U - Self-moving equipment

Info

Publication number: CN215820783U
Application number: CN202120570813.XU
Authority: CN
Inventors: 舒忠义; 刘瑞; 许波建
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2022-02-15
Anticipated expiration: 2031-03-19

Abstract

The utility model provides a from mobile device, belongs to clean technical field, includes: a body including a housing having a dust flowing area; the driving assembly is arranged in the shell; the dust detection sensor is arranged in the dust flowing area and used for detecting the dust concentration of each area on the moving path of the machine body; the control assembly is arranged in the shell; and the map processing unit is arranged in the shell and used for establishing a map according to the moving path of the machine body, receiving the dust concentration and marking the dust concentration to a corresponding area of the map. Through being provided with dust detection sensor at dust flow area, this dust detection sensor is used for detecting dust concentration, and map processing unit receives this dust concentration and sign in the corresponding zone of map to control from the mobile device pertinence cleanness according to the sign in each region, with the efficiency of improving cleanness, still promoted the holistic duration of a journey of self-mobile device simultaneously.

Description

Self-moving equipment

[ technical field ] A method for producing a semiconductor device

The utility model relates to self-moving equipment, and belongs to the technical field of cleaning.

[ background of the utility model ]

With the rapid development of scientific technology, some household robots emerge in a burst of time, and the sweeping robot is used as a new favorite of the household robot, the autonomous sweeping function of the sweeping robot is deeply loved by target users, and the sweeping robot has irreplaceable functions in daily life of people. However, as the technology of the sweeping robot is gradually mature, people have higher requirements on the cleaning efficiency of the sweeping robot. The prior art uses several methods to improve cleaning efficiency:

1. the cleaning area of single walking is increased;

2. the suction force under the large opening is improved by continuously increasing the suction force of the fan;

3. widening the widths of the rolling brush and the suction port;

the first mode can enable the sweeping robot to move repeatedly, so that the energy consumption of the sweeping robot is increased, and the cruising ability of the sweeping robot is reduced; the second mode can cause the fan to have extremely high noise and poor use experience; the third way would be to reduce the suction force at the suction inlet.

Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

[ Utility model ] content

The utility model aims to provide self-moving equipment, which aims at cleaning by detecting the concentration of dust in the cleaning process, improves the cleaning efficiency, improves the whole cruising ability of the self-moving equipment, and is convenient and quick.

The purpose of the utility model is realized by the following technical scheme: an autonomous mobile device, comprising:

a body including a housing having a dust flowing area;

the driving assembly is arranged in the shell;

a dust detection sensor provided in the dust flow area, the dust detection sensor detecting dust concentration in each area on the machine body movement path;

a control assembly disposed within the enclosure;

and the map processing unit is arranged in the shell and used for establishing a map according to the moving path of the machine body, receiving the dust concentration and marking the dust concentration to a corresponding area of the map.

Further, the dust flowing area is a bottom portion of the housing disposed toward the cleaning target.

Furthermore, the machine body further comprises a suction inlet arranged on the machine shell and a dust collection assembly arranged in the machine shell, an airflow channel is formed between the dust collection assembly and the suction inlet, and the dust flowing area is the airflow channel.

Further, the organism is including being used for filtering and collecting the dirt box of dust to the dirt gas, dust collection component is including setting up the fan of the gas outlet one side of dirt box, airflow channel includes the sunction inlet with the first passageway that the air inlet of dirt box formed, and the gas outlet of dirt box with the second passageway that the air inlet of fan formed, the dust flow region does the first passageway.

Further, the operating parameters of the fan are changed along with the change of the dust concentration of each area of the map.

Further, the working parameter of the fan is fan power or fan air volume.

Further, the working parameter of the driving assembly is changed along with the change of the dust concentration of each area of the region, and the working parameter of the driving assembly is motor power.

Furthermore, a comparison module is arranged in the map processing unit, a lowest dust concentration value and a maximum dust concentration value are preset in the comparison module, and the dust concentrations in all the areas of the map are distinguished by marking different colors.

Further, when the dust concentration exceeds a preset value, the control assembly drives the self-moving equipment to perform reciprocating cleaning until the dust concentration in the area is reduced to be lower than the preset value.

Further, the self-moving equipment is a sweeping robot or a sweeping and mopping integrated robot.

Compared with the prior art, the utility model has the following beneficial effects: through being provided with dust detection sensor at dust flow area, this dust detection sensor is used for detecting dust concentration, and map processing unit receives this dust concentration and sign in the corresponding zone of map to control from the mobile device pertinence cleanness according to the sign in each region, with the efficiency of improving cleanness, still promoted the holistic duration of a journey of self-mobile device simultaneously.

[ description of the drawings ]

Fig. 1 is a cross-sectional view of the self-moving apparatus of the present invention.

