CN207384214U - Sweeping robot - Google Patents
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- CN207384214U CN207384214U CN201720316039.3U CN201720316039U CN207384214U CN 207384214 U CN207384214 U CN 207384214U CN 201720316039 U CN201720316039 U CN 201720316039U CN 207384214 U CN207384214 U CN 207384214U
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Abstract
This application discloses a kind of sweeping robot, the sweeping robot includes：Chassis；It is attached to the deflecting roller on the chassis；The a pair of driving wheels on the chassis is attached to, wherein each in the pair of driving wheel is operatively coupled to drive motor, with the mobile sweeping robot on floor；At least one detection of obstacles sensor for detecting the barrier for coming close to or in contact with sweeping robot, and generates obstacle detection signal；And controller, it is operatively coupled at least one detection of obstacles sensor and the drive motor, wherein described controller is configured as receiving the obstacle detection signal, and in response to the obstacle detection signal, it generates and transmits corresponding driving control signal to the drive motor, to control movement of the sweeping robot on the floor.
Description
Technical field
This application involves cleaning device, more particularly, to a kind of sweeping robot.
Background technology
Sweeping robot also known as sweeps machine, intellective dust collector, robot cleaner etc. automatically, is controlling intelligent household appliances
It is a kind of.The sweeping robot can rely on certain artificial intelligence, swept using brush and vacuum mode, automatically first inhale ground sundries
It receives into the rubbish storage box of itself, so as to complete the function to land clearing.Normally, sweep the floor machine fuselage be radio machine
Device is operated using rechargeable battery.In some configurations, sweeping robot can also be provided with inductor in front end, to detect barrier
Hinder object, such as encounter wall or other barriers, can voluntarily turn.It is easy-to-use because sweeping robot is easy to operate, now
It progressively popularizes, becomes the common electrical home appliances of Modern Family.
Utility model content
The first purpose of the application is to provide a kind of sweeping robot.The sweeping robot includes：Chassis；It is attached to
The deflecting roller on the chassis；The a pair of driving wheels on the chassis is attached to, wherein each in the pair of driving wheel can
Drive motor is operatively coupled to, with the mobile sweeping robot on floor；At least one detection of obstacles sensor is used
The barrier of sweeping robot is come close to or in contact in detection, and generates obstacle detection signal；And controller, it is operable
Ground is coupled at least one detection of obstacles sensor and the drive motor, wherein the controller is configured as receiving
The obstacle detection signal, and in response to the obstacle detection signal, generate and transmitted to the drive motor corresponding
Driving control signal, to control movement of the sweeping robot on the floor.
In some embodiments, the controller, which is configured as generating, causes the driving wheel by equidirectional with not synchronized
The driving control signal of rotation is spent, so as to which the sweeping robot is with the screw motion of defect modes with radius of turn, until
Receive the obstacle detection signal for indicating that the sweeping robot anterior position has barrier.
In some embodiments, the driving control signal causes the driving wheel by equidirectional to change and different
Speed rotates, so as to which the sweeping robot is moved with increased radius of turn or the radius of turn of reduction.
In some embodiments, the controller is configured as receiving the preset distance that indicates the sweeping robot
During interior obstacle detection signal with barrier, generate so that the driving wheel by equidirectional rotation drive control letter
Number, so as to which the sweeping robot is moved adjacent to the barrier.
In some embodiments, the preset distance is less than 6 centimetres.
In some embodiments, the driving control signal causes the driving wheel to be revolved by equidirectional with friction speed
Turn, so as to the sweeping robot with have alternately change radius of turn barrier follow the mode move.
In some embodiments, the controller is configured as generating so that the driving wheel is synchronized with phase by equidirectional
The driving control signal of rotation is spent, until receiving the obstacle detection signal for indicating that the sweeping robot runs into barrier.
In some embodiments, the controller is configured as running into barrier receiving the instruction sweeping robot
Obstacle detection signal after, generate so that the driving control signal that rotates in the opposite direction of the driving wheel, so as to described
Sweeping robot is with bounce mode movement and away from the barrier.
In some embodiments, the controller is configured as running into barrier receiving the instruction sweeping robot
Obstacle detection signal after, generate so that the pair of driving wheel in only one rotation driving control signal, so as to
The sweeping robot is rotated and moved away from the barrier.
