CN205963954U - Intelligence robot of sweeping floor - Google Patents
Intelligence robot of sweeping floor Download PDFInfo
- Publication number
- CN205963954U CN205963954U CN201620520398.6U CN201620520398U CN205963954U CN 205963954 U CN205963954 U CN 205963954U CN 201620520398 U CN201620520398 U CN 201620520398U CN 205963954 U CN205963954 U CN 205963954U
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- China
- Prior art keywords
- module
- lid
- laser scanning
- side cover
- sweeping floor
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a clean machine people's technical field, especially, relate to an intelligence robot of sweeping floor, the front side of the casing in its installation cavity is equipped with the mount, the fixed laser scanning probe of being connected with the controller that is equipped with on the mount, the controller includes control module, the detection modul, the path planning module, the laser scanning probe is connected with detection module, detection module is through the continuous scanning surrounding environment of laser scanning probe and simulate the drawing to the surrounding environment, detection module will simulate message routing to the path planning module of drawing, the information planning orbit that the path planning module was drawn according to the simulation, the orbit that the path planning module will be planned sends to control module, control module accessory drive is according to the operation of planning orbit. The advantage is: environment in can the intellectual detection system scanning room can carry out the mark to the article locating place in current environment to make corresponding moving trajectory, make and clean the enough trouble -free operations of working energy.
Description
Technical field
The utility model is related to the technical field of sweeping robot, especially relates to a kind of Intelligent robot for sweeping floor.
Background technology
Sweeping robot, also known as automatically sweeping machine, intelligent dust suction, robot cleaner etc., is the one of controlling intelligent household appliances
Kind, automatically can complete floor cleaning work in room by certain artificial intelligence.Typically swept and vacuum mode using brush,
Ground debris are first received the entrance rubbish receiver of itself, thus completing the function of land clearing.Sweeper traditional at present
Device people, including housing and be installed on lid on housing, housing forms installation cavity with lid, and the housing in installation cavity is provided with
The clearing apparatus being controlled by controller and driving means, clearing apparatus is located at the rear side of housing, and driving means then independently drive
Two wheel band mobile robots are had to run, this two wheels are provided at the both sides of the bottom surface of housing, can arrange in the front side of housing
One deflecting roller, the side of deflecting roller also can arrange a rotor carrying brush, and when rotor rotates, Electric brush is swept the floor.But
Although current this sweeping robot can be swept the floor, during work, some places cannot be carried out cleaning,
Or can be described as some places to be omitted by robot and lead to not clean.
Content of the invention
The deficiency existing for above-mentioned prior art, the purpose of this utility model is to provide one kind can Intelligent Measurement scan
Indoor environment, can be marked to the laying for goods position in current environment, and makes corresponding running orbit, makes clear
Sweep the Intelligent robot for sweeping floor that trouble-free operation is capable of in work.
For realizing above-mentioned purpose, the utility model provides technical scheme below：
A kind of Intelligent robot for sweeping floor, including housing and be installed on lid on housing, housing is formed with lid and installs
Chamber, the housing in installation cavity is provided with the clearing apparatus being controlled by controller and driving means, the front side of the housing in installation cavity
It is provided with fixed mount, is fixedly arranged on the fixing bracket with the laser scanning probe being connected with controller, controller includes control module, detection
Module, trajectory planning module, laser scanning probe is connected with detection module, and detection module is popped one's head in by laser scanning and constantly swept
Retouch surrounding environment and surrounding environment is simulated drawing, detection module sends simulating the information drawn to trajectory planning mould
Block, the information planning track that trajectory planning module is drawn according to simulation, trajectory planning module sends the track planned to control
Molding block, control module controls driving means to be run according to planned trajectory.
The utility model is further arranged to：Described detection module is connected with control module, and control module controls driving dress
Put operation and drive laser scanning probe displacement, laser scanning probe is with scanning surrounding environment during driving means displacement.
The utility model is further arranged to：The track of described trajectory planning module planning is bow zag trajectory.
