CN110464253A - Sweeping robot - Google Patents
Sweeping robot Download PDFInfo
- Publication number
- CN110464253A CN110464253A CN201910695592.6A CN201910695592A CN110464253A CN 110464253 A CN110464253 A CN 110464253A CN 201910695592 A CN201910695592 A CN 201910695592A CN 110464253 A CN110464253 A CN 110464253A
- Authority
- CN
- China
- Prior art keywords
- detection
- obstacles module
- robot body
- sweeping robot
- obstacles
- 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
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of sweeping robots.The sweeping robot includes robot body and detection of obstacles module；The detection of obstacles module is electrically connected by removably with robot body realization, and the detection of obstacles module is used to detect the obstacle information being located on the robot body direction of travel；The robot body adjusts motion state based on the obstacle information that the detection of obstacles module detects.The application can allow the sweeping robot of the application according to the disassembly and combination detection of obstacles module of different cleaning occasion selectivity by the way that detection of obstacles module to be set as detachably being electrically connected with robot body；Meanwhile when breaking down for detection of obstacles module, it is also easier to replace the detection of obstacles module of damage.
Description
Technical field
The present invention relates to clean robot technical fields, more particularly to a kind of sweeping robot.
Background technique
With the continuous improvement of people's living standards, controlling intelligent household appliances using more and more extensive, and have very
Vast market prospect.Sweeping robot also known as sweeps machine, intellective dust collector, robot cleaner etc. automatically, is intelligent domestic
One kind of electric appliance can carry out cleaning operation to the earth's surface in house by certain artificial intelligence.General sweeping robot uses
Brush is swept and vacuum mode, sweeps the ground sundries for taking certain area by brushing, then sundries is received into rubbish by this part again
Storage box, to complete the clean function in ground.
The detection of obstacles sensor of traditional sweeping robot is typically fixed to be installed on sweeping robot, here
" fixation " include that fixed in connection type and sensor is fixed, for the type for the sensor that different occasions may need
Different or sensor is not easy for situations such as replacing when being damaged, and setting so just seems more inflexible, so as to give
User brings bad usage experience.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of sweeping robot.
A kind of sweeping robot, the sweeping robot include robot body and detection of obstacles module；
The detection of obstacles module is electrically connected by removably with robot body realization, the barrier
Detection module is used to detect the obstacle information being located on the robot body direction of travel；
The robot body adjusts motion state based on the obstacle information that the detection of obstacles module detects.
The detection of obstacles module is provided projectingly on and the robot body traveling side in one of the embodiments,
To identical side.
The robot body is column structure, two end parts of the column structure in one of the embodiments,
Not She You a walking unit, the robot body moved by the walking unit.
The quantity of the detection of obstacles module is two in one of the embodiments, two detection of obstacles modules
The side of the column structure is set to by removably.
The sweeping robot in one of the embodiments, further include:
The cleaning unit being integrated in the detection of obstacles module, the cleaning unit are electrically connected with the robot body
It connects, the cleaning unit includes motor and side brush, and the side brush carries out clockwise or counterclockwise under the drive of the motor
Rotation is to realize cleaning operation.
The detection of obstacles module is crash sensor in one of the embodiments, and the crash sensor passes through
Mechanical Contact is generated with barrier to realize the detection of barrier.
The detection of obstacles module is infrared sensor in one of the embodiments, and the infrared sensor passes through
Transmitting receives the mode of the infrared light returned to realize the detection of barrier.
The crash sensor includes aluminum substrate linear array and collision nut cap, the collision lid in one of the embodiments,
It is provided with conductive carbon grain on the inside of cap, when the conductive carbon grain is connected to the aluminum substrate linear array, determines to send out with barrier
Raw Mechanical Contact.
The collision nut cap surround and is set to the detection of obstacles module and the machine in one of the embodiments,
The identical side of human body's direction of travel.
The infrared sensor includes transmitting unit and receiving unit, the transmitting unit in one of the embodiments,
For emitting infrared light, the receiving unit is for receiving the infrared light being reflected back through barrier.
