CN208957993U - Clean robot - Google Patents
Clean robot Download PDFInfo
- Publication number
- CN208957993U CN208957993U CN201820596373.3U CN201820596373U CN208957993U CN 208957993 U CN208957993 U CN 208957993U CN 201820596373 U CN201820596373 U CN 201820596373U CN 208957993 U CN208957993 U CN 208957993U
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- clean robot
- brush
- round brush
- welt
- control module
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Abstract
A kind of clean robot, including body (100), the bottom of the body is equipped with round brush (101) and side brush (102), the round brush and side brush it is transversely arranged in the front end of clean robot, and described round brush one end and side brush setting position respectively close to body both sides of the edge；The clean robot further includes the ground media recognition sensor (103) of control module and the type for detecting working surface, the ground media recognition sensor sends detection signal to control module, and control module is walked according to detection signal control clean robot with the wherein side side welt of body.The utility model is brushed using the round brush and side for being horizontally arranged in organism bottom front end, combined ground media recognition sensor enables clean robot to clean the dirty of different surfaces and wall junction using side brush and round brush, compared to traditional clean robot, its cleaning capacity is strong, cleaning effect is good, applied widely.
Description
Technical field
The utility model relates to a kind of clean robots, belong to small household appliances manufacturing technology field.
Background technique
Sweeping robot on the market is generally circular in cross section, and main cleaning device is the round brush being arranged among body, machine
Body two sides are additionally provided with side brush, and for dust to be swept into round brush mouth, but side brush can only clean the dust on hard ground, can not locate
Manage the dust inside carpet.Therefore in the room for being laid with carpet, above-mentioned sweeping robot can not clean always positioned at wall side or
Other article edges it is dirty.
Utility model content
The technical problem to be solved by the utility model is in view of the deficiencies of the prior art, provide a kind of cleaning machine
People, is brushed using the round brush for being horizontally arranged in organism bottom front end and side, and combined ground media recognition sensor makes clean robot
Can using the dirty of the side brush cleaning hard surfaces such as floor and wall junction, using soft surfaces such as round brush cleaning carpets and
Wall junction it is dirty, compared to traditional clean robot, cleaning capacity is strong, and cleaning effect is good, applied widely.
Technical problem to be solved in the utility model is achieved by the following technical solution:
The utility model provides a kind of clean robot, including body, and the bottom of the body is equipped with round brush and side is brushed, institute
State round brush and side brush it is transversely arranged in the front end of clean robot, and described round brush one end and side brush setting position respectively close to
The both sides of the edge of body；The clean robot further includes the ground medium of control module and the type for detecting working surface
Identification sensor, the ground media recognition sensor send detection signal to control module, and control module is according to detection signal
Clean robot is controlled to walk with the wherein side side welt of body.
In order to make clean robot side when close to barriers such as walls sweep less than region it is smaller, the body is close
The side of round brush is round brush side, the distance between the round brush and round brush side≤20mm.The body leans on the side of near side (ns) brush
While for while brush side, the center in brush and while brush round brush described in the > of the distance between side between round brush side away from
From.Side brush has a bristle, the center in brush with while brush the center and bristle that side described in the < of the distance between side is brushed
The distance between end.
Further, the center of the side brush is located at the front at round brush center.Alternatively, the side brush and round brush are laterally side by side
Arrangement.
In order to optimize the structure and cleaning range of clean robot, the forward portion of the body is rectangular.
In order to which control module control clean robot is walked along the barriers welt such as wall, the body is passed equipped with welt
Sensor, the welt sensor include the infrared sensor being arranged at left and right sides of body, and the infrared sensor includes
Transmitting terminal and receiving end.
Preferably, the ground media recognition sensor is located in front of round brush.The body, which is equipped with, to be located in front of round brush
Two lower view sensors, the ground media recognition sensor is located between two lower view sensors.
In conclusion the utility model is brushed using the round brush and side for being horizontally arranged in organism bottom front end, combined ground is situated between
Matter identification sensor enables clean robot using dirty, the utilization of the hard surfaces such as side brush cleaning floor and wall junction
The soft surfaces such as round brush cleaning carpet are dirty with wall junction, and compared to traditional clean robot, cleaning capacity is strong,
Cleaning effect is good, applied widely.