The utility model is further arranged to：Described controller includes automatic charging module and by detection module, track
The logger module that the running status of planning module and controller control driving means and clearing apparatus is recorded, automatically
Charging module is connected with detection module, and automatic charging module looks for automatic charger position by detection module scanning, automatically fills
Electrical equipment is provided with two charging contacts, and housing is respectively equipped with the contact contact being matched with two charging contacts, and driving means are driven
After mobile robot makes contact contact contact connection with corresponding charging contact to automatic charger, automatic charging module will be believed
Breath sends to control module, and control module controls driving means and clearing apparatus out of service.
The utility model is further arranged to：Described controller includes communication module, and communication module can be with mobile phone A PP visitor
Family end connects and sends running status current for robot to mobile phone A PP client, and mobile phone A PP client can control robot
Running status.
The utility model is further arranged to：The front side of described lid is provided with the side cover with respect to lid displacement, side cover
Middle part is provided with the window corresponding with laser scanning probe.
The utility model is further arranged to：The front side of described lid is provided with the structure of the side cover with respect to lid displacement
For：On the inner top surface of lid, the both sides corresponding with side cover are installed with the fixed plate positioned at window both sides respectively, and two is fixing
Touch switch is separately installed with plate, on side cover, the both sides corresponding with two fixed plates are respectively fixed with shake-up plate, two shake-up plates
It is located at the corresponding downside of fixed plate respectively and can open with shake-up on two shake-up plates or on side cover with respect to fixed plate displacement
The corresponding position in pass is provided with can be raised with the shake-up of the break-make controlling touch switch during side cover displacement.
The utility model is further arranged to：The side of the touch switch of each fixed plate described is provided with support shaft, supports
Torsion spring is arranged with axle, one end of torsion spring is on side cover, the other end is in fixed plate.
The utility model is further arranged to：It is respectively equipped with, in described two fixed plates, the fixation being fixedly connected between lid
Axle one, two shake-up plates is respectively equipped with the bar hole one with corresponding fixing axle coupling, all fixing axles are corresponding
Bar hole one direction of displacement all same.
The utility model is further arranged to：Described at least one of which is touched plate and is provided with bar hole two, and lid sets
There is fixing axle two corresponding with bar hole two-phase, touch position corresponding with fixing axle two-phase on plate and be provided with fixed seat, fixed seat
It is provided with spring and fixing axle two between, side cover is to extension spring during the displacement of lid direction.
By adopting technique scheme, the technique effect that the utility model is reached is：By arranging control module, inspection
Survey module, trajectory planning module, laser scanning probe, using the cooperation between each module and laser scanning probe, utilized before this
Surrounding environment is scanned and is sent to detection module by laser scanning probe, is sent the information detecting to rail by detection module
Mark planning module, the track planned is sent out by trajectory planning module according to the information planning track scanning, trajectory planning module
Deliver to control module, control module controls driving means to run according to planned trajectory, so that intelligent robot is examined
Survey the indoor environment of scanning, the laying for goods position in current environment can be marked, and make corresponding operation rail
Mark, enables cleaning works trouble-free operation.
Brief description
Below in conjunction with the accompanying drawings the utility model is described in further detail.
Fig. 1 is the fit structure schematic diagram of lid of the present utility model and side cover.
Fig. 2 is side cover of the present utility model and the structural representation touching plate.
Fig. 3 is that the structure arranging setting laser scanning probe on fixed mount and fixed mount on housing of the present utility model is shown
It is intended to.