Above-mentioned sweeping robot can by the way that detection of obstacles module to be set as detachably being electrically connected with robot body
So that the sweeping robot of the application can be according to the disassembly of different cleaning occasion selectivity and combination detection of obstacles mould
Block；Meanwhile when breaking down for detection of obstacles module, it is also easier to replace the detection of obstacles module of damage,
Setting is more flexible in this way, so as to bring good usage experience to user.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the sweeping robot in an embodiment；
Fig. 2 is the explosive view of the detection of obstacles module in an embodiment；
Fig. 3 is the explosive view of the detection of obstacles module in another embodiment.
Specific embodiment
The application in order to facilitate understanding is described more fully the application below with reference to relevant drawings.In attached drawing
Give the better embodiment of the application.But the application can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more disclosure of this application
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.The term used in the description of the present application is intended merely to description tool herein
The purpose of the embodiment of body, it is not intended that in limitation the application.
Referring to Fig. 1, for the structural schematic diagram of the sweeping robot in an embodiment.The sweeping robot may include machine
Device human body (not shown) and detection of obstacles module 20.Wherein, the detection of obstacles module 20 by removably with
The robot body realizes electrical connection, that is to say, that it is detachable between detection of obstacles module 20 and robot body, or
It is that can be assembled by way of plug；Also, it please continue to refer to Fig. 1, is contacted in detection of obstacles module 20 with robot body
Position, robot body is the groove (figure does not indicate) that default size is arranged, and detection of obstacles module 20 is to pass through insertion
The groove realizes contact, and in order to realize electrical connection, conductive and nonconductive protrusion (figure is additionally provided in detection of obstacles module 20
Do not indicate), it is nonconducting protrusion mainly to rise a fixed function, conductive protrusion be it is elastic, when detection of obstacles module 20
When being inserted into robot body, the protrusion of the conduction is contacted with the conductive contact film (figure does not indicate) in groove, is electrically connected to realize
It connects.Further, being electrically connected between robot body and detection of obstacles module 20 is segmented into two kinds of situations.The first:
Robot body is powered to detection of obstacles module 20, and detection of obstacles module 20 emits barrier electric signal to robot body
Or robot body is to 20 emission control electric signal of detection of obstacles module；Second: 20 in-built electrical of detection of obstacles module
Source, detection of obstacles module emit barrier electric signal or robot body to detection of obstacles module 20 to robot body
Emission control electric signal.The detection of obstacles module 20 is used to detect the obstacle being located on the robot body direction of travel
Object information.The robot body adjusts motion state based on the obstacle information that the detection of obstacles module 20 detects.Its
In, the motion state of robot body adjustment may include the direction of motion, movement velocity etc..
Above-mentioned sweeping robot can by the way that detection of obstacles module to be set as detachably being electrically connected with robot body
So that the sweeping robot of the application can be according to the disassembly of different cleaning occasion selectivity and combination detection of obstacles mould
Block；Meanwhile when breaking down for detection of obstacles module, it is also easier to replace the detection of obstacles module of damage,
Setting is more flexible in this way, so as to bring good usage experience to user.
In one embodiment, please continue to refer to Fig. 1, it can be seen that the principal shape structure of the robot body is
It is cylindric.Two ends of cylindrical-shaped structure are respectively equipped with a walking unit, and in other words, robot body mainly includes two
Walking unit is respectively arranged on the end of cylinder machine human body, for ease of description and distinguishes, two walking unit difference
It is denoted as walking unit 112 and walking unit 114.Walking unit 112 and walking unit 114 can be caterpillar belt structure, or
Wheeled construction, the application select wheeled construction, in order to further increase the road holding of walking unit, the application wheeled construction with
A plurality of groove is also provided on the face of ground face contact.Meanwhile the inner hollow of the wheeled construction of the application, the inside are provided with accordingly
Driving device (not shown), for example, motor etc.；That is, the inside of each walking unit is equipped with a driving dress
It sets, two walking units 112,114 are driven by the driving device to be rotated.The robot body is single by the walking
Member 112 and walking unit 114 are moved.Robot body is shaped to end cylindric and in cylindrical structure
Two walking units 112,114, which are respectively set, can increase barrier ability and the road holding excessively of robot, so that robot is cleaning
It can be more easily by when the objects such as woollen blanket.
