CN106441274A - Universal wheel motion state detection device of floor sweeping robot - Google Patents
Universal wheel motion state detection device of floor sweeping robot Download PDFInfo
- Publication number
- CN106441274A CN106441274A CN201610842559.8A CN201610842559A CN106441274A CN 106441274 A CN106441274 A CN 106441274A CN 201610842559 A CN201610842559 A CN 201610842559A CN 106441274 A CN106441274 A CN 106441274A
- Authority
- CN
- China
- Prior art keywords
- universal wheel
- control box
- floor
- sweeping
- detection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal wheel motion state detection device of a floor sweeping robot. The device comprises a floor sweeping machine main machine, universal wheels arranged at the bottom of the floor sweeping machine main machine, and a power mechanism for driving the universal wheels to move. A monitoring assembly and a main control box are independently installed at the bottom of the floor sweeping machine main machine. Each universal wheel is provided with one monitoring assembly. The monitoring assemblies are used for detecting whether the universal wheels rotate or not and transmitting detection signals to the main control box. The signal output ends of the monitoring assemblies are connected with the main control box, the main control box is embedded into the bottom face of the floor sweeping machine main machine, the main control box is provided with a transmission assembly connected with a user mobile phone, and a single-chip microcomputer is adopted as a main control element of the main control box. The rotating condition of all the universal wheels is monitored through a magneto-dependent sensor, the operating state of the whole floor sweeping robot is known in real time, faults of the universal wheels are found in time, the universal wheels are repaired within shortest time, losses are reduced, the intelligence degree is high, and the service life of the universal wheels is longer.
Description
Technical field
The invention belongs to sweeping robot field, and in particular to a kind of universal wheel motion state detection dress of sweeping robot
Put.
Background technology
Sweeping robot, also known as machine, intelligent dust suction, robot cleaner etc. is swept automatically, is the one of controlling intelligent household appliances
Kind, certain artificial intelligence can be relied on, floor cleaning work is completed automatically in room.Typically swept using brush and vacuum mode,
Ground debris are first received the entrance rubbish receiver of itself, so as to complete the function of land clearing.In general, will complete clear
Sweep, dust suction, wipe the robot that works, also unification is classified as sweeping robot.
Sweep the floor machine fuselage be radio equipment, based on collar plate shape.Operated using rechargeable battery, mode of operation is with remote control
Guidance panel on device or machine.Typically the reservation of energy setting time is swept, and voluntarily charges.There are setting induction apparatuss in front, can detect
Barrier is surveyed, is such as encountered wall or other barriers, voluntarily can turn, and set according to per different vendor, and walk different roads
Line, has planning to clean area.(part relatively early stage type may lack partial function) is because the function of its simple operations and facility
Property, slowly popularize now, become the conventional electrical home appliances of working clan or Modern Family.
The actuator of sweeping robot usually motor and universal wheel, universal wheel can be realized arbitrarily in the presence of motor
The movement in orientation, but thing followed problem is, as universal wheel is constantly in the change for carrying out orientation in moving process, has
When moment conversion moving direction, can all cause the instantaneous pressure of universal wheel to increase, the inertia force right and wrong that now universal wheel bears
Often big, life-time service, universal wheel is easy to damage；
Particularly universal wheel occurs snapping in foreign body, causes universal wheel cisco unity malfunction, it is impossible to the situation of rolling, now by
The bottom of sweeper is arranged in universal wheel, generally, one of universal wheel fault exteriorly, and is not seen and being swept
What problem the movement of ground machine has, in other words simply interim card wherein a period of time, but this period is foreign body snap in universal
In wheel, last because foreign body drops, universal wheel has recovered work again, but in a period of this foreign body is snapped in, universal wheel is always
In friction running status, i.e., it is sliding friction between static universal wheel and ground, causes the acting of universal wheel to greatly increase
And when being generally found that problem, be just found after universal wheel is damaged, it is impossible to timely when universal wheel breaks down
Discovery its running status problem.
Therefore, in prior art, the running status of the universal wheel mechanism of sweeper can't carry out real-time detection, cause ten thousand
Damaging to wheel increases the situation of maintenance cost.
