CN217338441U

CN217338441U - Ultrasonic detection system of sweeping robot

Info

Publication number: CN217338441U
Application number: CN202220950856.5U
Authority: CN
Inventors: 占志敏; 陈志伟; 杨平平
Original assignee: Shenzhen Youlifan Technology Co ltd
Current assignee: Shenzhen Youlifan Technology Co ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-09-02
Anticipated expiration: 2032-04-22

Abstract

The utility model discloses an ultrasonic detection system of a sweeping robot, which relates to the technical field of sweeping robots, and comprises a sweeping robot, an anti-collision unit, an anti-falling unit, a visual unit, a main control computer and a walking control module, wherein the anti-collision unit, the anti-falling unit and the visual unit are all connected with the main control computer through data lines, the main control computer is connected with the walking control module through data lines, the anti-collision unit comprises a plurality of first ultrasonic probes and a plurality of first ultrasonic receiving modules, the first ultrasonic probes are arranged on the side surface of the sweeping robot in a circular array, the first ultrasonic receiving modules are arranged in a plurality, compared with the existing ultrasonic detection system of the sweeping robot, the utility model can avoid obstacles on the horizontal plane, also has the anti-falling function, and is used through the matching of the visual unit, the obstacle avoidance effect of the floor sweeping robot can be effectively improved.

Description

Ultrasonic detection system of sweeping robot

Technical Field

The utility model relates to a robot technical field specifically is robot ultrasonic testing system sweeps floor.

Background

The sweeping robot is also called as an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, can automatically complete floor cleaning work in a room by means of certain artificial intelligence, generally adopts a brushing and vacuum mode to firstly absorb impurities on the ground into a garbage storage box of the sweeping robot so as to complete the function of cleaning the ground, generally speaking, the robot which completes the work of sweeping, dust collection and ground wiping is also unified and classified as the sweeping robot, and the sweeping robot is firstly sold in the European and American markets and gradually enters China along with the improvement of the domestic living standard.

The principle of an existing ultrasonic detection system of a sweeping robot is that a sound wave detection function similar to dolphin and bats is applied, the propagation speed of ultrasonic waves in the air is known, the time of the sound waves reflected back when encountering an obstacle after being transmitted is measured, and the actual distance from a transmitting point to the obstacle is calculated according to the time difference between the transmitting time and the receiving time so as to achieve the purpose of obstacle avoidance.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot ultrasonic testing system sweeps floor to the current ultrasonic testing system who provides in solving above-mentioned background mostly only plays the effect that the robot horizontal plane of sweeping the floor kept away the barrier, and the function is comparatively single, still needs further modified problem.

In order to achieve the above object, the utility model provides a following technical scheme: the ultrasonic detection system of the sweeping robot comprises the sweeping robot, an anti-collision unit, an anti-falling unit, a visual unit, a main control machine and a walking control module, wherein the anti-collision unit, the anti-falling unit and the visual unit are connected with the main control machine through data lines, and the main control machine is connected with the walking control module through the data lines;

the anti-collision unit comprises a plurality of first ultrasonic probes and a plurality of first ultrasonic receiving modules, the first ultrasonic probes are arranged on the side surface of the sweeping robot in a circular array, the first ultrasonic receiving modules are in a plurality, and the first ultrasonic receiving modules and the first ultrasonic probes are respectively in one-to-one correspondence;

the anti-falling unit comprises a plurality of second ultrasonic probes and a second ultrasonic receiving module, the number of the second ultrasonic probes is multiple, the second ultrasonic probes are circular arrays and are arranged at the edge of the bottom of the sweeping robot, the number of the second ultrasonic receiving modules is multiple, and the second ultrasonic receiving modules are multiple and are in one-to-one correspondence with the second ultrasonic probes respectively.

Preferably, the first ultrasonic probe is connected with the corresponding first ultrasonic receiving module through a data line, and the plurality of first ultrasonic receiving modules are connected with the main control computer through data lines.

Preferably, the second ultrasonic probe is connected with the corresponding second ultrasonic receiving module through a data line, and the plurality of second ultrasonic receiving modules are connected with the main control computer through data lines.

Preferably, the visual unit comprises a camera, an image information conversion module and an image information identification module, and the image information identification module is connected with the main control computer through a data line.

Preferably, the number of the cameras is multiple, and the cameras are arranged on the side face of the sweeping robot in a circular array.

Preferably, the plurality of cameras are connected with the image information conversion module through data lines, and the image information conversion module is connected with the image information identification module through data lines.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the anti-falling unit is matched, so that the purpose of measuring the distance between the bottom of the sweeping robot and the ground can be realized under the action of the second ultrasonic probe and the second ultrasonic receiving module, when the distance exceeds a limit value, a signal is sent to the main control computer, and the main control computer controls the sweeping robot to change the advancing direction through the walking control module, so that the anti-falling purpose is realized;

2. the visual unit is used in a matched mode, the camera can shoot pictures around the sweeping robot, the shot pictures are uploaded to the image information conversion module and converted into digital signals through the image information conversion module, then the image information recognition module recognizes the obstacles in the pictures and sends signals to the main control computer, the main control computer controls the sweeping robot to change the advancing direction through the walking control module, the purpose of avoiding the obstacles is achieved, the anti-collision unit is matched, and the obstacle avoiding effect of the sweeping robot can be effectively improved.