In some embodiments, the detection of obstacles sensor includes tactile sensor.
In some embodiments, the detection of obstacles sensor further includes infrared sensor.
In some embodiments, at least one detection of obstacles sensor includes：Crash sensor, for detecting
Sweeping robot and the collision between the barrier of the sweeping robot anterior position are stated, and generates collision detection letter
Number；And proximity sensor, for detect positioned at the sweeping robot the anterior position but not with the sweeper
The potential barrier of device people contact, and generate potential obstacle detection signal.
In some embodiments, the controller is configured as after the potential obstacle detection signal is received, production
The driving control signal that the raw speed for causing the driving wheel by equidirectional to reduce rotates.
In some embodiments, the controller is configured as from after receiving the potential obstacle detection signal pre-
When being not received by the collision sensing signal in section of fixing time, generate so that the driving wheel presses equidirectional with increased speed
Spend the driving control signal of rotation.
In some embodiments, when the controller is configured as receiving the collision sensing signal, generates and cause
The driving control signal that the driving wheel is rotated or rotated in the opposite direction by equidirectional at different rates.
In some embodiments, the proximity sensor includes at least one infrared transmitter and receiver pair.
In some embodiments, the proximity sensor includes sonar.
In some embodiments, the proximity sensor includes laser emitter and sensor.
In some embodiments, the crash sensor includes switch.
In some embodiments, the crash sensor includes capacitance sensor.
Include crash sensor and proximity sensor in the sweeping robot of the embodiment of the present application, controller is by connecing
Receive the detection signal of crash sensor and proximity sensor, can control the sweeping robot be operated in screw pattern,
Under barrier follow the mode and bounce mode so that the sweeping robot can provide higher in the room of unknown shape
Clean coverage rate.
It is the general introduction of the application above, the situation that may have simplified, summary and omissions of detail, therefore those skilled in the art
Member is it should be appreciated that the part is only Illustrative, and is not intended to restriction the application scope in any way.This general introduction portion
Divide the key features or essential features for being both not intended to determine claimed subject nor be intended as determining claimed
The supplementary means of the scope of theme.
Description of the drawings
By the detailed description done below in conjunction with the accompanying drawings and appended claims, those skilled in the art will
More fully it is clearly understood that the above and other feature of teachings herein.It is appreciated that these drawings and detailed description are only retouched
Several illustrative embodiments of teachings herein have been painted, should not be taken to be the restriction to teachings herein scope.Pass through
Refer to the attached drawing, present context will be obtained definitely and explained in detail.
Fig. 1 shows the structure chart of the sweeping robot according to the utility model embodiment；
Fig. 2 is the perspective view of sweeping robot shown in Fig. 1；
Fig. 3 is according to the crash sensor of the utility model embodiment and step sensor；
Fig. 4 is the buffer according to the sweeping robot of the utility model embodiment；
Fig. 5 is the proximity sensor according to the utility model embodiment；
Fig. 6 and 7 shows the spiral operational mode according to the sweeping robot of the utility model embodiment；
Fig. 8 and 9 shows the barrier follow the mode according to the sweeping robot of the utility model embodiment；
Figure 10 shows the bounce mode of the sweeping robot according to the utility model embodiment.
Specific embodiment
In the following detailed description, with reference to constitution instruction a part attached drawing.In the accompanying drawings, unless context
It is otherwise noted, similar symbol usually represents similar component.It is described in detail, saying described in drawings and claims
Bright property embodiment is not intended to limit.In the case of the spirit or scope without departing from subject matter, other may be employed
Embodiment and make other variations.It is appreciated that can in the application general description, illustrate in the accompanying drawings
The various aspects of teachings herein carry out a variety of differently composed configurations, replacement, combination, design, and it is all these all clearly
Ground forms a part for teachings herein.
The structure diagram of the sweeping robot 10 according to the embodiment of the present application, Fig. 2 are shown with reference to figure 1 and Fig. 2, Fig. 1
For the dimensional structure diagram of sweeping robot 10 shown in Fig. 1.