Content of the invention
The present invention solves universal wheel in prior art and can not carry out the deficiency of real-time monitoring, provides one kind and crosses magneto-dependent sensor
The rotation situation of each universal wheel is monitored, understands the running status of whole sweeping robot in real time, find the event of universal wheel in time
Barrier, was keeped in repair with the most fast time, reduced loss, intelligence degree height, the more long sweeper of the service life of universal wheel
The universal wheel motion state detection device of device people.
The present invention is achieved through the following technical solutions：A kind of universal wheel motion state detection dress of sweeping robot
Put, including machine host of sweeping the floor, be arranged at machine host bottom of sweeping the floor universal wheel and for drive universal wheel move engine
Structure, the independently installed monitor component in bottom of machine host of sweeping the floor and a primary control box, are respectively mounted one on each universal wheel
Monitoring assembly；
Monitoring assembly is used for detecting whether universal wheel rotates and detection signal is transferred to primary control box, the signal of monitor component
Outfan connects primary control box；
Primary control box is embedded in the bottom surface for being arranged at machine host of sweeping the floor, and monitor component is arranged at the side of machine host bottom surface of sweeping the floor
Face can monitor the shooting visual angle of all universal wheels in order to be formed, and primary control box has the transmission assembly of connection user mobile phone, main
Control box is using single-chip microcomputer as master element.
Used as preferred technical scheme, the monitoring assembly includes magneto-dependent sensor and is installed on each universal wheel one end
Magnet, magneto-dependent sensor signal output part connection primary control box, magneto-dependent sensor is attached at the upper end of caster bracket, universal
Wheel often rotate once send between the magneto-dependent sensor together with trigger, single-chip microcomputer be used for receive the trigger.
Used as preferred technical scheme, the transmission assembly adopts bluetooth module, and bluetooth module is mated with user mobile phone even
Connect, user mobile phone is for receiving the signal and receive the video signal that monitor component is transmitted that monitoring assembly is transmitted.
Used as preferred technical scheme, the actuating unit of the machine host of sweeping the floor passes through Single-chip Controlling, and single-chip microcomputer passes through
The switch of execution circuit control actuating unit, actuating unit is from the motor for driving whole sweeper, and single-chip microcomputer is by executing electricity
Road controls the switch of the motor.
Used as preferred technical scheme, the monitor component includes photographic head, image processing module and wireless transmit mould
Block, the signal output part connection image processing module of photographic head；
Photographic head is for shooting the running status of the universal wheel of machine host bottom of sweeping the floor and passing it through image processing module
Processing the built-in wireless receiving module reception of primary control box, the signal output part of wireless receiving module is sent to through wireless transmitter module
Connection single-chip microcomputer.
Used as preferred technical scheme, the Magnet is embedded in and is arranged in the mounting groove for opening up on universal wheel, and the peace
Being opened at the outer of universal wheel of tankage.
Used as preferred technical scheme, the magneto-dependent sensor is installed on the top of caster bracket, and when Magnet away from
From the magneto-dependent sensor position most nearby when both in the same plane.
Used as preferred technical scheme, the primary control box is installed on the bottom middle of machine host of sweeping the floor or is installed on and sweeps
Inside ground machine host, which passes through data line and connects monitoring assembly.
The invention has the beneficial effects as follows：The present invention monitors the rotation situation of each universal wheel by magneto-dependent sensor, in real time
Understand the running status of whole sweeping robot, find the fault of universal wheel in time, keeped in repair with the most fast time, reduce
Loss, intelligence degree height, the service life of universal wheel is more long.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of first embodiment of the invention；
Fig. 2 is the schematic diagram of second embodiment of the invention.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), except non-specifically is chatted
State, all can equivalent by other or with similar purpose alternative features replaced.I.e., unless specifically stated otherwise, each feature
It is an example in a series of equivalent or similar characteristics.
Embodiment 1
As shown in figure 1, in the present embodiment, including a single-chip microcomputer as processor, the single-chip microcomputer is arranged at master
In control box, the position of primary control box is installed on the outside of the lower surface of sweeper main body in the present embodiment；Best position is installed on
Middle so as to equal with the distance between each universal wheel.