Specific embodiment
With reference to Fig. 1,2,3, it is a kind of Intelligent robot for sweeping floor disclosed in the utility model, including housing 25 and be installed on
Lid 10 on housing 25, housing 25 forms installation cavity with lid 10, and the housing 25 in installation cavity is provided with by controller control
Clearing apparatus and driving means, the concrete structure of this intelligent robot can refer to a kind of " intelligence disclosed in Chinese patent literature
Energy dust catcher ", Publication No. CN102715867A.The front side of the housing 25 in installation cavity is provided with fixed mount 26, on fixed mount 26
It is fixed with the laser scanning probe 27 being connected with controller, generally in order to reduce the loss of laser scanning probe 27,
The service life saved electricity and improve laser scanning probe 27, then can arrange light-inductive device 28 on fixed mount 26,
Control the laser intensity of laser scanning probe 27 by light sensor, if the light that light-inductive device 28 detects is weak,
The laser intensity of laser scanning probe 27 strengthens, and vice versa.Controller includes control module, detection module, trajectory planning mould
Block, laser scanning probe is connected with detection module, and detection module is by laser scanning probe continuous scanning surrounding environment and right
Surrounding environment is simulated drawing, and detection module sends simulating the information drawn to trajectory planning module, trajectory planning module
The information planning track drawn according to simulation, trajectory planning module sends the track planned to control module, control module
Driving means are controlled to be run according to planned trajectory.The track of trajectory planning module planning is bow zag trajectory, and bow zag trajectory exists
Comparatively more time-consuming in actual operation, efficiency is also of a relatively high.Detection module therein is connected with control module,
Control module is passed through to control driving means to run drive laser scanning probe displacement, and laser scanning is popped one's head in during driving means displacement
Scanning surrounding environment.I.e. during start runs, robot can have been driven operation to advance by driving means, in the mistake advanced
Cheng Zhong, laser scanning probe can constantly be scanned environment, of courses the walking road of robot during scanning circumstance
Line can be determined according to actual situation, and robot carries out in walking, to environmental scanning, the information scanning being sent to track
Planning module, the information that trajectory planning module is passed through to receive carries out the environment residing for robot is carried out drawing out corresponding framework
Figure, and the motionless article such as the tables and chairs sofa in local environment are marked position, simultaneously in corresponding frame diagram simultaneously
It is marked, after the completion for the treatment of preliminary scanning, detection module sends simulating the information drawn to trajectory planning module, and track is advised
Draw module to be judged according to the space that the information that simulation is drawn can be cleaned in simulation is drawn and made corresponding rule
Draw track, then trajectory planning module sends track plan to control module, control module control driving means according to
Planned trajectory is run.In this process, detection module is still constantly being scanned surrounding environment, so can avoid just
Incorrect mark in drawing in the simulation of phase scanning, and can make and timely improving, and sends to trajectory planning module work
Go out new route scheme.
So that robot after the completion of cleaning task it is not necessary to manual be charged, also need to will be swept simultaneously
Each running status in journey is recorded, then can arrange automatic charging module in controller and by detection module, track
The logger module that the running status of planning module and controller control driving means and clearing apparatus is recorded, automatically
Charging module is connected with detection module, and automatic charging module looks for automatic charger position by detection module scanning, automatically fills
Electrical equipment is provided with two charging contacts, and housing is respectively equipped with the contact contact being matched with two charging contacts, and driving means are driven
After mobile robot makes contact contact contact connection with corresponding charging contact to automatic charger, automatic charging module will be believed
Breath sends to control module, and control module controls driving means and clearing apparatus out of service.During automatic charging, machine
Device people needs, using using cooperatively that detection module and laser scanning are popped one's head in, to look for by laser scanning probe and detection module
The position of automatic charger, then during so that contact contact is contacted with corresponding charging contact, is needed by detection
The cooperation of module and laser scanning probe is being directed at automatic charger.In general, it is directed at automatic charger for convenience, meeting exists
On automatic charger, the charging identification position of one laser scanning probe of setting, such as arrange a pit on automatic charger
Etc. the position with its mark action.
Robot is during whole service for convenience, need not manually follow the running of inspection machine people it is only necessary to
Communication module is set in controller, communication module can be connected with mobile phone A PP client and send out running status current for robot
Deliver to mobile phone A PP client, mobile phone A PP client can control the running status of robot.Mobile phone A PP client can be with machine
People is synchronous, the log of robot log logging modle is synchronized to mobile phone A PP client, of courses and can also pass through mobile phone
APP client changes position and the working condition that current robot runs.
