CN216505139U - Cleaning robot - Google Patents

Abstract

The application belongs to the technical field of intelligent household equipment, especially, relate to a cleaning machines people, include: a chassis system; a cabinet assembled to the chassis system to form an assembly space; the control system is arranged in the assembly space, and the chassis system is electrically connected with the control system; the laser radar is arranged on the top wall of the machine shell and is electrically connected with the control system; the visual sensor is arranged at the position, close to the top wall, of the front side wall of the shell and is electrically connected with the control system; the first ultrasonic sensor is installed on the front side of the machine shell and located on one side, away from the top wall, of the vision sensor, and the first ultrasonic sensor is electrically connected with the control system. The technical scheme of the embodiment of the utility model solves the problem of how to realize autonomous navigation and obstacle avoidance.

Description

Cleaning robot

Technical Field

The application belongs to the technical field of intelligent household equipment, and particularly relates to a cleaning robot.

Background

With the improvement of living standard of people, more and more families use intelligent cleaning robots to assist floor cleaning work. For the current cleaning robot, how to accurately realize autonomous navigation and autonomous obstacle avoidance is one of the difficulties in the research process of the current cleaning robot.

Disclosure of Invention

An object of the embodiment of the application is to provide a cleaning robot, and the problem of how to realize autonomous navigation and obstacle avoidance is solved.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions: a cleaning robot, comprising: a chassis system; a cabinet assembled to the chassis system to form an assembly space; the control system is arranged in the assembly space, and the chassis system is electrically connected with the control system; the laser radar is arranged on the top wall of the shell and is electrically connected with the control system; the visual sensor is arranged at the position, close to the top wall, of the front side wall of the shell and is electrically connected with the control system; the first ultrasonic sensor is installed on the front side of the machine shell and located on one side, away from the top wall, of the vision sensor, and the first ultrasonic sensor is electrically connected with the control system.

Optionally, the viewing angle of the vision sensor in the vertical direction ranges from-30 ° to 30 ° from the horizontal.

Optionally, the cleaning robot further includes a first line laser sensor, the first line laser sensor is mounted on a front side wall of the housing, and the first line laser sensor is electrically connected to the control system.

Optionally, the first line laser sensor is located on a side of the first ultrasonic sensor remote from the vision sensor.

Optionally, the cleaning robot includes at least 3 first line laser sensors, the 3 first line laser sensors are uniformly arranged at intervals on the front side wall of the housing, the 3 first line laser sensors are located at the same height, and a detection area covered by the 3 first line laser sensors together is in a fan shape.

Optionally, the cleaning robot further comprises a second line laser sensor, the second line laser sensor is mounted on the left side wall of the housing and/or the right side wall of the housing, and the second line laser sensor is electrically connected with the control system.

Optionally, the cleaning robot further comprises a second ultrasonic sensor, the second ultrasonic sensor is mounted on the left side wall of the housing and/or the right side wall of the housing, and the second ultrasonic sensor is electrically connected with the control system.

Optionally, the cleaning robot further includes a third ultrasonic sensor, the third ultrasonic sensor is mounted on the rear side wall of the housing, and the third ultrasonic sensor is electrically connected to the control system.

Optionally, the cleaning robot further comprises 4 cliff detection sensors, the chassis system comprises a bottom plate, the 4 cliff detection sensors are mounted on the bottom plate and located on four areas of a front left corner, a front right corner, a rear left corner and a rear right corner of the bottom plate, and the 4 cliff detection sensors are electrically connected with the control system.

Optionally, the cleaning robot further comprises a carpet detection sensor mounted at a front edge region of the base plate, the carpet detection sensor being electrically connected to the control system.