Drawings

FIG. 1 is a system configuration diagram of the present invention;

fig. 2 is a three-dimensional structure diagram of the middle sweeping robot of the utility model;

fig. 3 is a bottom view of the middle sweeping robot of the present invention.

In the figure: 1. a first ultrasonic probe; 2. a first ultrasonic receiving module; 3. a main control machine; 4. a walking control module; 5. a second ultrasonic probe; 6. a second ultrasonic receiving module; 7. a camera; 8. an image information conversion module; 9. an image information identification module; 10. a sweeping robot.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a following technical scheme: referring to fig. 1-3, an ultrasonic inspection system for a sweeping robot comprises a sweeping robot 10, an anti-collision unit, an anti-falling unit, a visual unit, a main control machine 3 and a walking control module 4, wherein the anti-collision unit, the anti-falling unit and the visual unit are all connected with the main control machine 3 through data lines, the main control machine 3 is connected with the walking control module 4 through data lines, the anti-collision unit comprises a plurality of first ultrasonic probes 1 and a plurality of first ultrasonic receiving modules 2, the first ultrasonic probes 1 are arranged on the side surface of the sweeping robot 10 in a circular array manner, the first ultrasonic receiving modules 2 are in a plurality, the first ultrasonic receiving modules 2 are respectively in one-to-one correspondence with the first ultrasonic probes 1, the first ultrasonic probes 1 are connected with the corresponding first ultrasonic receiving modules 2 through data lines, the first ultrasonic receiving modules 2 are all connected with the main control machine 3 through data lines, therefore, under the action of the first ultrasonic probe 1 and the first ultrasonic receiving module 2, ultrasonic waves emitted by the first ultrasonic probe 1 are reflected by the obstacle and then received by the first ultrasonic receiving module 2, the propagation speed of the ultrasonic waves in the air is known, the time of the ultrasonic waves reflected back when encountering the obstacle after being emitted is measured, the actual distance from an emitting point to the obstacle is calculated according to the time difference between the emission and the receiving, so that the distance between the obstacle and the sweeping robot 10 is measured, when the distance exceeds a limit value, a signal is sent to the main control computer 3, and then the main control computer 3 controls the sweeping robot 10 to change the advancing direction through the walking control module 4, so that the purpose of avoiding the obstacle on the horizontal plane is achieved;

the anti-falling unit comprises a plurality of second ultrasonic probes 5 and a plurality of second ultrasonic receiving modules 6, the plurality of second ultrasonic probes 5 are arranged at the bottom edge of the sweeping robot 10 in a circular array, the plurality of second ultrasonic receiving modules 6 are arranged in a circular array, the plurality of second ultrasonic receiving modules 6 are respectively in one-to-one correspondence with the plurality of second ultrasonic probes 5, the second ultrasonic probes 5 are connected with the corresponding second ultrasonic receiving modules 6 through data lines, and the plurality of second ultrasonic receiving modules 6 are all connected with the main control machine 3 through data lines, so that under the action of the second ultrasonic probes 5 and the second ultrasonic receiving modules 6, ultrasonic waves vertically emitted downwards by the second ultrasonic probes 5 are reflected by the ground and then received by the second ultrasonic receiving modules 6, the propagation speed of the ultrasonic waves in the air is known, the time of the ultrasonic waves reflected back when encountering the ground after being emitted is measured, calculating the actual distance between the transmitting point and the ground according to the time difference between transmitting and receiving, so as to measure the distance between the ground and the sweeping robot 10, when the distance exceeds a limit value, sending a signal to the main control computer 3, and then controlling the sweeping robot 10 to change the advancing direction by the main control computer 3 through the walking control module 4, thereby achieving the purpose of falling prevention;

the visual unit comprises a camera 7, an image information conversion module 8 and an image information identification module 9, the image information identification module 9 is connected with the main control machine 3 through a data line, the number of the cameras 7 is multiple, the multiple cameras 7 are arranged on the side surface of the sweeping robot 10 in a circular array, the multiple cameras 7 are connected with the image information conversion module 8 through the data line, the image information conversion module 8 is connected with the image information identification module 9 through the data line, so that the cameras 7 can shoot pictures around the sweeping robot 10, the shot pictures are uploaded to the image information conversion module 8, converted into digital signals through the image information conversion module 8 and transmitted to the image information identification module 9, then the image information identification module 9 identifies obstacles in the pictures and sends signals to the main control machine 3, the main control machine 3 controls the sweeping robot 10 to change the advancing direction through the walking control module 4, therefore, the purpose of avoiding obstacles is achieved, and the obstacle avoiding effect of the sweeping robot 10 can be effectively improved by matching with the anti-collision unit.