The sweeping robot 10 includes chassis 11 and shell 15, and the chassis 11 is used to support the sweeping robot 10
In machinery and subassembly.In some embodiments, the chassis 11 can by the material global formation of such as plastics, including
Multiple preformed slots, recess or structure member, for will mechanically and electrically device component it is installed therein.The shell 15 also may be used
With by the material global formation of such as plastics, and be configured to it is complementary with the chassis 11, and to be installed to the chassis
11 all parts provide protection.
The sweeping robot 10 further includes the deflecting roller (not shown) for being attached to the chassis.In some embodiments,
The deflecting roller may be mounted at one end of the front and rear diameter of the sweeping robot 10.
The sweeping robot 10 includes two driving wheels 20 and separately drives the two of described two driving wheels 20
A motor 21, so that the sweeping robot 10 can move on floor.In some embodiments, described two drivings
Wheel 20 is mounted on the opposite end of 10 trans D of sweeping robot.
The sweeping robot 10 includes one or more cleaning heads 30.The cleaning head 30 can include vacuum cleaning
The combination of device, various brushes, sponge, mop, electrostatic cloth or above-mentioned various cleaning members.In the embodiment shown in fig. 1, it is described
Sweeping robot 10 further includes side brush 32, the side brush 32 for will be located at the rubbish of 10 periphery of sweeping robot guide to
The position of the cleaning head 30.It is engaged with cleaning head 30, side brush 32 can improve the cleaning effect of sweeping robot.
The sweeping robot 10 further includes at least one detection of obstacles sensor, sweeps the floor for detecting to come close to or in contact with
The barrier of robot 10, and generate obstacle detection signal.
The sweeping robot 10 further includes controller 22, is operatively coupled at least one detection of obstacles
Sensor and the drive motor 21 wherein the controller 22 is configured as receiving the obstacle detection signal, and are rung
Obstacle detection signal described in Ying Yu generates and transmits corresponding driving control signal to the drive motor 22, to control
State movement of the sweeping robot 10 on floor.According to the difference of obstacle detection signal, controller 22 can generate different
Driving control signal, so that sweeping robot 10 is moved with different operating modes or operation.
In addition, the sweeping robot 10 further includes power supply unit 23.In some embodiments, the power supply unit 23 can
Think rechargeable battery or other power supplys known in the art.
The sweeping robot 10 further includes one or more user's inputs.For example, permission user input as shown in Figure 1
Three simple push buttons 33 of the approximate size on the surface to be cleaned.These button labels for " small ", " in " and " big " with right respectively
It should be in different size of room.
With continued reference to Fig. 1, with reference to Fig. 1 to be installed on the chassis 11 at least the one of the sweeping robot 10
A detection of obstacles sensor is introduced.In sweeping robot 10 shown in Fig. 1, the sweeping robot includes being located at institute
State two crash sensors 12 and 13 of the anterior position of sweeping robot 10；On the shell 15 of the sweeping robot 10
4 step sensors (cliff sensor) 14 and the wall on the shell 15 of the sweeping robot 10 with
With sensor 16.In some other embodiment, the type and quantity of the sensor can also be set according to actual demand
It puts.It will be understood by those skilled in the art that above-mentioned sensor can include various types, for example, tactile sensor, infrared biography
Sensor, laser sensor, sonar sensor, electromagnetic sensor and capacitance sensor etc..
The detection of obstacles sensor can also be categorized as crash sensor and proximity sensor.The collision sensing
Device is used to detect the sweeping robot 10 and the collision between the barrier of 10 anterior position of sweeping robot, and
And generate collision sensing signal.The proximity sensor for detect positioned at the sweeping robot 10 the anterior position but
The potential barrier not contacted with the sweeping robot 10, and generate potential obstacle detection signal.It is specific at one
Embodiment in, the crash sensor 12 and 13 be tactile sensor, the step sensor 14 and the wall follow biography
Sensor 16 is proximity sensor.