The embodiment of the application has at least the following beneficial effects:

the cleaning robot provided by the embodiment of the utility model uses the laser radar to construct the physical map, and in the traveling process of the cleaning robot, the laser radar, the vision sensor and the first ultrasonic sensor are used for detecting the obstacle in front of the cleaning robot, so that the autonomous navigation in the traveling process of the cleaning robot is realized, and the purposes of actually avoiding the obstacle in the traveling process of the cleaning robot are achieved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a schematic view of the front side wall orientation of the housing of a robot in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of the right side wall of the housing of the robot in an embodiment of the present invention;

fig. 3 is a bottom view of the bottom plate of the housing of the robot according to the embodiment of the present invention;

fig. 4 is a schematic view of the rear side wall direction of the housing of the robot according to the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1. a chassis system; 2. a housing; 3. a laser radar; 4. a vision sensor; 5. a first ultrasonic sensor; 6. a first line laser sensor; 7. a second line laser sensor; 8. a second ultrasonic sensor; 9. a third ultrasonic sensor; 10. recharging the alignment sensor; 12. a charging plug; 13. a cliff detection sensor; 14. a carpet detection sensor; 15. a base plate; 16. brushing edges; 17. a drive wheel; 18. a universal wheel; 19. a water tank.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present application embodiments and are not to be construed as limiting the present application embodiments.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

The embodiment of the utility model provides a robot, which is characterized in that the robot is provided with sensor equipment for detection, so that the functions of autonomous navigation, obstacle avoidance detection and the like are realized. The robot provided by the embodiment of the utility model is preferably a cleaning robot for smart homes, and the embodiment of the utility model is described below by taking the cleaning robot as an example.

As shown in fig. 1 to 4, the cleaning robot includes a chassis system 1, a cabinet 2, a control system (not shown), a laser radar 3, a vision sensor 4, and a first ultrasonic sensor 5. The chassis system 1 includes bottom plate 15, drive wheel 17 and universal wheel 18, and drive wheel 17 and universal wheel 18 are all installed on bottom plate 15 to place the water tank 19 that is used for providing clean water on bottom plate 15, universal wheel 18 is located the rear of drive wheel 17, and drive wheel 17 includes two in-wheel motors, provides the power of marcing, and, two in-wheel motors cooperation universal wheel 18 realize turning to. Casing 2 assembles in bottom plate 15 in order to form the assembly space, control system installs in the assembly space, chassis system 1 is connected with control system electricity, laser radar 3 installs in the roof of casing 2, laser radar 3 is connected with control system electricity, visual sensor 4 installs in the position that the preceding lateral wall of casing 2 is close to the roof, visual sensor 4 is connected with control system electricity, first ultrasonic sensor 5 installs in the preceding lateral wall of casing 2 and is located the one side that deviates from the roof of visual sensor 4, first ultrasonic sensor 5 is connected with control system electricity.

The laser radar 3 is mainly used to construct a physical map, and the laser radar 3 is used to detect position coordinates determining a travel path and to identify the position of an obstacle on the travel path during travel of the cleaning robot. Generally, indoor places where cleaning work is performed by a cleaning robot are all determined area ranges, therefore, when the cleaning robot is used for the first time, a corresponding indoor area physical map needs to be established in a control system of the cleaning robot, a worker pushes or automatically moves the cleaning robot in the indoor area, the laser radar 3 is started to scan, coordinates of each position of the indoor area are obtained and transmitted to the control system, and then the control system analyzes and combines the coordinates, so that the corresponding indoor area physical map is established. According to the constructed physical map, the control system scans the front position of the cleaning robot by the laser radar 3 to obtain real-time coordinate data of an indoor area in the advancing process, and then the control system compares the real-time coordinate data with the constructed physical map so as to determine a correct advancing path. In addition, during the process of traveling, when the laser radar 3 detects the front, the position of the obstacle in front can be detected and determined and transmitted to the control system, and the control system controls the chassis system 1 to execute emergency stop avoidance, turning avoidance, obstacle crossing traveling and the like.