It will usually robot occur collide the personage's in tables and chairs or local environment during robot runs
Pin etc., during this time, needs robot to have the device that can avoid in time after having collided, then can be in lid 10
Front side is provided with the side cover 11 with respect to lid 10 displacement, and the middle part of side cover 11 is provided with the window corresponding with laser scanning probe
12.The front side of lid 10 is provided with and with respect to the structure of the side cover 11 of lid 10 displacement is：With side cover 11 on the inner top surface of lid 10
Corresponding both sides are installed with the fixed plate 13 positioned at window 12 both sides respectively, and two fixed plates 13 are separately installed with shake-up
Switch 14, on side cover 11, the both sides corresponding with two fixed plates 13 are respectively fixed with shake-up plate 15, and two shake-up plates 15 are located at respectively
The corresponding downside of fixed plate 13 simultaneously can be opened with shake-up on two shake-up plates 15 or on side cover 11 with respect to fixed plate 13 displacement
Close 14 corresponding positions be provided with can with during side cover 11 displacement control touch switch 14 break-make shake-up projection 16.Touch raised
It is in order at, with the switch contact of touch switch, the state being permanently connected to, when side cover is to the displacement of lid direction, shake-up can be made raised
So that touch switch sends current information to controller, controller can control driving means to suspend to pressing switch contacting,
Then controller driving means driven machine people retreats or turns to.Wherein, the side of the touch switch 14 of each fixed plate 13
It is provided with support shaft 17, support shaft 17 is arranged with torsion spring 18, one end of torsion spring 18 is on side cover 11, the other end is located at fixed plate
On 13, side cover so can be enable to reset rapidly, two fixed plates 13 are respectively equipped with consolidating of being fixedly connected between lid 10
Dead axle 1, two shake-up plates 15 are respectively equipped with the bar hole 1 with corresponding fixing axle 19 coupling, all fixing axles
1 corresponding bar hole 1 direction of displacement all same.At least one of which is touched plate 15 and is provided with bar hole two
21, lid 10 is provided with the fixing axle two 22 corresponding with bar hole 2 21, touches corresponding with fixing axle 2 22 on plate 15
Position is provided with fixed seat 23, is provided with spring 24 between fixed seat 23 and fixing axle 2 22, and side cover 11 is to during lid 10 direction displacement
Extension spring 24, such design can help the side cover operation stable with respect to lid it is also possible to ensure side cover relatively
Can smoothly reset in lid.
Above-described embodiment is only preferred embodiment of the present utility model, not limits protection model of the present utility model according to this
Enclose, therefore：All equivalence changes done according to structure of the present utility model, shape, principle, all should be covered by protection of the present utility model
Within the scope of.
Claims (10)
1. a kind of Intelligent robot for sweeping floor, including housing and be installed on lid on housing, housing forms installation cavity with lid,
Housing in installation cavity be provided with the clearing apparatus being controlled by controller and driving means it is characterised in that：Shell in installation cavity
The front side of body is provided with fixed mount, is fixedly arranged on the fixing bracket with the laser scanning probe being connected with controller, and controller includes controlling
Module, detection module, trajectory planning module, laser scanning probe is connected with detection module, and detection module is visited by laser scanning
Head constantly scans surrounding environment and surrounding environment is simulated drawing, and detection module sends simulating the information drawn to rail
Mark planning module, the information planning track that trajectory planning module is drawn according to simulation, trajectory planning module is by the track planned
Send to control module, control module controls driving means to be run according to planned trajectory.
2. Intelligent robot for sweeping floor according to claim 1 it is characterised in that：Described detection module is with control module even
Connect, control module controls driving means to run drive laser scanning probe displacement, and laser scanning is popped one's head in during driving means displacement
Scanning surrounding environment.
3. Intelligent robot for sweeping floor according to claim 1 it is characterised in that：The track of described trajectory planning module planning
For bending zag trajectory.