In some embodiments, the crash sensor 12 and 13 compared with the sweeping robot 10 the side of travelling forward
To the front for being arranged on the driving wheel 20, in Fig. 1, the direction of forward movement of the sweeping robot 10 is with 40 table of arrow
Show.For example, the crash sensor 12 and 13 can be arranged on the front end for being arranged at the sweeping robot 10 as shown in Figure 2
Buffer 130 inside, the buffer 130 have generally arcuate construction.When two crash sensors 12 and 13 are swashed
When living, sweeping robot 10 can perceive has barrier in front.In further embodiments, can use more or less
Crash sensor, the sweeping robot 10 can also be divided into multiple radial sections using multiple crash sensors.One
In a little embodiments, the crash sensor 12 and 13 is infrared disconnected beam (IR break beam) sensor, passes through machine of sweeping the floor
Contact between people 10 and barrier is activated.In other embodiments, other sensors, such as machinery can also be used
Either the capacitance sensor capacitance sensor can detect capacitance or the inspection of the barrier that sweeping robot 10 contacts to switch
The capacitance being arranged in buffer 130 between two sheet metals is surveyed, described two sheet metals can be extruded in collision process.
In another specific embodiment, as shown in figure 3, crash sensor 12,13 and step sensor 14 lead to together
Attachment leg is crossed on the pedestal 11 of the sweeping robot 10.Step sensor 14 is used to sense sweeping robot 10
It is no close to step, such as one group of stair.Step sensor 14 can send signal, report when detecting step to controller 22
It was found that step, so as to which the controller 22 can change the direction of motion and speed of sweeping robot 10 based on the signal, prevents
Sweeping robot 10 falls.
With reference to figure 1, the wall follows sensor 16 mounted on the leading side of the sweeping robot 10.The sweeper
The leading side and non-dominant side of device people 10 is defined by shell 15.The leading side refers in sweeping robot 10 close to obstacle
During object is cleaned, close to the one side of the barrier.For example, in the embodiment shown in fig. 1, the machine of sweeping the floor
The leading side of people 10 is the right side compared with the 10 main traffic direction of sweeping robot.In some other embodiment, institute
State leading side or left side.In some other embodiment, the sweeping robot is symmetrical, and there is no above-mentioned masters
Lead side.
In another specific embodiment, the sweeping robot 10 can also have multiple proximity sensors.With reference to
The structure chart for the buffer 130 that the sweeping robot 10 uses is shown in Fig. 4 and Fig. 5, Fig. 4, Fig. 5 is shown mounted on institute
State the proximity sensor 134 in buffer 130.Proximity sensor 134 senses the potential barrier in 10 front of sweeping robot
Hinder object.Proximity sensor 134 can include a pair of or multipair infrared transmitter and receiver.For example, in some embodiments
In, modulation transmitter and criteria receiver can be used.Light pipe, collimation or diffusion optics can be used in some embodiments
Element, Fresnel or diffraction optical device, providing more uniform light pattern, more concentrating or being more easy to the light pattern detected, from
And the blind spot of high probability/high influence area is eliminated, for example, the forward direction that will be reached.In other embodiments, also may be used
To use sonar, laser sensor or other kinds of proximity sensor.Swash for example, laser sensor can include a pair
Optical transmitting set and receiver.
The controller 22 is used to control the direction of sweeping robot 10 and speed is set.The monitoring of controller 22 includes collision
All sensor inputs of sensor and proximity sensor.When proximity sensor 134 monitors potential barrier, controller 22
After receiving potential obstacle detection signal, the controller 22 is configured as generating driving control signal, the drive control
The speed that signal causes the driving wheel 20 by equidirectional to reduce rotates.It is, controller 22 reduces the sweeper
The speed of service (pass through reduce driving wheel speed) of device people 10, for example, from full speed running speed 300mm per second be reduced to every about
Second 100mm, so as to which when generating collision, sound is smaller and will not injured surface.In some embodiments, the controller 22 from
After receiving the potential obstacle detection signal, when being not received by the collision sensing signal within a predetermined period of time, institute
It states controller 22 to be configured as generating driving control signal, the driving control signal causes the driving wheel 20 by equidirectional
It is rotated with increased speed, so as to improve sweeping efficiency.In further embodiments, when the controller 22 receives described touch
When hitting detection signal, the controller 22 is configured as generating driving control signal, and the driving control signal causes the drive
Driving wheel 20 by equidirectional is rotated or rotated in the opposite direction at different rates, so as to change traffic direction.
Continue with the controlling party run to controller 22 in response to obstacle detection signal to the sweeping robot 10
Method illustrates.In general, sweeping robot can be operated in spiral operational mode, barrier follow the mode or bounce mode etc.
Deng.