In the following with reference to the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Detailed description of the invention
Fig. 1 is the bottom schematic view of the utility model clean robot；
Fig. 2 is the structural schematic diagram of the utility model clean robot；
Fig. 3 is the schematic diagram that the utility model clean robot executes welt cleaning mode on floor；
Fig. 4 is the schematic diagram that the utility model clean robot executes welt cleaning mode on carpet；
Fig. 5 is the schematic diagram that the utility model clean robot executes covering cleaning mode on blending surface；
Fig. 6 is the schematic diagram that the utility model clean robot executes welt cleaning mode on blending surface.
Specific embodiment
Fig. 1 is the bottom schematic view of the utility model clean robot；Fig. 2 is the structure of the utility model clean robot
Schematic diagram.As shown in Figure 1 with Figure 2, the utility model provides a kind of clean robot, including body 100, the body 100
It is equipped with control module, sensing module, cleaning module and walking module etc., sensing module is for detecting clean robot itself
State and surrounding enviroment, and will test signal and pass to control module to instruct clean robot to work, cleaning module is for clear
Clean working surface, walking module for driving clean robot to walk, control module will control signal pass to cleaning module and
Walking module, so that clean robot executes cleaning.
Using the direction of travel A of clean robot as front, the cleaning module includes one that 100 bottom of body is arranged in
Round brush 101 and a side brush 102, the round brush 101 and side brush 102 are transversely arranged in the front end of clean robot, i.e., along vertical
It arranges in direction of direction A or so, wherein round brush 101, which can be set, also can be set on the left of clean robot on right side.
In order to make clean robot front end when encountering the barriers such as wall sweep less than region it is smaller, the round brush 101
It is arranged as far as possible close to clean robot front end with side brush 102, likewise, in order to hinder clean robot close to wall etc.
When hindering object side sweep less than region it is smaller, described 101 one end of round brush and side brush 102 setting position respectively close to the two of body
Side edge.
Preferably, define the body 100 close to the side of round brush 101 be round brush side 108, the round brush 101 and its
The distance between close side≤20mm, i.e., the distance between the described round brush 101 and round brush side 108≤20mm.Definition institute
State body 100 by near side (ns) brush 102 side be side brush side 109, it is described while brush 102 center and while brush between side 109
Round brush 101 is apart from the distance between round brush side 108 described in distance >.Between 100 front boundary of the round brush 101 and body
Distance≤10mm.Side brush 102 has a bristle, it is described while 102 center of brushing with while brush described in the < of the distance between side 109
The distance between the center of side brush and bristle end, i.e., the outer end that 102 bristles are brushed on the described side exceeds 100 boundary of body, with convenient
It is dirty between the walls that bristle clears up clean robot.Further, the center of the side brush 102 can be located at round brush 101
The center of the distance between the center of the front at center, i.e. side brush 102 and 100 front boundary of body < round brush 101 and body 100
The distance between front boundary；Alternatively, the distance between the center of side brush 102 and 100 front boundary of body are equal to round brush 101
The distance between center and 100 front boundary of body, i.e., the described side brush 102 and round brush 101 arrange laterally side by side.
You need to add is that in order to optimize the structure of clean robot and cleaning range, body 100 in the utility model
Forward portion 110 is rectangular or is generally rectangular shaped that rectangular forward portion 110 is easy to lateral arrangement round brush 101 and side brush 102,
Increase the effective clean surface of clean robot simultaneously.
The cleaning module further includes vacuum unit, and vacuum unit cleans machine in the utility model for generating suction
People generates suction by vacuum unit, and the dust of working surface is sucked with the help of 102 and round brush 101 are brushed in side, and dust enters
Collection device on body 100.
The walking module includes driving motor and the driving wheel 120 etc. by driving motor driving, for driving cleaner
Device people walking.
The sensing module is used to detect the state and working environment of clean robot itself, and the sensing module includes ground
Face media recognition sensor 103, crash sensor, lower view sensor 104, welt sensor and environmental sensor etc., the ring
Border sensor is able to detect the region landform on clean robot work periphery and/or determines the position of clean robot, to draw
Working map is produced, and the detection signal of the environmental sensor is sent to control module, helps clean robot programme path
Or working method, to further promote working efficiency.The crash sensor is arranged in front of clean robot, works as cleaning
When robot encounters the barriers such as wall, crash sensor, which can detect in time and will test signal, is sent to control module.Under
View sensor 104 is arranged in 100 lower front of body, it is preferred that is located at 101 front of round brush, before detecting clean robot
The presence of square pit or step edge, and will test signal and be sent to control module, to prevent clean robot from falling.Welt passes
Sensor will test signal and be sent to control module for detecting the distance between barriers such as side and the wall of body 100,
Control module is according to detection signal control clean robot work, to facilitate control module control clean robot to hinder along wall etc.
