CN220494928U

CN220494928U - Cleaning robot

Info

Publication number: CN220494928U
Application number: CN202321316121.8U
Authority: CN
Inventors: 黄泰明; 许登科
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2023-05-29
Filing date: 2023-05-29
Publication date: 2024-02-20
Anticipated expiration: 2033-05-29

Abstract

The application discloses cleaning robot, cleaning robot include electric control module and with electric control module connected drive module, cleaning module, sensor module and set up in the warm foot module at robot top, warm foot module is connected with electric control module for open heating or close heating under electric control module's control. This application is through setting up warm foot module at cleaning robot top for the robot not only has clean function, still has warm foot merit function, makes the user can utilize the intelligent removal characteristic of robot self, conveniently warms up the foot operation, and does not receive near whether there is supply socket's restriction, has improved cleaning robot's utilization ratio and practicality greatly, is favorable to cleaning robot's marketing and the improvement that the product used experience.

Description

Cleaning robot

Technical Field

The application relates to the field of cleaning robots, in particular to a cleaning robot.

Background

The existing cleaning robot is used as intelligent household cleaning equipment, can only be used for cleaning the ground in daily life, and is only fixed on the charging seat in most of time, so that the utilization rate of the cleaning robot is very low, and the popularization and the application of products are not facilitated. In cold winter, people like to warm the feet with the foot warmer before sleeping. However, the user needs to remove the foot warmer first, insert electricity, and then put the foot warmer on after warming the feet, so that the just warmed feet become cold again. In addition, the foot warmer is also limited by the position of the plug-in seat, for example, a user wants to sit on a living room sofa and watch a television while warming feet, but the foot warmer cannot be used without the plug-in seat nearby the sofa, so that the product use experience of the user is poor.

Disclosure of Invention

The application provides a cleaning robot, can effectively improve cleaning robot's utilization ratio and product use experience, and concrete technical scheme is as follows:

the utility model provides a cleaning robot, includes automatically controlled module and the drive module, cleaning module and the sensor module of being connected with automatically controlled module, still includes: the foot warming module is arranged at the top of the robot and connected with the electronic control module and used for starting heating or closing heating under the control of the electronic control module.

Further, the foot warming module comprises a heat insulation plate and an electric heating plate, an inwards concave groove is formed in the top of the robot, the electric heating plate is arranged in the groove, and the heat insulation plate is arranged between the electric heating plate and the inner wall of the groove.

Further, the electric heating plate comprises a ceramic heat conducting plate and electric heating wires arranged in the ceramic heat conducting plate, the side walls of the two ends of the ceramic heat conducting plate are provided with electric conduction ports, and the two ends of each electric heating wire are respectively connected with one electric conduction port.

Further, the electronic control module comprises a power supply and a boost circuit; the inner space of the groove is of a cuboid structure, and through holes are formed in the side walls corresponding to the short sides of the groove; the wire passes through the through hole, and the boost circuit in its one end connection robot body, and the other end then inserts conductive port for the power can be through boost circuit for the heating wire circular telegram.

Further, a limit structure is arranged at the upper end of the side wall corresponding to the long side of the groove; the limiting structure comprises a clamping groove, a spring and a limiting block, wherein one end of the limiting block is semicircular and extends out of the clamping groove towards the inside of the groove, and the other end of the limiting block is embedded in the clamping groove together with the spring; when the heat insulation plate or the electric heating plate is installed in the groove, the side wall of the heat insulation plate or the electric heating plate can squeeze the semicircular end of the limiting block, so that the limiting block moves towards the clamping groove, and the spring is compressed and deformed at the moment; when the heat insulating plate or the electric heating plate enters the groove, the side wall of the heat insulating plate or the electric heating plate can not squeeze the limiting block any more, and then the semicircular end of the limiting block can be ejected out under the action of the restoring force of the spring, so that the heat insulating plate or the electric heating plate is prevented from falling out of the groove.