Spiral operational mode allows user to be cleaned using sweeping robot 10 to isolated area.User will sweep the floor machine
People 10 is placed on the center (with reference to the label 40 in figure 6,7) in region to be cleaned, and selected element covering pattern.It is described to sweep the floor
Robot 10 is understood in a particular manner, such as the radius of setting, is moved, for 30 He of cleaning head of the sweeping robot
It is cleaned in the region that side brush 32 contacts.
In some embodiments, as shown in fig. 6, carrying out fixed point cleaning by control algolithm so that the sweeping robot
10 carry out screw or outside screw.It specifically, can be by increasing the sweeping robot 10 with the time
Radius of turn realize the screw.As shown in the movement line 45 of Fig. 6, sweeping robot 10 is opened along counterclockwise
Begin outside screw.In another embodiment, as shown in the movement line 45 in Fig. 7, the spiral of the sweeping robot 10
Movement is inside so that radius of turn is gradually reduced.
Specifically, there is barrier receiving instruction 10 anterior position of sweeping robot in the controller 22
Before obstacle detection signal, the controller 22 is configured as generating driving control signal, and the driving control signal causes
The driving wheel 20 is rotated by equidirectional with friction speed, so as to which the sweeping robot 10 is to have certain radius of turn
Screw motion of defect modes.In some embodiments, the driving control signal causes the driving wheel 20 in the phase Tongfang
It is rotated upwards with variation and different speed, so as to which the sweeping robot 10 is with the turning of increased radius of turn or reduction half
Footpath is moved, as shown in Figure 6 and Figure 7.
Barrier follow the mode allows users to the edge of barrier in the only edge or room of clean rooms.With
Sweeping robot 10 is disposed close near border area to be cleaned by family, and selects the barrier follow the mode.
The sweeping robot 10 in room 110 is shown in Fig. 8 and Fig. 9.In fig. 8, user is by sweeping robot
10 place along wall 100 so that the leading side of the sweeping robot is adjacent with wall 100.Then the sweeping robot
10 run according to movement line 46 along wall.Similarly, in fig.9, sweeping robot 10 is placed on the neighbour of barrier 101
Near field, then sweeping robot 10 can be according to edge operation of the movement line 47 along barrier 101.
In some embodiments, in the barrier follow the mode, sweeping robot 10 follows sensor 16 using wall
Itself to be separated by a certain distance with wall, then carry out the border operation along wall.Specifically, the distance can be
0 to 3 inch.It is preferred that the distance extends beyond the distance of robot side less than the side brush 32 of side or edge so that right
The cleaning on wall border is more thorough.
Specifically, when receive in the preset distance for indicating the sweeping robot 10 have barrier detection of obstacles
During signal, the controller 22 is configured as generating driving control signal, and the driving control signal causes the driving wheel 20
It is rotated by equidirectional with friction speed, so as to which the sweeping robot 10 is moved adjacent to the barrier.In some embodiments
In, the preset distance is less than 6 centimetres.Sweeping robot can within a certain period of time or certain movement apart from it is interior keep it is such
Working method, but operating mode is changed after this.In some embodiments, the driving control signal causes the driving wheel
20 are rotated by equidirectional with friction speed, so as to the sweeping robot 10 with have alternately change radius of turn obstacle
Object follow the mode moves.
In bounce mode, sweeping robot 10 crash sensor 12 and/or 13 because with barrier 101 or wall
100 contact and are activated and are always maintained at keeping straight on before, and after collision, sweeping robot 10 is turned to and continued to run with.In Figure 10
An example kinematic circuit of bounce mode is shown by movement line 48.
The sweeping robot 10 keeps travelling forward before the crash sensor 12 and/or 13 is activated.It is touching
After hitting, the sweeping robot 10 is activated based on which definite crash sensor calculates a rational new direction.
This new direction can be between 90-270 degree compared with the barrier collided.In some embodiments,
Can also the impingement angle with the barrier be calculated by the time that the crash sensor 12,13 in left side and right side is activated
Degree, then the sweeping robot 10 can be according to the new direction of this collision angle steering.The sweeping robot 10 can be with
According to the new direction that can reach under conditions of minimum movement, to determine along the steering of clockwise or counterclockwise.