In the process that the cleaning robot detects and determines a traveling path through the laser radar 3 and performs traveling, the first ultrasonic sensor 5 can also detect an obstacle in front of the cleaning robot and transmit the obstacle to the control system, and the control system analyzes and calculates the distance between the cleaning robot and the obstacle. In particular, when the obstacle in front of the cleaning robot is glass or a pure white object, the laser radar 3 cannot detect and recognize the obstacle, and the first ultrasonic sensor 5 can detect and recognize the obstacle. For example: the laser radar 3 and the first ultrasonic sensor 5 are cooperatively used, and the position of an obstacle in front of the cleaning robot by 1m is detected and calculated, so that the control system controls the chassis system 1 to start decelerating and continue to move; after the cleaning robot continues to travel for a certain distance, for example, the cleaning robot travels to a position about 0.4m away from the obstacle, the obstacle is scanned and identified by the vision sensor 4, so as to identify the shape and size of the obstacle in front, and then the control system controls the chassis system 1 to selectively perform obstacle avoidance or selectively cross the obstacle.

In the embodiment of the present invention, the visual angle range of the vision sensor 4 in the vertical direction is-30 to 30 ° with respect to the horizontal plane, so that the floor in front of the cleaning robot can be scanned. The vision sensor 4 is used for scanning and identifying large-volume obstacles in front of the cleaning robot and small-volume objects on the ground, so that the ground is scanned through the vision sensor 4, the dirt degree of the ground is identified and transmitted to the control system, and then the control system selects a corresponding cleaning working mode to clean the ground according to the dirt degree of the ground scanned by the vision sensor 4 (the cleaning working modes are a sweeping working mode, a mopping working mode, a dust collection working mode and the like respectively). For example, when the vision sensor 4 scans and detects that garbage, such as paper shreds, fruit peels, water bottles, etc., exists on the ground, the control system determines whether the garbage can be sucked into the sewage tank according to the garbage (the paper shreds and the fruit peels can be sucked into the sewage tank, and the water bottles cannot). And, scan through vision sensor 4 to ground, can discern the road conditions on ground, whether road conditions such as pit, arch exist on the ground, then control system controls cleaning robot according to the road conditions that discern whether obstacle-surmounting gos forward or turn and avoid the obstacle.

The cleaning robot provided by the embodiment of the utility model uses the laser radar 3 to construct a physical map, and detects the obstacle in front of the cleaning robot through the laser radar 3, the vision sensor 4 and the first ultrasonic sensor 5 in the traveling process of the cleaning robot, so that the autonomous navigation in the traveling process of the cleaning robot is realized, and the purposes of actually avoiding the obstacle in the traveling process of the cleaning robot are achieved.

As shown in fig. 1 and 2, the cleaning robot further includes a first line laser sensor 6, the first line laser sensor 6 is mounted on a front side wall of the housing 2, and the first line laser sensor 6 is electrically connected to the control system. The distance measurement is carried out on other barriers in front of the cleaning robot except for the objects with lower light reflectivity such as glass and white objects through the first line laser sensor 6, and then the barriers are fed back to the control system, so that the control system can timely react, and the chassis system is timely controlled to avoid. During specific assembly, the first line laser sensor 6 is reasonably installed on the side of the first ultrasonic sensor 5 far away from the vision sensor 4 (namely, below the first ultrasonic sensor 5), and the assembly area of the front side wall of the machine shell 2 is reasonably applied.

In the cleaning robot provided by the embodiment of the utility model, the cleaning robot comprises at least 3 first line laser sensors 6, taking the number of the first line laser sensors as 3 as an example, the 3 first line laser sensors 6 are uniformly arranged on the front side wall of the machine shell 2 at intervals, the 3 first line laser sensors 6 are positioned at the same height, and the 3 first line laser sensors 6 are mutually matched to form a fan-shaped detection area in front of the cleaning robot. Specifically, since the front side wall of the housing 2 is an arc-shaped surface, so that the 3 first line laser sensors 6 are arranged in an arc shape, one first line laser sensor 6 located in the middle detects and measures a distance to an obstacle in the front of the cleaning robot, one first line laser sensor 6 located on the left side detects and measures a distance to an obstacle in the front of the left side, one first line laser sensor 6 located on the right side detects and measures a distance to an obstacle in the front of the right side, and thus, the detection area of the 3 first line laser sensors 6 is formed into a fan-shaped area. And, the left edge of the sector area is vertically beyond the left side of the cleaning robot by about 50mm, and the right edge of the sector area is vertically beyond the right side of the cleaning robot by about 500 mm.