Further, the sensor module comprises a voice sensor, a visual sensor, a laser sensor and an inertial sensor which are connected with the electronic control module; the voice sensor is used for receiving a voice control signal of a user and transmitting the voice control signal to the electronic control module; the electronic control module outputs control signals to the driving module of the robot according to the received voice control signals and the detection data of the visual sensor, the laser sensor and the inertial sensor.

Further, the electronic control module comprises a foot warming function key arranged at the top of the robot, and when a controller in the electronic control module receives a trigger signal of the foot warming function key, the booster circuit is controlled to electrify the heating wire.

A control method of a cleaning robot, which is applied to the cleaning robot, the control method comprising the following steps: the voice sensor of the robot receives a calling voice signal sent by a user; the robot judges the position of the user; the robot navigates to the position of the user; the robot judges whether a trigger signal of a foot warming function key is received, if yes, the booster circuit is controlled to electrify the heating wire, if not, the robot stays in place, and the next step instruction of a user is waited.

Further, in the process that the robot controls the booster circuit to electrify the heating wire, if the trigger signal of the foot warming function key is received again, the robot starts to automatically recharge.

The utility model discloses a cleaning robot, through set up warm foot module at cleaning robot top for the robot not only has clean function, still has warm foot merit function, makes the user can utilize the intelligent removal characteristic of robot self, conveniently warms up the foot operation, and does not receive near whether there is supply socket's restriction, has improved cleaning robot's utilization ratio and practicality greatly, is favorable to cleaning robot's marketing and the improvement of product use experience.

Drawings

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present application.

Fig. 2 is a schematic view of a heating system of the cleaning robot according to an embodiment of the present application.

Description of the embodiments

Embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the following description of specific embodiments is intended to be illustrative of the present application and is not intended to be limiting. It will be apparent to one skilled in the art that the related embodiments may be practiced without these specific details, e.g., circuits may be shown in block diagrams in order not to obscure the embodiments in unnecessary detail; well-known circuits, structures and techniques may not be shown in detail in order not to obscure the embodiments.

The cleaning robot shown in fig. 1 is one of intelligent household appliances, and can automatically complete floor cleaning in a room by means of artificial intelligence, and generally adopts a brushing and vacuum mode to absorb the ground sundries into a self garbage storage box, so that the function of cleaning the ground is completed. Of course, the cleaning operation can also comprise the operation of mopping the floor by a robot through a mop cloth.

As one embodiment, the cleaning robot includes an electronic control module 40, and a driving module, a cleaning module, a sensor module, and a foot warming module connected to the electronic control module 40. The electronic control module 40 is a circuit control board arranged in the robot, and the circuit board is provided with a controller, a power supply circuit, a clock circuit, an input circuit, an output circuit and other circuit structures for controlling the robot to realize the functions of drawing, positioning, navigation, cleaning and the like. The driving module comprises a driving wheel 31 and universal wheels, wherein the driving wheel 31 is connected with the electronic control module 40 and rotates under the control of signals output by the electronic control module 40, so that the robot is driven to move. The cleaning module comprises a rolling brush, a side brush, a dust suction fan, a dust box and the like, and the rolling brush, the side brush and the dust suction fan operate under the control of signals output by the electronic control module 40, so that dust on the ground is sucked into the dust box. The sensor module comprises a voice sensor 23, a visual sensor 21, a laser sensor 22, an inertial sensor and the like, and the electronic control module 40 receives data of the sensors for analysis and outputs control signals to control the robot to perform actions such as positioning, navigation, obstacle avoidance and the like. The foot warming module is arranged at the top 10 of the robot, is connected with the electronic control module 40, and is used for heating on or off under the control of the electronic control module 40. When a user needs to warm feet by using the robot, the user can feel the heat under the feet by only placing the feet on the foot warming module and starting heating. This embodiment is through setting up warm foot module at cleaning robot top 10 for the robot not only has clean function, still has warm foot merit function, has improved cleaning robot's utilization ratio and practicality greatly, is favorable to cleaning robot's marketing and the improvement of product use experience.