Specifically, in some embodiments, in the bounce mode, met when receiving the instruction sweeping robot 10
To after the obstacle detection signal of barrier, the controller 22 is configured as generating driving control signal, the drive control
Signal causes the driving wheel 20 to rotate in the opposite direction, so as to be moved away from barrier.Two driving wheels 20 can be with identical
Speed rotation either rotate or (to rebound turn after spin for some time at different rates at different rates
To) rotated again with identical speed.In some embodiments, the barrier that indicates that the sweeping robot 10 runs into barrier is being received
After hindering analyte detection signal, the controller 22 is configured as generating driving control signal, and the driving control signal causes institute
The only one rotation in a pair of driving wheels 20 is stated, so as to which the sweeping robot 10 is with bounce mode movement and away from the barrier
Hinder object.
As can be seen that by adjusting the rotation (including direction of rotation and rotary speed) of two driving wheels, it can realize and sweep
The variation of the variation of the Move Mode of floor-washing robot, particularly moving direction and translational speed, so that sweeping robot
Mobile and operation is more flexible.In addition, the various types of sensor that detection of obstacles sensor includes, such as collision pass
Sensor and proximity sensor can provide the obstacle detection signal of instruction different operating environment, thus sweeping robot can
According to different obstacle detection signal corresponding operatings, the cleaning effect of this sweeping robot further improved.Actually should
In, sweeping robot can combine above-mentioned multiple-working mode in cleaning process.Such as adjacent barrier cleans wall first
Around wall, room central area (clear) is being cleaned according to spiral operating mode afterwards, until detecting neighbouring obstacle
Bounce mode is adjusted to after object again.
It should be noted that although being referred to several modules or submodule of sweeping robot in above-detailed,
It is that this division is merely exemplary rather than enforceable.In fact, according to an embodiment of the present application, above-described two or
The feature and function of more multimode can embody in a module.Conversely, the feature and work(of an above-described module
It can be further divided into being embodied by multiple modules.
The those skilled in the art of those the art can be by studying specification, disclosure and attached drawing and appended
Claims, understand and implement other changes to the embodiment of disclosure.In the claims, word " comprising " is not arranged
Except other elements and step, and wording " one ", "one" be not excluded for plural number.In the practical application of the application, one zero
The function of cited multiple technical characteristics in the possible perform claim requirement of part.Any reference numeral in claim should not manage
It solves as the limitation to scope.
Claims (20)
1. a kind of sweeping robot, which is characterized in that including：
Chassis；
It is attached to the deflecting roller on the chassis；
The a pair of driving wheels on the chassis is attached to, wherein each in the pair of driving wheel is operatively coupled to drive
Motor, with the mobile sweeping robot on floor；
At least one detection of obstacles sensor for detecting the barrier for coming close to or in contact with sweeping robot, and generates barrier
Hinder analyte detection signal；And
Controller is operatively coupled at least one detection of obstacles sensor and the drive motor, wherein institute
State controller and be configured as receiving the obstacle detection signal, and in response to the obstacle detection signal, generate and to
The drive motor transmits corresponding driving control signal, to control movement of the sweeping robot on the floor.
2. sweeping robot according to claim 1, which is characterized in that the controller is configured as generating so that described
Driving wheel presses the driving control signal that equidirectional is rotated with friction speed, so as to which the sweeping robot is with radius of turn
Screw motion of defect modes, until receiving the detection of obstacles for indicating that the sweeping robot anterior position has barrier
Signal.
3. sweeping robot according to claim 2, which is characterized in that the driving control signal causes the driving wheel
By equidirectional to change and different speed rotates, so as to the sweeping robot turning with increased radius of turn or reduction
Curved radius movement.
4. sweeping robot according to claim 1, which is characterized in that the controller is configured as receiving instruction
When there is the obstacle detection signal of barrier in the preset distance of the sweeping robot, generate so that the driving wheel presses phase
The driving control signal of equidirectional rotation, so as to which the sweeping robot is moved adjacent to the barrier.
5. sweeping robot according to claim 4, which is characterized in that the preset distance is less than 6 centimetres.
6. sweeping robot according to claim 4, which is characterized in that the driving control signal causes the driving wheel
Rotated by equidirectional with friction speed, so as to the sweeping robot with have alternately change radius of turn barrier with
With motion of defect modes.