Fig. 2 is a block diagram of the self-moving device of the present invention.

Wherein, the mobile device-100; a machine body-10; a case-1; a bottom-11; wheel set-2; a dust box-3; a dust collection assembly-4; a rolling brush-41; a fan-42; a first channel-5; a second channel-6; a control component-7; a comparison module-71; map processing unit-8; a radar-81; an infrared sensor-82; dust detection sensor-20.

[ detailed description ] embodiments

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "comprising" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the utility model. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 to 2, the self-moving apparatus 100 according to a preferred embodiment of the present invention is generally used in a cleaning scene, such as a clean room, a laboratory, or a household cleaning scene, and the cleaning scene of the self-moving apparatus 100 is not particularly limited by the present application, and is determined according to the actual situation. In the embodiment, the self-moving device 100 is applied to a cleaning scene of a home floor, and accordingly, the self-moving device 100 is a sweeping robot 100 or a sweeping and mopping robot 100.

Taking the sweeping robot 100 as an example, the sweeping robot 100 includes a body 10, a control component 7 and a map processing unit 8, the body 10 includes a casing 1, and the control component 7 is disposed in the casing 1 to protect the control component 7. The machine body 10 further comprises a walking component connected with the machine shell 1 to drive the machine body 10 to move and a dust collection component 4 arranged in the machine shell 1, wherein the walking component and the dust collection component can work simultaneously or independently and are set according to actual requirements. Specifically, the traveling assembly comprises a wheel set 2 and a traveling motor for driving the wheel set 2 to move, the wheel set 2 is provided with two traveling wheels, correspondingly, the number of the traveling motors can be two, and each traveling motor corresponds to one traveling wheel, so that the speed difference of the two traveling motors can be set, and the sweeping robot 100 can be controlled to conveniently steer in situ; or, only one walking motor may be provided, at this time, the two walking wheels are connected through the connecting shaft, and the walking motor drives one of the walking wheels to rotate so as to drive the wheel set 2 to integrally rotate, so that the machine body 100 moves.

Specifically, the machine body 10 further includes a dust box 3 for filtering dust and collecting dust, the dust collection assembly 4 includes a fan 42 and a rolling brush 41 which are arranged at the downstream of the air outlet of the dust box 3, the fan 42 is started to generate negative pressure in the dust box 3, so that the pressure in the dust box 3 is smaller than the atmospheric pressure, and external dust is sucked into the dust box 3 under the action of the negative pressure. Be above-mentioned, fan 42 sets up the downstream at the gas outlet of dirt box 3, and the dirt gas can flow to fan 42 after the dirt box 3 promptly, the aim at that sets up like this: the dust box 3 is provided with a filter member (not shown) for filtering the dust gas from the dust box 3 and then flowing to the fan 42 without damaging the fan 42, and cleaning is completed. The dust collection assembly 4 further comprises a rolling brush 41 rotatably connected with the housing 1, and correspondingly, the sweeping robot further comprises a driving assembly (not shown) arranged in the housing 1 and used for driving the rolling brush 41 to rotate. In the present embodiment, the driving component is a driving motor, and the driving motor drives the rolling brush 41 to rotate to clean the cleaning target, so that the dust enters the dust box 3 under the action of the negative pressure along with the airflow. The connection between the driving motor and the rolling brush 41 is conventional and will not be described herein.

In this embodiment, the control component 7 is a single chip microcomputer. Indeed, in other embodiments, the control component 7 may be other, and is not limited herein, depending on the actual situation. The sweeping robot 100 further comprises a map processing unit 8, and the map processing unit 8 is in signal connection with the control component 7 for signal interaction. The purpose of this is to: so that the map processing unit 8 builds a map according to the moving path of the body 10. Accordingly, in the present embodiment, the map processing unit 8 includes an infrared sensor 82 to detect an obstacle and/or a radar 81 to locate. Indeed, in other embodiments, the map processing unit 8 may be other, and is not limited herein, according to the actual situation. Taking the example of the map processing unit 8 composed of the infrared sensor 82 and the radar 81, at least one infrared sensor 82 is provided, with the moving direction of the robot 100 as the front, and at least one infrared sensor 82 is provided at the front end of the housing 1. The purpose of this is to: the infrared sensor 82 predicts an obstacle in advance, so that the sweeping robot 100 returns or stops advancing to avoid the obstacle when the robot is about to collide with the obstacle, thereby preventing the machine body 10 from being damaged by collision and improving the cleaning efficiency. The number of the infrared sensors 82 is set according to actual requirements, for example, in some scenes, the sweeping robot 100 can move forward or backward, and then the number of the infrared sensors 82 is two, that is, the front end and the rear end of the housing 1 are both provided with the infrared sensors 82, so as to improve the flexibility of the sweeping robot 100 in walking, and therefore, the number of the infrared sensors 82 is not specifically limited.