As one embodiment, as shown in fig. 1 and 2, the foot warming module includes a heat insulation plate (not shown) and an electric heating plate 11. The top 10 of the robot is provided with a square groove which is concave inwards, and the electric heating plate 11 is also of a square structure, is matched with the groove and is arranged in the groove. The heat insulating board is arranged between the electric heating plate 11 and the inner wall of the groove and is used for insulating heat generated by the electric heating plate 11 and avoiding heat transfer into the robot. The heat insulation board is a plate-shaped structure made of heat insulation materials such as glass fiber, asbestos, rock wool or silicate.

Specifically, the electric heating plate 11 includes a ceramic heat-conducting plate and an electric heating wire 111 disposed in the ceramic heat-conducting plate, and heat generated by the electric heating wire 111 can be directly transferred to the ceramic heat-conducting plate, so that the ceramic heat-conducting plate heats, and a user can tread on the ceramic heat-conducting plate to achieve a foot warming effect. The side walls of two ends of the ceramic heat conducting plate are provided with conductive ports 112, two ends of each heating wire 111 are respectively connected with one conductive port 112, as shown in fig. 2, two heating wires 111 are arranged in the ceramic heat conducting plate, four conductive ports 112 are arranged in total, the conductive ports 112 are in an inserting structure, and the ends of the wires can be directly inserted into the ports, so that the electric connection with the heating wires 111 is realized. The electric heating plate 11 is electrically connected with the outside through the conductive port 112, so that the electric heating plate 11 is convenient to assemble and disassemble, and the after-sale maintenance of the robot is facilitated. Of course, the number of the heating wires 111 may be three, four, five, etc., and the number of the corresponding conductive ports 112 may be six, eight, ten, etc., which may be configured according to the product design.

As one embodiment, the electronic control module 40 includes a power supply and boost circuit 41. The inner space of the groove is of a cuboid structure, and the side wall corresponding to the short side of the groove is provided with a through hole. The wire passes through the through hole, one end of the wire is connected with the booster circuit 41 in the robot body, and the other end of the wire is inserted into the conductive port 112, so that the power supply can energize the heating wire 111 through the booster circuit 41, and the heating wire 111 can generate heat.

As one embodiment, a limiting structure is arranged at the upper end of the side wall corresponding to the long side of the groove, and is used for limiting the heat insulation plate and the electric heating plate 11 in the groove. Specifically, limit structure includes draw-in groove, spring and stopper 12, the one end of stopper 12 is semi-circular and stretches out outside the draw-in groove towards the recess inside, and the other end then inlays in the draw-in groove together with the spring. When the heat insulation plate or the electric heating plate 11 is installed in the groove, the side wall of the heat insulation plate or the electric heating plate 11 can press the semicircular end of the limiting block 12, so that the limiting block 12 moves towards the clamping groove, and the spring is compressed and deformed at the moment; when the heat insulation plate or the electric heating plate 11 enters the groove, the side wall of the heat insulation plate or the electric heating plate 11 can not squeeze the limiting block 12 any more, and then the semicircular end of the limiting block 12 can be ejected out under the action of the restoring force of the spring, so that the heat insulation plate or the electric heating plate 11 is prevented from falling out of the groove.

As one of the embodiments, the sensor module includes a voice sensor 23, a visual sensor 21, a laser sensor 22, and an inertial sensor connected to an electronic control module 40. The vision sensor 21 adopts a binocular camera, and shoots towards the front upper part of the robot. The laser sensor 22 is a TOF laser ranging module, and is disposed directly in front of the robot. The voice sensor 23 adopts a microphone array module, and is arranged in a top cover of the robot, and a plurality of through holes which are convenient for receiving voice of a user are arranged at corresponding positions of the top cover. The voice sensor 23 is configured to receive a voice control signal of a user and transmit the voice control signal to the electronic control module 40, and the electronic control module 40 analyzes the voice control signal to determine a control operation of the robot that the user wants to perform. The electronic control module 40 outputs control signals to the driving module of the robot according to the received voice control signals in combination with detection data of the vision sensor 21, the laser sensor 22 and the inertial sensor, so that the robot moves to a corresponding position. For example, when a user calls: "xiaoqing (name defined by the user to the robot), where the voice sensor 23 of the robot receives the voice signal, the voice signal is matched through the voice model library, and it is determined that the user wants the robot to move to the position where the user is located. Then, the robot starts to spin, and stops spinning when the visual sensor 21 shoots the user, and then the robot is controlled to move towards the user, detection data of the laser sensor 22 and the inertial sensor are collected in real time in the moving process, so that collision obstacles and the situation of the robot deviating are avoided, and the robot can smoothly move beside the user.