In one embodiment, please continue to refer to Fig. 1, the detection of obstacles module 20 is provided projectingly on and the machine
The identical side of human body's direction of travel, that is to say, that detection of obstacles module 20 is prepended to the traveling side of robot body
Upwards, and relative to robot body it is provided projectingly.Detection of obstacles module 20 is provided projectingly on and the machine by the application
The identical side of device human body's direction of travel, can make the visual angle of sensor wider, make it possible to more effectively screen obstacle
Object.
Further, the quantity of the detection of obstacles module 20 is chosen as two, for ease of description and distinguishes, two
Detection of obstacles module is denoted as detection of obstacles module 210, detection of obstacles module 220 respectively.210 He of detection of obstacles module
Detection of obstacles module 220 is set to the side of the column structure by removably.Further, the obstacle quality testing
Surveying module 20 can be crash sensor, and the crash sensor is by generating Mechanical Contact with barrier to realize barrier
Detection.Referring to Fig. 2, for the explosive view of the detection of obstacles module in an embodiment.The detection of obstacles module 20 is collision
Sensor.The application is illustratively described with one of detection of obstacles module 210, and the crash sensor can be with
Including aluminum substrate linear array 2112a and nut cap 2114a is collided, the collision nut cap 2114a surround and is set to the detection of obstacles
Collision nut cap 2114a can be guaranteed to collide by the side identical with the robot body direction of travel of module 20 around setting
The detection range of sensor；Conductive carbon grain (figure does not indicate), the conductive carbon are provided on the inside of the collision nut cap 2114a
When grain (figure does not indicate) is connected to the aluminum substrate linear array 2112a, determine that Mechanical Contact occurs with barrier.That is,
When collision nut cap 2114a is generated deformation by the extruding of barrier, so that being located at the conductive carbon grain of inside with collision nut cap
The deformation of 2114a is in contact with aluminum substrate linear array 2112a, is equivalent to and is connected locating circuit, thus judgement at this time with obstacle
Mechanical Contact occurs for object.Further, the detection of obstacles module 20 can also be infrared sensor, the infrared sensing
Device realizes the detection of barrier by way of emitting, receiving the infrared light of return.Referring to Fig. 3, being another embodiment
In detection of obstacles module explosive view.The detection of obstacles module 20 is infrared sensor, and the infrared sensor can be with
It is used to emit the infrared light of preset wavelength including transmitting unit 2112b and receiving unit 2114b, the transmitting unit 2112b,
The receiving unit 2114b is for receiving the infrared light being reflected back through barrier.It is appreciated that detection of obstacles module 20 is also
It can be the sensor that other existing but the application do not mention, meanwhile, quantity can also be according to the practical property of product
It can be carried out selection and adjustment.
In order to avoid the region between two detection of obstacles modules becomes blind area, it will be understood that should also hinder at two
Hinder the region between analyte detection module that corresponding sensor is set to carry out the detection of barrier, which can equally use
Infrared sensor.
In one embodiment, please continue to refer to Fig. 1, which can also include that cleaning unit (do not mark by figure
Show), which is integrated in detection of obstacles module 20, and the cleaning unit is electrically connected with the robot body, institute
It states robot body and cleaning operation is carried out by the cleaning unit.Since the quantity of detection of obstacles module 20 is two, institute
Also it is two with the quantity of cleaning unit, for ease of description and distinguishes, two cleaning units are denoted as cleaning unit 122 respectively,
Cleaning unit 124.Further, Fig. 2 or Fig. 3 is please referred to, its composed structure is described by taking cleaning unit 122 as an example.Institute
Stating cleaning unit 122 may include motor 1222 and side brush 1224, the side brush 1224 under the drive of the motor 1222 into
The rotation of row clockwise or counterclockwise is to realize cleaning operation.In order to realize cleaning operation, cleaning unit 122 and cleaning unit
The direction of rotation of side brush in 124 should be opposite, that is to say, that if the side brush 1224 of cleaning unit 122 is counterclockwise
Rotation, then the side brush in cleaning unit 124 should be rotated clockwise, so as to realize the cleaning to ground.