The robot provided by the embodiment of the utility model combines the first ultrasonic sensor 5 and the 3 first line laser sensors 6, can detect and measure the distance of almost all obstacles in front of the robot, and ensures that the robot can avoid obstacles in time.

The side brush 16 is disposed at a front left corner position and/or a front right corner position of the bottom plate 15, and the side brush 16 can clean garbage at a wall root position in an indoor area during rotation. In order to ensure that the cleaning robot does not collide with the wall surface when cleaning at the position of the wall root, as shown in fig. 2, the cleaning robot further comprises a second line laser sensor 7, the second line laser sensor 7 is mounted on the left side wall of the machine shell 2, or the second line laser sensor 7 is mounted on the right side wall of the machine shell 2, or the second line laser sensor 7 is mounted on both the left side wall and the right side wall of the machine shell 2, and the second line laser sensor 7 is electrically connected with the control system. In the cleaning robot of the embodiment of the present invention, the side brush 16 is mounted to the right front corner position of the base plate 15, and accordingly, the second line laser sensor 7 is mounted to the right side wall of the housing 2. In the process of cleaning the wall root position, the second line laser sensor 7 detects the distance between the right side wall of the robot and the wall surface in real time and feeds the distance back to the control system, and the control system controls the advancing direction of the chassis system 1 so as to keep the robot to walk linearly and ensure that the robot cannot collide with the wall surface while cleaning garbage at the wall root position.

Because the indoor wall uses glass wall more and more, or some wall is white wall, and second line laser sensor 7 can't be to glass wall or white wall range finding, consequently, as shown in fig. 2, cleaning machines people still includes second ultrasonic sensor 8 pertinence, second ultrasonic sensor 8 is installed in the left side wall of casing 2, or second ultrasonic sensor 8 is installed in the right side wall of casing 2, again or all install second ultrasonic sensor 8 on the left side wall and the right side wall of casing 2, second ultrasonic sensor 8 is connected with control system electricity.

The second line laser sensor 7 and the second ultrasonic sensor 8 are combined with the side wall of the robot to detect, so that the robot is prevented from colliding with the wall in the process of cleaning the wall root position.

As shown in fig. 4, the cleaning robot further includes a third ultrasonic sensor 9, the third ultrasonic sensor 9 is mounted on the rear side wall of the housing 2, and the third ultrasonic sensor 9 is electrically connected to the control system. The cleaning robot of the embodiment of the utility model uses the third ultrasonic sensor 9 to detect the obstacle behind the robot, and prevents the robot from colliding with the obstacle behind the robot in the process of retreating and avoiding the obstacle behind the robot on the spot.

The cleaning robot provided by the embodiment of the utility model also comprises a battery module, the cleaning robot is matched with the base station for use, and particularly the cleaning robot can enter the base station for charging. Further, as shown in fig. 4, the cleaning robot further includes a charging plug 12 and a recharging alignment sensor 10, the battery module is mounted on the chassis system 1, the charging plug 12 is mounted on a rear sidewall of the housing 2, the charging plug 12 is electrically connected to the battery module, the recharging alignment sensor 10 is mounted on the rear sidewall of the housing 2, the recharging alignment sensor 10 is electrically connected to the control system, and the recharging alignment sensor 10 is used for detecting a position of a charging socket that is interfaced with the charging plug 12. And, in the course that the robot enters the base station in the way of retreating, the third ultrasonic sensor 9 measures the distance between inner wall of the base station and the back sidewall of the chassis 2 in real time, thus guarantee the robot will not collide with inner wall of the base station in the course of retreating and entering the base station.