As one embodiment, the electronic control module 40 includes a foot warming function key 12 and an on/off operation key 13 provided on the robot top 10, which are electrically connected to a controller in the electronic control module 40. When the controller in the electronic control module 40 receives the trigger signal of the foot warming function key 12, the booster circuit 41 is controlled to energize the heating wire 111. By arranging the foot warming function keys 12, a user can conveniently start the foot warming function of the robot, and the robot is quite convenient.

A control method applied to the cleaning robot described in the above embodiment, the control method including the steps of:

first, the voice sensor 23 of the robot receives a call voice signal from the user. The calling voice signal contains the name of the robot, which can be set by the robot from the factory or modified by a later user through a mobile phone APP. When the robot determines that the received sound contains the call, it is determined that this is a call voice signal.

Then, the robot determines the approximate direction of the user by analyzing the direction transmitted by the calling voice signal, and the method can be specifically realized by a sound source positioning method of the microphone array, and generally can adopt a wave beam forming algorithm, a high-resolution spectrum estimation algorithm and a sound arrival time delay difference algorithm. The robot then turns the camera to this general orientation and analyzes whether the user was photographed. And analyzing whether the user is shot or not, wherein the face recognition comparison is mainly carried out by utilizing the image shot currently and the image stored in the robot database, and if the similarity of the face recognition comparison exceeds 90%, the user is considered to be shot currently. After the user is photographed, the distance from the user is determined by the laser sensor 22, thereby determining the location of the user. If the user is not photographed, the robot walks in the general direction and performs steering photographing until the user is photographed.

Next, the robot controls the motion of the driving wheel 31 in real time based on the data detected by these sensors, thereby navigating to the position of the user.

Finally, the robot judges whether the trigger signal of the foot warming function key 12 is received. If yes, the user is indicated to want to warm the feet by using the robot, the booster circuit 41 is controlled to electrify the heating wire 111, at this time, the heating wire 111 heats and conducts heat to the ceramic heat-conducting plate, and the user can realize the foot warming effect by only placing the feet on the ceramic heat-conducting plate. If not, the user waits for the next instruction.

The control method can control the robot to automatically move to the user for the user to warm the feet, is convenient and efficient, is not limited by the plug-in seat, can warm the feet at any position, does not need to be used for carrying foot warming equipment, and greatly improves the product use experience of the user.

As one embodiment, if the trigger signal of the foot warming function key 12 is received again in the process of powering on the heating wire 111 by the robot control booster circuit 41, it indicates that the user does not want to continue warming feet, and the robot starts to perform automatic recharging, so that the user is not required to remove the device again, and the convenience of using the cleaning robot to warm feet is further improved.

As another embodiment, a control method applied to the cleaning robot described in the above embodiment includes the steps of:

first, the electronic control module 40 of the robot receives a wireless remote control navigation signal sent by the user, which is sent by the user through the APP of the smartphone. The APP is application software which is installed in the smart phone and used for carrying out man-machine interaction with the cleaning robot, and a user can check the working state of the cleaning robot and control the action of the robot through the APP. The electronic control module 40 includes a wifi circuit, so the robot can connect to the network through wifi and receive the control signal sent by the mobile phone.

Then, the robot walks according to the wireless remote control navigation signal. That is, the user controls the robot to advance through the mobile phone, the robot can advance, the robot is controlled to rotate leftwards, and the robot rotates leftwards. When a user lies on the bed and wants to sleep, the user notices that his feet are cold and wants to warm the feet and then sleep, the user can control the robot to move to the bedside by using the mobile phone, and the user does not need to get off the bed to carry the equipment for warming the feet.