The radar 81 may be disposed above the housing 1 or below the housing 1, but there is no other device on the front side of the place where the radar 81 is disposed, because the radar 81 emits electromagnetic waves to irradiate a target and receives the echo thereof, thereby obtaining information of the distance, the distance change rate (radial velocity), the azimuth, the altitude, and the like from the target to the emission point of the electromagnetic waves. It is assumed that other devices are provided in front of the place where the radar 81 is provided, which may cause an error in receiving the echo information. The target area is detected by the radar 81 to form a map, which is convenient and fast.

The sweeping robot 100 further comprises a display screen (not shown) connected with the control component 7, the map processing unit 8 receives map information formed by the radar 81 and displays the map information in the form of cloud pictures, and the cloud pictures can be displayed on the display screen for a user to view in real time. Alternatively, the cleaning robot 100 and the handheld terminal may perform human-computer interaction. In this embodiment, the handheld terminal may be a mobile phone, a computer, or the like, and the cloud image may be displayed on the mobile phone or the computer in real time for convenient viewing.

The sweeping robot 100 further comprises a dust detection sensor 20 in signal connection with the map processing unit 8, wherein the dust detection sensor 20 is used for detecting the dust concentration of each area on the map and sending the dust concentration to the map processing unit 8, and the map processing unit 8 receives the dust concentration and marks the dust concentration to the corresponding area on the map. Through being provided with dust detection sensor 20 to directly detect dust concentration, and need not to detect through complicated modes such as image acquisition, conversion analysis, simplified the detection mode, and the result is more direct.

In order to more accurately detect the dust concentration, the housing 1 has a dust flow area, and the dust detection sensor 20 is disposed in the dust flow area. As the name implies, the dust flow area refers to: under the action of the dust collection assembly 4, dust in a certain range can flow into the dust box 3 along with the airflow; that is, in the path formed from the surface of the self-cleaning target into the dust box 3, an area where dust can flow is generated. Through being provided with this dust flow area territory to make dust detection sensor 20 carry out more accurate measurement to dust concentration, when dust is not atress, thereby it is inaccurate to pile up thickness monitoring together and produce the error, causes the consequence of doing useless work, with the duration that reduces robot 100 of sweeping the floor.

In the present embodiment, the dust flow area is a bottom portion 11 of the housing 1 disposed toward the cleaning target. One is because, since the bottom 11 is disposed directly facing the cleaning target, most of the dust will fall on the surface of the cleaning target; secondly, the dust on the bottom 11 is forced in advance by the dust-collecting component 4. Furthermore, the housing 1 is provided with a suction inlet, the dust flowing area is arranged close to the suction inlet, namely, the wind power of the suction inlet is larger, and the dust concentration detected at the position is more accurate.

Or, an airflow channel is formed between the dust suction assembly 4 and the suction inlet, and the dust flowing area is the airflow channel. Specifically, the airflow path includes a first path 5 formed by the suction port and the air inlet of the dust box 3, and a second path 6 formed by the air outlet of the dust box 3 and the air inlet of the fan 42, and the dust flow area is the first path 5 because the dust concentration of the dust in the first path 5 precipitated without being filtered by the dust box 3 is more accurate.

The determination of the dust concentration level is determined by a numerical comparison by a map processing unit. A comparison module 71 is arranged in the map processing unit, and the lowest value and the maximum value of the dust concentration are preset in the comparison module 71. When the dust concentration exceeds the preset value, the control component 7 drives the sweeping robot 100 to perform reciprocating cleaning until the dust concentration in the area is reduced to be lower than the preset value, wherein the preset value is the maximum value and the minimum value of the dust concentration. Meanwhile, standard cleaning time is preset in the map processing unit. When the dust concentration detected by the dust detection sensor 20 is lower than the minimum dust concentration value, it indicates that the area does not need to be cleaned again, or the actual cleaning duration of the cleaning robot 100 is shorter than the standard cleaning duration; when the dust concentration detected by the dust detection sensor 20 is greater than the minimum dust concentration value and lower than the maximum dust concentration value, it indicates that the area needs to be cleaned again, or the actual cleaning duration of the cleaning robot 100 is equal to the standard cleaning duration; when the dust concentration detected by the dust detection sensor 20 is greater than the maximum dust concentration, it indicates that the area needs to be cleaned mainly, the number of times of cleaning is not less than two, or the actual cleaning duration of the cleaning robot 100 is greater than the standard cleaning duration. In this embodiment, the comparing module 71 may be a comparing circuit. Indeed, in other embodiments, the comparing module 71 may also be configured by a software program or the like, which is not limited herein, and only needs to achieve the above-mentioned purpose. It should be noted that the preset minimum dust concentration value and the maximum dust concentration value can be adjusted in real time according to the mean dust concentration detected by the sweeping robot 100 in the cleaning process, and the preset standard cleaning time can be adjusted in real time according to the mean actual cleaning time of the sweeping robot 100, which is not a single fixed value, so as to improve the cleaning efficiency and the cruising ability of the sweeping robot 100.