In order to detect the kinestate of universal wheel, special one block of Magnet of setting at the outer of each universal wheel, Magnet is embedded in
At the outer of universal wheel, when universal wheel rotation is turned around, Magnet can be all passed through apart from the nearest side of caster bracket；
Therefore, there is rotation to detect whether universal wheel, the special top in caster bracket arranges a magneto-dependent sensor,
Magneto-dependent sensor will guarantee be detected when magnet movement is extremely nearest with the magneto-dependent sensor position, so as to trigger magnetosensitive
Sensor；
Therefore the universal wheel for running under normal condition, can all trigger a magneto-dependent sensor for each revolution, now, if
Magneto-dependent sensor can be triggered every time, then will not send alarm signal to single-chip microcomputer.
But when universal wheel is blocked by foreign body, it is impossible to which, when mobile, magneto-dependent sensor is caused not due to the triggering without Magnet
Single-chip microcomputer can be sent a signal to, therefore, now single-chip microcomputer does not receive the trigger that magneto sensor is transmitted, then monolithic
Machine is pulled up a horse and controls execution circuit, disconnects the actuating unit of machine host of entirely sweeping the floor, that is, disconnect motor so that whole sweeper breaks
Electricity, quits work.
Meanwhile, single-chip microcomputer can also notify matching mobile phone by bluetooth module, and user can obtain the event by mobile phone
Barrier signal, then can check sweeper in the past, check whether its universal wheel runs well, if there are foreign body, then can be taken off foreign body,
If universal wheel has damage, immediately repair and replacement can be carried out, loss is reduced to minimum.
In addition, single-chip microcomputer can also send alarm signal to alarm, if user mobile phone is not received by bluetooth alarm signal
Number, then audible alarm being carried out by the alarm, alarm is driven by drive circuit, and user can be obtained by the sound of alarm
Know sweeper in malfunction.
But, if foreign body is blocked, exactly Magnet is apart from the nearest position of magneto-dependent sensor, i.e. magnetosensitive sensing
Device can just detect the magnetic of Magnet, and now magneto-dependent sensor is triggered always, i.e., do not interrupt, and now single-chip microcomputer also may be used
Being considered as this situation for abnormal conditions, an alarm signal can be equally produced to user.
Magneto-dependent sensor detect Magnet near when, magnet-sensitive switch magnetic red piece close, circuit ON, magneto-dependent sensor obtain
And the signal of telecommunication is exported, the electric signal transmission is to single-chip microcomputer.
Magneto-dependent sensor, as the term suggests be exactly perceive the presence of magnetic bodies or magnetic intensity (in effective range) this
A little magnetic materials are external except permanent magnetism, also include that paramagnetic material (ferrum, cobalt, nickel and its their alloy) may also comprise perception certainly logical
Magnetic field around electricity (straight, friendship) line bag or wire.
Its working method for mainly being triggered by Magnet, for detecting the operation conditions of universal wheel.
Embodiment 2
As shown in Fig. 2 in the present embodiment, the structure of other several parts is all same as Example 1, unique unlike,
A monitor component is also installed in the sweep the floor bottom of machine host, and monitor component includes photographic head, picture processor and wireless receiving and dispatching
Module, the picture that photographic head is filmed can be sent to single-chip microcomputer as signal by radio receiving transmitting module, can increase on single-chip microcomputer
Plus a radio receiving transmitting module, for receiving the picture signal that wireless transmitter module is transmitted.
Photographic head is generally closed mode, can be by the mobile phone open of user, and user mobile phone is taken the photograph by bluetooth approach control
As the switch of head, photographic head is opened, the video of shooting can be transferred to by radio receiving transmitting module photographic head the mobile phone of user, use
Family can implement to monitor the operation conditions of ground and all universal wheels, i.e., be the kinestate of observable universal wheel by photographic head
Whether normal, and whether have, where viewing sweeper is passed through, the function that the debris on ground are cleaned out.
General, as long as universal wheel is detected when breaking down, if the user inspection of being not desired to over, now also may be used
Opened by remotely control photographic head, and then long-range monitoring is carried out, whether observation universal wheel is in normal operating condition, or
Say whether be malfunction or distress condition, can be apparent from once, the therefore setting of photographic head can solve the problem that a lot
Problem.