7. sweeping robot according to claim 1, which is characterized in that the controller is configured as generating so that described
Driving wheel presses the driving control signal that equidirectional is rotated with identical speed, is run into until receiving the instruction sweeping robot
The obstacle detection signal of barrier.
8. sweeping robot according to claim 1, which is characterized in that the controller is configured as receiving instruction
After the sweeping robot runs into the obstacle detection signal of barrier, generate so that the driving wheel rotates in the opposite direction
Driving control signal, so as to which the sweeping robot is mobile and away from the barrier with bounce mode.
9. sweeping robot according to claim 1, which is characterized in that the controller is configured as receiving instruction
After the sweeping robot runs into the obstacle detection signal of barrier, the only one so that in the pair of driving wheel is generated
The driving control signal of rotation is rotated so as to the sweeping robot and moved away from the barrier.
10. sweeping robot according to claim 1, which is characterized in that the detection of obstacles sensor includes sense of touch
Sensor.
11. sweeping robot according to claim 10, which is characterized in that the detection of obstacles sensor further includes red
Outer sensor.
12. sweeping robot according to claim 1, which is characterized in that at least one detection of obstacles sensor
Including：
Crash sensor, for detecting the sweeping robot and between the barrier of the sweeping robot anterior position
Collision, and generate collision sensing signal；And
Proximity sensor, for detect positioned at the sweeping robot the anterior position but not with the sweeping robot
The potential barrier of contact, and generate potential obstacle detection signal.
13. sweeping robot according to claim 12, which is characterized in that the controller is configured as receiving
After stating potential obstacle detection signal, generate so that the drive control that the driving wheel is rotated by equidirectional with the speed reduced
Signal.
14. sweeping robot according to claim 12, which is characterized in that the controller is configured as receiving institute certainly
It states when being not received by the collision sensing signal within a predetermined period of time after potential obstacle detection signal, generates so that described
Driving wheel presses the driving control signal that equidirectional is rotated with increased speed.
15. sweeping robot according to claim 12, which is characterized in that the controller is configured as receiving institute
When stating collision sensing signal, generate so that the driving wheel by equidirectional is rotated or revolved in the opposite direction at different rates
The driving control signal turned.
16. sweeping robot according to claim 12, which is characterized in that the proximity sensor includes at least one red
External transmitter and receiver pair.
17. sweeping robot according to claim 12, which is characterized in that the proximity sensor includes sonar.
18. sweeping robot according to claim 12, which is characterized in that the proximity sensor includes laser emitter
And sensor.
19. sweeping robot according to claim 12, which is characterized in that the crash sensor includes switch.
20. sweeping robot according to claim 12, which is characterized in that the crash sensor includes capacitance sensing
Device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720316039.3U CN207384214U (en) | 2017-03-29 | 2017-03-29 | Sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720316039.3U CN207384214U (en) | 2017-03-29 | 2017-03-29 | Sweeping robot |
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| CN207384214U true CN207384214U (en) | 2018-05-22 |
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| CN109077674A (en) * | 2018-06-28 | 2018-12-25 | 芜湖泰领信息科技有限公司 | The automatic obstacle-avoiding method and intelligent sweeping machine of sweeper |
| CN109394088A (en) * | 2018-12-05 | 2019-03-01 | 小狗电器互联网科技（北京）股份有限公司 | A kind of method and sweeping robot preventing LDS component damaged in collision |
| CN110226898A (en) * | 2019-06-05 | 2019-09-13 | 尚科宁家(中国)科技有限公司 | A kind of sweeping robot |
| CN110353576A (en) * | 2019-07-16 | 2019-10-22 | 深圳市云鼠科技开发有限公司 | A kind of high new intelligent sweeping robot equipment of low cost |
| CN110522358A (en) * | 2019-09-03 | 2019-12-03 | 深圳瑞科时尚电子有限公司 | A kind of cleaning equipment |
| CN111067438A (en) * | 2019-12-24 | 2020-04-28 | 江苏美的清洁电器股份有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| WO2020093382A1 (en) * | 2018-11-09 | 2020-05-14 | 广东美的白色家电技术创新中心有限公司 | Sweeping robot |
| CN111166237A (en) * | 2018-11-09 | 2020-05-19 | 北京奇虎科技有限公司 | Sweeping robot and multidirectional collision detection device and method thereof |
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