Although being not shown, sweeping for other routines can also be arranged in robot body between two walking units 112,114
The electrical system that floor-washing robot has, such as control system, processing system, navigation and positioning system, avoidance detection system, row
Walk the drive system of unit；And construction package, such as dust-absorbing box etc., details are not described herein.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of sweeping robot, which is characterized in that the sweeping robot includes robot body and detection of obstacles module；
The detection of obstacles module is electrically connected by removably with robot body realization, the detection of obstacles
Module is used to detect the obstacle information being located on the robot body direction of travel；
The robot body adjusts motion state based on the obstacle information that the detection of obstacles module detects.
2. sweeping robot according to claim 1, which is characterized in that the detection of obstacles module be provided projectingly on
The identical side of the robot body direction of travel.
3. sweeping robot according to claim 1, which is characterized in that the robot body is column structure, described
Two ends of column structure are respectively equipped with a walking unit, and the robot body is moved by the walking unit.
4. sweeping robot according to claim 3, which is characterized in that the quantity of the detection of obstacles module is two
A, two detection of obstacles modules are set to the side of the column structure by removably.
5. sweeping robot according to claim 4, which is characterized in that further include:
The cleaning unit being integrated in the detection of obstacles module, the cleaning unit are electrically connected with the robot body,
The cleaning unit includes motor and side brush, and the side brush carries out rotation clockwise or counterclockwise under the drive of the motor
To realize cleaning operation.
6. sweeping robot according to claim 1-5, which is characterized in that the detection of obstacles module is to touch
Sensor is hit, the crash sensor is by generating Mechanical Contact with barrier to realize the detection of barrier.
7. sweeping robot according to claim 1-5, which is characterized in that the detection of obstacles module is red
Outer sensor, the infrared sensor realize the detection of barrier by way of emitting, receiving the infrared light of return.
8. sweeping robot according to claim 6, which is characterized in that the crash sensor include aluminum substrate linear array and
Nut cap is collided, conductive carbon grain is provided on the inside of the collision nut cap, the conductive carbon grain and the aluminum substrate linear array connect
When logical, determine that Mechanical Contact occurs with barrier.
9. sweeping robot according to claim 8, which is characterized in that the collision nut cap surround and is set to the obstacle
Analyte detection module side identical with the robot body direction of travel.
10. sweeping robot according to claim 7, which is characterized in that the infrared sensor include transmitting unit and
Receiving unit, the transmitting unit for emitting infrared light, the receiving unit for receive be reflected back through barrier it is red
UV light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695592.6A CN110464253A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910695592.6A CN110464253A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110464253A true CN110464253A (en) | 2019-11-19 |
Family
ID=68509216
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910695592.6A Pending CN110464253A (en) | 2019-07-30 | 2019-07-30 | Sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110464253A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481121A (en) * | 2020-04-29 | 2020-08-04 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN111493754A (en) * | 2020-04-29 | 2020-08-07 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
-
2019
- 2019-07-30 CN CN201910695592.6A patent/CN110464253A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481121A (en) * | 2020-04-29 | 2020-08-04 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN111493754A (en) * | 2020-04-29 | 2020-08-07 | 江苏美的清洁电器股份有限公司 | Floor sweeping robot |
| CN111493754B (en) * | 2020-04-29 | 2021-10-01 | 美智纵横科技有限责任公司 | Floor sweeping robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220809 Address after: 510000 No. 30, haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 518000 floor 2 and 3, block D, 438 East Ring Road, Xinqiao street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: GUANGDONG BONA ROBOT Corp.,Ltd. |
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| TA01 | Transfer of patent application right |