The position that photographic head is installed is needed in an original position, i.e., can be by by the visual angle of all of universal wheel
Change photographic head to photographing, the most edge of machine host of sweeping the floor is generally positioned at, but if is afraid of the universal wheel apart from distalmost end
With the hypertelorism of the photographic head, two photographic head are may also set up, the monitoring of both sides can be carried out simultaneously.
The invention has the beneficial effects as follows：The present invention monitors the rotation situation of each universal wheel by magneto-dependent sensor, in real time
Understand the running status of whole sweeping robot, find the fault of universal wheel in time, keeped in repair with the most fast time, reduce
Loss, intelligence degree height, the service life of universal wheel is more long.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Without the change or replacement that creative work is expected, should all be included within the scope of the present invention.Therefore, the present invention
The protection domain that protection domain should be limited by claims is defined.
Claims (8)
1. a kind of universal wheel motion state detection device of sweeping robot, including machine host of sweeping the floor, is arranged at machine host of sweeping the floor
The universal wheel of bottom and the actuating unit for driving universal wheel to move, it is characterised in that：Sweep the floor the bottom independence of machine host
One monitor component and a primary control box are installed, a monitoring assembly on each universal wheel, is respectively mounted, monitoring assembly is used for examining
Survey whether universal wheel rotates and detection signal is transferred to primary control box, the signal output part connection primary control box of monitor component, master control
Box is embedded in the bottom surface for being arranged at machine host of sweeping the floor, and monitor component is arranged at the one side of machine host bottom surface of sweeping the floor in order to form energy
The shooting visual angle of all universal wheels is enough monitored, primary control box has the transmission assembly of connection user mobile phone, primary control box adopts monolithic
Machine is used as master element.
2. the universal wheel motion state detection device of sweeping robot as claimed in claim 1, it is characterised in that：The monitoring
Component includes magneto-dependent sensor and is installed on the Magnet of each universal wheel one end, the signal output part connection master of magneto-dependent sensor
Control box, magneto-dependent sensor is attached at the upper end of caster bracket, and universal wheel is often rotated and once sent between the magneto-dependent sensor
One trigger, single-chip microcomputer is used for receiving the trigger.
3. the universal wheel motion state detection device of sweeping robot as claimed in claim 1, it is characterised in that：The transmission
Component adopts bluetooth module, and bluetooth module is connected with user mobile phone coupling, and user mobile phone is transmitted for receiving monitoring assembly
Signal and receive the video signal that transmits of monitor component.
4. the universal wheel motion state detection device of sweeping robot as claimed in claim 1, it is characterised in that：Described sweep the floor
The actuating unit of machine host passes through Single-chip Controlling, and single-chip microcomputer controls the switch of actuating unit, actuating unit by execution circuit
From the motor for driving whole sweeper, single-chip microcomputer controls the switch of the motor by execution circuit.
5. the universal wheel motion state detection device of sweeping robot as claimed in claim 1, it is characterised in that：The monitoring
Component includes photographic head, image processing module and wireless transmitter module, the signal output part connection image procossing mould of photographic head
Block, photographic head processes warp for shooting the running status of the universal wheel of machine host bottom of sweeping the floor and passing it through image processing module
Wireless transmitter module is sent to the built-in wireless receiving module of primary control box and receives, and the signal output part connection of wireless receiving module is single
Piece machine.
6. the universal wheel motion state detection device of sweeping robot as claimed in claim 2, it is characterised in that：The Magnet
Embedded be arranged in the mounting groove for opening up on universal wheel, and being opened at the outer of universal wheel of the mounting groove.
7. the universal wheel motion state detection device of sweeping robot as claimed in claim 2, it is characterised in that：The magnetosensitive
Sensor is installed on the top of caster bracket, and when Magnet apart from the magneto-dependent sensor position most nearby when both in
In one plane.