In order to prevent the robot from falling down when the robot travels to a place of a step during traveling, as shown in fig. 3, the cleaning robot further includes 4 cliff detection sensors 13, such as a laser ranging sensor, an ultrasonic ranging sensor, and the like, the 4 cliff detection sensors 13 are mounted on the bottom plate 15 and located on four areas of a front left corner, a front right corner, a rear left corner, and a rear right corner of the bottom plate 15, the 4 cliff detection sensors 13 are electrically connected to a control system to detect whether four azimuths of the robot are in a suspended state, and if the four azimuths are in the suspended state, the control system controls the driving wheels 17 of the chassis system 1 to change a traveling path to avoid the step.

The cleaning robot further comprises a carpet detection sensor 14, for example a CCD detection sensor, the carpet detection sensor 14 being mounted at a front edge region of the base plate 15, the carpet detection sensor 14 being electrically connected to the control system. The carpet detection sensor 14 is used to detect a carpet so that the cleaning robot switches to perform a carpet sweeping mode.

The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not intended to limit the present application, and any modifications, equivalents and improvements made within the spirit and principle of the embodiments of the present application should be included in the scope of the present application.

Claims (10)

1. A cleaning robot, comprising:

a chassis system;

a cabinet assembled to the chassis system to form an assembly space;

the control system is arranged in the assembly space, and the chassis system is electrically connected with the control system;

characterized in that, the cleaning robot further comprises:

the laser radar is arranged on the top wall of the machine shell and is electrically connected with the control system;

the visual sensor is arranged on the front side wall of the shell and close to the top wall, and is electrically connected with the control system;

the first ultrasonic sensor is mounted on the front side wall of the machine shell and located on one side, away from the top wall, of the visual sensor, and the first ultrasonic sensor is electrically connected with the control system.

2. The cleaning robot according to claim 1,

the visual angle range of the visual sensor in the vertical direction is-30 degrees to 30 degrees relative to the horizontal plane.

3. The cleaning robot according to claim 1,

the cleaning robot further comprises a first line laser sensor, the first line laser sensor is mounted on the front side wall of the machine shell, and the first line laser sensor is electrically connected with the control system.

4. The cleaning robot according to claim 3,

the first line laser sensor is positioned on one side of the first ultrasonic sensor, which is far away from the visual sensor.

5. The cleaning robot according to claim 3,

the number of the first line laser sensors is 3, the 3 first line laser sensors are uniformly arranged on the front side wall of the machine shell at intervals, the 3 first line laser sensors are positioned at the same height, and a detection area jointly covered by the 3 first line laser sensors is in a fan shape.

6. The cleaning robot according to claim 3,

the cleaning robot further comprises a second line laser sensor, the second line laser sensor is mounted on the left side wall of the machine shell and/or the right side wall of the machine shell, and the second line laser sensor is electrically connected with the control system.

7. The cleaning robot according to claim 6,

the cleaning robot further comprises a second ultrasonic sensor, the second ultrasonic sensor is mounted on the left side wall of the machine shell and/or the right side wall of the machine shell, and the second ultrasonic sensor is electrically connected with the control system.

8. The cleaning robot according to claim 7,

the cleaning robot further comprises a third ultrasonic sensor, the third ultrasonic sensor is mounted on the rear side wall of the shell, and the third ultrasonic sensor is electrically connected with the control system.

9. The cleaning robot according to any one of claims 1 to 8,

the cleaning robot further comprises 4 cliff detection sensors, the chassis system comprises a bottom plate, the 4 cliff detection sensors are mounted on the bottom plate and located on four areas of a front left corner, a front right corner, a rear left corner and a rear right corner of the bottom plate, and the 4 cliff detection sensors are electrically connected with the control system.

10. The cleaning robot according to claim 9,

the cleaning robot further comprises a carpet detection sensor, the carpet detection sensor is mounted in the front side edge area of the bottom plate, and the carpet detection sensor is electrically connected with the control system.

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