The map can be a whole area, namely the map is not divided into areas; alternatively, the map includes at least two regions. When the map is a whole area, the working parameters of the fan 42 of the sweeping robot 100 change with the change of the dust concentration during the working process; alternatively, the operating parameters of the drive assembly are varied as a function of the dust concentration. In this embodiment, the operating parameter of the fan 42 is fan power or fan air volume, and the operating parameter of the driving component is motor power. The power of the fan is in direct proportion to the air quantity of the fan, namely the power of the fan is increased, and the air quantity of the fan is increased; the power of the fan is reduced, and the air quantity of the fan is reduced. When the dust detection sensor 20 detects that the dust concentration at a certain position is high, the working parameters of the fan 42 or the driving components are adjusted in real time to perform cleaning. Meanwhile, in order to prevent the fan 42 from generating noise when adjusting the operating parameters thereof, a noise reduction member (not shown) may be disposed at the fan 42, and the noise reduction member may be a sponge or the like, which is not particularly limited herein, depending on the actual situation.

When the map includes at least two areas, the division of the at least two areas enables the sweeping robot 100 to perform targeted sweeping according to the concentration difference of each area. As described above, the sweeping robot 100 may perform human-computer interaction with the handheld terminal or display each area of the map through the display screen, so as to identify the dust concentration in each area of the map conveniently, and distinguish the dust concentration by marking different colors. For example, a region having a high dust concentration and requiring intensive cleaning is displayed in red to indicate warning, a region having a low dust concentration is displayed in green to indicate that re-cleaning is not required, and a region having a medium dust concentration and requiring only re-cleaning is displayed in blue to indicate. Indeed, in other embodiments, the dust concentration of each region may be differentiated by other means, such as marking different patterns, etc., which are not specifically limited herein, according to the actual situation. As above, the sweeping robot 100 can adjust the working parameters of the fan 42 or the driving components in real time according to the detected dust concentration during the cleaning process; alternatively, the sweeping robot 100 may sweep each area once and then perform a secondary cleaning or multiple cleaning of each area according to the color of the marked area.

In summary, the following steps: by providing the dust detection sensor 20 in the dust flowing area, the dust detection sensor 20 is used to detect the dust concentration, and the map processing unit 7 receives the dust concentration and identifies the dust concentration in the corresponding area of the map, and controls the self-mobile device 100 to be cleaned specifically according to the identification of each area, so as to improve the cleaning efficiency and improve the cruising ability of the self-mobile device 100 as a whole.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.

Claims

1. An autonomous mobile device, comprising:

a body including a housing having a dust flowing area;

the driving assembly is arranged in the shell;

a control assembly disposed within the enclosure;

2. The self-moving apparatus as claimed in claim 1, wherein the dust flowing region is a bottom portion of the housing disposed toward the cleaning target.

3. The self-propelled device of claim 1, wherein the housing further comprises a suction opening in the housing and a suction assembly disposed in the housing, an airflow path being formed between the suction assembly and the suction opening, and the dust flow area being the airflow path.

4. The self-moving apparatus as claimed in claim 3, wherein the body includes a dust box for filtering dust and collecting dust, the dust suction assembly includes a fan provided at a side of an air outlet of the dust box, the air flow passage includes a first passage formed by the suction port and an air inlet of the dust box, and a second passage formed by the air outlet of the dust box and an air inlet of the fan, and the dust flow area is the first passage.

5. The self-moving device as claimed in claim 4, wherein the operating parameters of the fan are varied as a function of dust concentration in the areas of the map.

6. The self-moving device as claimed in claim 5, wherein the operating parameter of the fan is fan power or fan air volume.

7. The self-propelled apparatus of claim 1, wherein the operating parameter of the drive assembly varies as a function of dust concentration in regions of the area, the operating parameter of the drive assembly being motor power.

8. The self-moving device as claimed in claim 1, wherein a comparison module is arranged in the map processing unit, a dust concentration minimum value and a dust concentration maximum value are preset in the comparison module, and the dust concentrations of the areas of the map are distinguished by marking different colors.

9. The self-moving apparatus as claimed in claim 1, wherein when the dust concentration exceeds a predetermined value, the control module drives the self-moving apparatus to perform the reciprocating cleaning until the dust concentration in the area falls below the predetermined value.

10. The self-moving device as claimed in claim 1, wherein the self-moving device is a sweeping robot or a sweeping and mopping integrated robot.