4. Intelligent robot for sweeping floor according to claim 1 it is characterised in that：Described controller includes automatic charging mould
Block and the running status that detection module, trajectory planning module and controller are controlled driving means and clearing apparatus are recorded
Logger module, automatic charging module is connected with detection module, automatic charging module by detection module scanning looks for from
Dynamic charger position, automatic charger is provided with two charging contacts, housing is respectively equipped with and matches with two charging contacts
Contact contact, driving means driven machine people makes contact contact contact connection with corresponding charging contact to automatic charger
Afterwards, automatic charging module sends information to control module, and control module controls driving means and clearing apparatus out of service.
5. Intelligent robot for sweeping floor according to claim 1 it is characterised in that：Described controller includes communication module,
Communication module can be connected with mobile phone A PP client and send running status current for robot to mobile phone A PP client, mobile phone
APP client can control the running status of robot.
6. the Intelligent robot for sweeping floor according to any one of claim 1 to 5 it is characterised in that：The front side of described lid sets
There is the side cover with respect to lid displacement, the middle part of side cover is provided with the window corresponding with laser scanning probe.
7. Intelligent robot for sweeping floor according to claim 6 it is characterised in that：The front side of described lid is provided with respect to lid
The structure of the side cover of displacement body is：On the inner top surface of lid, the both sides corresponding with side cover are installed with respectively positioned at window two
The fixed plate of side, two fixed plates are separately installed with touch switch, and on side cover, the both sides corresponding with two fixed plates are fixed respectively
There is a shake-up plate, two touch plates is located at the corresponding downside of fixed plate can be with respect to fixed plate displacement, on two shake-up plates respectively
Or on side cover the position corresponding with touch switch be provided with can with during side cover displacement control touch switch break-make shake-up convex
Rise.
8. Intelligent robot for sweeping floor according to claim 7 it is characterised in that：The touch switch of each fixed plate described
Side is provided with support shaft, and support shaft is arranged with torsion spring, and one end of torsion spring is on side cover, the other end is in fixed plate.
9. Intelligent robot for sweeping floor according to claim 7 it is characterised in that：It is respectively equipped with described two fixed plates and cover
The fixing axle being fixedly connected between body, two shake-up plates are respectively equipped with the bar hole one with corresponding fixing axle coupling,
All fixing axles are in the direction of displacement all same of corresponding bar hole one.
10. Intelligent robot for sweeping floor according to claim 7 it is characterised in that：Described at least one of which is touched on plate
It is provided with bar hole two, lid is provided with fixing axle two corresponding with bar hole two-phase, touch corresponding with fixing axle two-phase on plate
Position is provided with fixed seat, is provided with spring between fixed seat and fixing axle two, and side cover is to extension spring during the displacement of lid direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620520398.6U CN205963954U (en) | 2016-05-31 | 2016-05-31 | Intelligence robot of sweeping floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620520398.6U CN205963954U (en) | 2016-05-31 | 2016-05-31 | Intelligence robot of sweeping floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205963954U true CN205963954U (en) | 2017-02-22 |
Family
ID=58020034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620520398.6U Withdrawn - After Issue CN205963954U (en) | 2016-05-31 | 2016-05-31 | Intelligence robot of sweeping floor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205963954U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105816106A (en) * | 2016-05-31 | 2016-08-03 | 台州市霸业智能科技有限公司 | Intelligent floor-sweeping robot |
| CN108255174A (en) * | 2017-12-20 | 2018-07-06 | 北京理工华汇智能科技有限公司 | robot path planning method and device |
-
2016
- 2016-05-31 CN CN201620520398.6U patent/CN205963954U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105816106A (en) * | 2016-05-31 | 2016-08-03 | 台州市霸业智能科技有限公司 | Intelligent floor-sweeping robot |
| CN108255174A (en) * | 2017-12-20 | 2018-07-06 | 北京理工华汇智能科技有限公司 | robot path planning method and device |
| CN108255174B (en) * | 2017-12-20 | 2021-03-16 | 北京理工华汇智能科技有限公司 | Robot path planning method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20191018 |
|
| AV01 | Patent right actively abandoned |