8. the universal wheel motion state detection device of the sweeping robot described in claim 1, it is characterised in that：The primary control box
It is installed on the bottom middle of machine host of sweeping the floor or is installed on inside machine host of sweeping the floor, which is by data line connection monitoring
Component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842559.8A CN106441274A (en) | 2016-09-22 | 2016-09-22 | Universal wheel motion state detection device of floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842559.8A CN106441274A (en) | 2016-09-22 | 2016-09-22 | Universal wheel motion state detection device of floor sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106441274A true CN106441274A (en) | 2017-02-22 |
Family
ID=58166859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610842559.8A Pending CN106441274A (en) | 2016-09-22 | 2016-09-22 | Universal wheel motion state detection device of floor sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106441274A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990832A (en) * | 2019-02-28 | 2019-07-09 | 芜湖赛宝机器人产业技术研究院有限公司 | One kind being based on ZigBee technology Portable industrial robot monitoring device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584793A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Robot vacuum cleaner and self-diagnosing method thereof |
| CN104197994A (en) * | 2014-09-23 | 2014-12-10 | 哈尔滨工程大学 | Online monitor of operating state of 3D (three-dimensional) printer |
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
| CN204695548U (en) * | 2014-01-06 | 2015-10-07 | 上海科斗电子科技有限公司 | Take portable intelligent device as intelligent interactive system and the house robot system of control axis |
-
2016
- 2016-09-22 CN CN201610842559.8A patent/CN106441274A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584793A (en) * | 2012-08-17 | 2014-02-19 | 乐金电子(天津)电器有限公司 | Robot vacuum cleaner and self-diagnosing method thereof |
| CN204695548U (en) * | 2014-01-06 | 2015-10-07 | 上海科斗电子科技有限公司 | Take portable intelligent device as intelligent interactive system and the house robot system of control axis |
| CN104197994A (en) * | 2014-09-23 | 2014-12-10 | 哈尔滨工程大学 | Online monitor of operating state of 3D (three-dimensional) printer |
| CN104567861A (en) * | 2015-01-12 | 2015-04-29 | 湖南格兰博智能科技有限责任公司 | Universal wheel speed measurement device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990832A (en) * | 2019-02-28 | 2019-07-09 | 芜湖赛宝机器人产业技术研究院有限公司 | One kind being based on ZigBee technology Portable industrial robot monitoring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106659343B (en) | Electric vacuum cleaner | |
| CN105291112B (en) | A kind of patrol robot | |
| CN106166049A (en) | Family's fire-fighting early warning intelligent robot | |
| CN202035069U (en) | Automatic cleaning device of dome camera | |
| CN212278869U (en) | From mobile device and intelligent lawn mower | |
| CN105142482A (en) | Cleaning robot, home monitoring apparatus, and method for controlling the cleaning robot | |
| CN106227214B (en) | Autonomous robot, apparatus and method for detecting failure | |
| CN106983450A (en) | A kind of Intelligent robot for sweeping floor with phonetic function | |
| US20220355481A1 (en) | Moving robot and method of controlling the same | |
| CN107732771A (en) | A kind of power transmission line inspection deicing robot control system and its control method | |
| CA2999541A1 (en) | Disconnect switch blade electronic information sensor system for detecting blade performance and for ensuring proper blade closure | |
| CN106371441A (en) | Intelligent sweeping robot system with voice input function | |
| CN208228910U (en) | A kind of Household alarm sweeping robot being integrated with IPCamera | |
| CN106441274A (en) | Universal wheel motion state detection device of floor sweeping robot | |
| CN107102625A (en) | Intelligent household management system | |
| CN109303524A (en) | A kind of intelligence Household floor-sweeping machine device people | |
| CN206085074U (en) | Cleaning robot | |
| CN205608953U (en) | Remove bodyguard of family and remove bodyguard system of family | |
| CN106078760A (en) | A kind of household service robot with path planning function | |
| CN105137346A (en) | High-voltage switch class equipment divide-shut brake in place monitoring system based on gravity | |
| CN207462017U (en) | A kind of intellective dust collector | |
| CN109998416A (en) | A kind of dust-collecting robot | |
| CN206525989U (en) | Intellective dust collector | |
| CN110027000A (en) | A kind of household safe protection robot | |
| CN107386814A (en) | The method of smart lock closing detecting apparatus, smart lock and the intelligent lock-switch of detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170222 |
|
| WD01 | Invention patent application deemed withdrawn after publication |