Hinder object welt to be walked, for example, infrared sensor can be arranged in the left and right sides of body 100, utilizes transmitting terminal and receiving end
It interacts and carries out the positioning of opposite wall, and determine the pose adjustment of next step.
The setting of ground media recognition sensor 103, can for detecting the type of working surface in 101 front of round brush
It tells with the presence or absence of carpet on ground, and will test signal and be sent to control module.Preferably, the lower view sensor 104
Quantity be two, the ground media recognition sensor 103 is located between two lower view sensors 104.The ground medium
Identification sensor 103 sends detection signal to control module, and control module is according to detection signal control clean robot with body
100 wherein side side welt walking.
There are two types of cleaning modes for the clean method tool of clean robot in the utility model: covering cleaning mode and welt are clear
Clean mode.For example, clean robot can first carry out covering cleaning mode in the utility model, welt is executed later and cleans mould
Formula, to clean entire working surface.Overlay path skill known in the art can be used in clean robot in covering cleaning mode
Art is cleaned, for example, arc type walking mode, screwdriven mode and random walk mode etc..Into welt cleaning mode
Clean robot is walked along the barriers welt such as wall afterwards, to be cleared up for the dirty of wall edge.
Fig. 3 is the schematic diagram that the utility model clean robot executes welt cleaning mode on floor；Fig. 4 is that this is practical
Novel clean robot executes the schematic diagram of welt cleaning mode on carpet.As shown in connection with fig. 4 such as Fig. 3, the utility model is also
A kind of welt traveling method of clean robot is disclosed, comprising: when ground media recognition sensor detecting work surface is first
When surface, clean robot is controlled with clean robot to walk close to side (the i.e. round brush side 108) welt of round brush 101；
When ground media recognition sensor detection operations surface is second surface, clean robot is controlled to lean on the side of near side (ns) brush 102
In the walking of (while brush side 109) welt.Preferably, the first surface is the soft surfaces such as carpet, and the second surface is ground
The hard surfaces such as plate (timber floor, ceramic tile, PVC floor), cement flooring.
Specifically, after clean robot enters welt cleaning mode, ground media recognition sensor 103 will test signal
It is sent to control module, if detection working surface is first surface (soft surfaces such as carpet), control module control walking mould
Block turns to, and clean robot is made to walk with round brush side 108 along the barriers welt such as wall；If detection working surface is the second table
When face (timber floor, ceramic tile, PVC floor), control module controls walking module and turns to, and clean robot is made to brush side 109 with side
Along the walking of the barriers welt such as wall (arrow is clean robot direction of travel in figure).
You need to add is that round brush or side brush can be changed to other types according to actual needs by those skilled in the art
Cleaning assemblies, such as scraping article, it is possible to further by ground media recognition sensor 103 and a plurality of types of cleaning assemblies
Be used cooperatively, by ground media recognition sensor identify ground medium type after, control module control clean robot with
Side welt close to suitable cleaning assemblies is walked, to improve the cleaning effect of clean robot, enhance its adaptability.
Due to being equipped with the ground media recognition sensor 103 for detecting floor, carpet, when working surface is mixture table
When face (there are a variety of working surfaces such as carpet and floor), clean robot can select suitable operating path to keep correct
Welt cleaning.
Fig. 5 is the schematic diagram that the utility model clean robot executes covering cleaning mode on blending surface；Fig. 6 is this
Utility model clean robot executes the schematic diagram of welt cleaning mode on blending surface.As shown in Figure 5 and Figure 6, work as cleaning
In mixture table general work, in order to realize comprehensive cleaning, covering cleaning mode is first carried out in robot, in the present embodiment,
Covering cleaning mode is left and right alternative form；After clean robot completes covering cleaning mode, into welt cleaning mode.Tool
For body, into after welt cleaning mode, the ground media recognition sensor 103 on clean robot will test signal and be sent to
Control module, control module are turned to according to detection signal control walking module, make clean robot with suitable side along wall
Equal barriers welt walking, when running to carpet and floor intersection, clean robot can be along carpet and floor boundary line
It walks on, until meeting the barriers such as wall, at this point, control module control walking module turns to, makes clean robot with another
One side welt walking, to complete cleaning comprehensively.It is run to you need to add is that the utility model is not intended to limit clean robot
Carry out changing sides after carpet and floor boundary line the specific method of welt walking, those skilled in the art can according to actual needs into
Row design, for example, following methods: environmentally sensitive can also be used when clean robot runs to carpet and floor intersection
Device (such as laser sensor) measures one apart from the shortest path reached to sidewalls, and moves to along this path to face wall
Wall continues to clean to former direction along wall later.