The working principle is as follows: firstly, under the action of a first ultrasonic probe 1 and a first ultrasonic receiving module 2, ultrasonic waves emitted by the first ultrasonic probe 1 are reflected by an obstacle and then received by the first ultrasonic receiving module 2, the propagation speed of the ultrasonic waves in the air is known, the time of the ultrasonic waves reflected back when encountering the obstacle after being emitted is measured, the actual distance from an emitting point to the obstacle is calculated according to the time difference between the emission and the receiving, so that the distance between the obstacle and a sweeping robot 10 is measured, when the distance exceeds a limit value, a signal is sent to a main control machine 3, and then the main control machine 3 controls the sweeping robot 10 to change the advancing direction through a walking control module 4, so that the purpose of avoiding the obstacle on the horizontal plane is achieved;

secondly, under the action of the second ultrasonic probe 5 and the second ultrasonic receiving module 6, the ultrasonic waves vertically emitted downwards by the second ultrasonic probe 5 are reflected by the ground and then received by the second ultrasonic receiving module 6, the time of the ultrasonic waves reflected back when encountering the ground after being emitted is measured by utilizing the known propagation speed of the ultrasonic waves in the air, the actual distance from an emitting point to the ground is calculated according to the time difference between the emission and the reception, so that the distance between the ground and the sweeping robot 10 is measured, when the distance exceeds a limit value, a signal is sent to the main control machine 3, and then the main control machine 3 controls the sweeping robot 10 to change the advancing direction through the walking control module 4, so that the anti-falling purpose is realized;

finally, the camera 7 can shoot pictures around the sweeping robot 10, the shot pictures are uploaded to the image information conversion module 8, converted into digital signals through the image information conversion module 8 and transmitted to the image information identification module 9, then the image information identification module 9 identifies obstacles in the pictures and sends signals to the main control computer 3, and the main control computer 3 controls the sweeping robot 10 to change the advancing direction through the walking control module 4, so that the purpose of avoiding the obstacles is achieved, and the obstacle avoiding effect of the sweeping robot 10 can be effectively improved by matching with the anti-collision unit.

While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments can be used in any combination that is not specifically enumerated in this specification for the sake of brevity and resource savings, provided that no structural conflict exists. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. Robot ultrasonic testing system sweeps floor, including sweeping floor robot (10), its characterized in that: the anti-collision device comprises a main control machine (3) and a walking control module (4), and is characterized by further comprising an anti-collision unit, an anti-falling unit, a visual unit, the main control machine (3) and the walking control module (4), wherein the anti-collision unit, the anti-falling unit and the visual unit are connected with the main control machine (3) through data lines, and the main control machine (3) is connected with the walking control module (4) through data lines;

the anti-collision unit comprises a plurality of first ultrasonic probes (1) and a plurality of first ultrasonic receiving modules (2), the first ultrasonic probes (1) are arranged on the side face of the sweeping robot (10) in a circular array mode, the first ultrasonic receiving modules (2) are arranged in a plurality of numbers, and the first ultrasonic receiving modules (2) and the first ultrasonic probes (1) are respectively in one-to-one correspondence;

the anti-falling unit comprises a second ultrasonic probe (5) and a second ultrasonic receiving module (6), the number of the second ultrasonic probes (5) is multiple, a plurality of the second ultrasonic probes (5) are arranged at the bottom edge of the sweeping robot (10) in a circular array mode, the number of the second ultrasonic receiving modules (6) is multiple, and the second ultrasonic receiving modules (6) are multiple in the second ultrasonic receiving modules (6) and multiple in the second ultrasonic probes (5) in one-to-one correspondence respectively.

2. The ultrasonic inspection system of a sweeping robot of claim 1, wherein: the first ultrasonic probe (1) is connected with the corresponding first ultrasonic receiving module (2) through a data line, and the first ultrasonic receiving modules (2) are connected with the main control computer (3) through data lines.

3. The ultrasonic inspection system of a sweeping robot of claim 1, wherein: the second ultrasonic probe (5) is connected with the corresponding second ultrasonic receiving module (6) through a data line, and the plurality of second ultrasonic receiving modules (6) are connected with the main control computer (3) through data lines.

4. The ultrasonic inspection system of a sweeping robot of claim 1, wherein: the visual unit comprises a camera (7), an image information conversion module (8) and an image information identification module (9), and the image information identification module (9) is connected with the main control computer (3) through a data line.

5. The ultrasonic inspection system of the sweeping robot of claim 4, wherein: the number of the cameras (7) is multiple, and the cameras (7) are arranged on the side face of the sweeping robot (10) in a circular array.

6. The ultrasonic detection system of the sweeping robot of claim 5, wherein: the cameras (7) are connected with an image information conversion module (8) through data lines, and the image information conversion module (8) is connected with an image information identification module (9) through data lines.