After the robot stops walking, it is indicated that the robot has done beside the user, and then the robot judges whether a trigger signal of the foot warming function key 12 is received. If yes, the user is indicated to want to warm the feet by using the robot, the booster circuit 41 is controlled to electrify the heating wire 111, at this time, the heating wire 111 heats and conducts heat to the ceramic heat-conducting plate, and the user can realize the foot warming effect by only placing the feet on the ceramic heat-conducting plate. If not, the user waits for the next instruction.

The control method in the embodiment is different from the previous embodiment in that the control method in the embodiment realizes that the robot navigates to the place to warm the feet in a wireless remote control mode, so that the interestingness and entertainment sense of a user for operating the robot can be increased, and the product use experience of the user is further improved.

It is obvious that the above-described embodiments are only a part of the embodiments of the present application, and that the individual technical features described in the above-described embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations are not described further. It will be appreciated by those skilled in the art that changes may be made to the embodiments described above, or equivalents may be substituted for in part or in whole; while such modifications and substitutions are intended to be within the scope of the embodiments disclosed herein.

Claims

1. The utility model provides a cleaning robot, includes automatically controlled module and the drive module, cleaning module and the sensor module who is connected with automatically controlled module, its characterized in that still includes:

the foot warming module is arranged at the top of the robot and connected with the electronic control module and used for starting heating or closing heating under the control of the electronic control module.

2. The cleaning robot of claim 1, wherein:

the foot warming module comprises a heat insulation plate and an electric heating plate, an inwards concave groove is formed in the top of the robot, the electric heating plate is arranged in the groove, and the heat insulation plate is arranged between the electric heating plate and the inner wall of the groove.

3. The cleaning robot of claim 2, wherein:

the electric heating plate comprises a ceramic heat conducting plate and electric heating wires arranged in the ceramic heat conducting plate, wherein the side walls of the two ends of the ceramic heat conducting plate are provided with electric conduction ports, and the two ends of each electric heating wire are respectively connected with one electric conduction port.

4. A cleaning robot according to any one of claims 2 to 3, characterized in that:

the electric control module comprises a power supply and a boost circuit;

the inner space of the groove is of a cuboid structure, and through holes are formed in the side walls corresponding to the short sides of the groove;

the wire passes through the through hole, and the boost circuit in its one end connection robot body, and the other end then inserts conductive port for the power can be through boost circuit for the heating wire circular telegram.

5. The cleaning robot of claim 4, wherein:

the upper end of the side wall corresponding to the long side of the groove is provided with a limit structure;

the limiting structure comprises a clamping groove, a spring and a limiting block, wherein one end of the limiting block is semicircular and extends out of the clamping groove towards the inside of the groove, and the other end of the limiting block is embedded in the clamping groove together with the spring; when the heat insulation plate or the electric heating plate is installed in the groove, the side wall of the heat insulation plate or the electric heating plate can squeeze the semicircular end of the limiting block, so that the limiting block moves towards the clamping groove, and the spring is compressed and deformed at the moment; when the heat insulating plate or the electric heating plate enters the groove, the side wall of the heat insulating plate or the electric heating plate can not squeeze the limiting block any more, and then the semicircular end of the limiting block can be ejected out under the action of the restoring force of the spring, so that the heat insulating plate or the electric heating plate is prevented from falling out of the groove.

6. The cleaning robot of claim 4, wherein:

the sensor module comprises a voice sensor, a visual sensor, a laser sensor and an inertial sensor which are connected with the electronic control module;

the voice sensor is used for receiving a voice control signal of a user and transmitting the voice control signal to the electronic control module;

the electronic control module outputs control signals to the driving module of the robot according to the received voice control signals and the detection data of the visual sensor, the laser sensor and the inertial sensor.

7. The cleaning robot of claim 6, wherein:

the electric control module comprises a foot warming function key arranged at the top of the robot, and when a controller in the electric control module receives a trigger signal of the foot warming function key, the booster circuit is controlled to electrify the heating wire.