Further, since for clean robot equipped with environmental sensor, the environmental sensor can in the utility model
It detects the region landform on clean robot work periphery and/or determines the position of clean robot, and work can be drawn out
Therefore map on the basis of on ground, media recognition sensor 103 identifies ground media type, ground medium can be existed
Distribution situation on working surface is recorded on corresponding working map, and control module can help clear according to the working map
Clean robot planning route or working method, for example, cleaning machine after generating the working map with ground medium information
Its ground media recognition sensor 103 of man-hour can not work or (work in such as one week is primary, to be directed to by cycling
Working environment changes the work gradient as stored by cycle correction), to further promote working efficiency.
In some embodiments, the utility model clean robot can also be with the man-machine friendship being arranged with control module coupling
Mutual module and wireless communication module, the human-computer interaction module can be the screen being arranged on clean robot, mobile phone and distant
Device etc. is controlled, human-computer interaction module can use by wireless communication module user and understand clean robot cleaning situation and itself letter
Breath, plans the cleaning path etc. of clean robot.In addition, user can also be recorded relevant information by human-computer interaction module,
And it is sent to other kinds of robot (such as air purifying robot), to instruct other robot in same working region
Middle work.
You need to add is that the utility model is not intended to limit the working method of clean robot, i.e. clean robot is not
It can only be according to above-mentioned covering cleaning mode and welt cleaning mode sequential working.For example, when clean robot enters the water such as kitchen and bath
When the more working region of stain, even if the working surface of kitchen and bath is second surface (timber floor, ceramic tile, PVC floor), since side is brushed
Can not clean completely it is water stain, clean robot can with close to round brush 101 side (i.e. round brush side 108) welt walk, with
Reach better cleaning effect.The identification in the particular job such as kitchen and bath region can be manually specified with user, it can also be by environment
Sensor automatic identification.In other words, the utility model is intended to provide one kind and can be cleaned according to the type change of ground medium
The clean robot of mode, above-mentioned welt traveling method can be combined with cleaning traveling method in the prior art, can also be with
It modifies according to actual needs, the utility model is not limited thereto.
The utility model also provides a kind of readable medium, and the readable medium is set in clean robot, described readable
Dielectric memory contains travelling control program, and the travelling control program is used to control clean robot and walks according to above-mentioned welt
Method walking, described control unit can read the travelling control program out of readable medium, to control clean robot
Welt walking.The readable medium is existing computer-readable reservoir.
For those of ordinary skill in the art, on the basis of the utility model principle, it is clear that can also be not
Other replacement embodiments other than above embodiment are expected in the case where deviating from the spirit of the utility model.It ties above
Attached drawing is closed to be described in detail the embodiments of the present invention, but the utility model is not limited to this, in affiliated skill
In the indicating range that the technical staff in art field has, without departing from the purpose of the present invention, it can also make
Various change.
The utility model is brushed using the round brush and side for being horizontally arranged in organism bottom front end, combined ground media recognition sensing
Device enables clean robot using the dirty of the side brush cleaning hard surfaces such as floor and wall junction, cleanly using round brush
The soft surfaces such as blanket are dirty with wall junction, and compared to traditional clean robot, cleaning capacity is strong, cleaning effect
It is good, it is applied widely.
Claims (10)
1. the bottom of a kind of clean robot, including body (100), the body is equipped with round brush (101) and side brush (102),
It is characterized in that, the round brush and side brush are transversely arranged in the front end of clean robot, and the setting of described round brush one end and side brush
Both sides of the edge of the position respectively close to body；
The clean robot further includes the ground media recognition sensor of control module and the type for detecting working surface
(103), the ground media recognition sensor sends detection signal to control module, and control module is clear according to detection signal control
Clean robot is walked with the wherein side side welt of body.
2. clean robot as described in claim 1, which is characterized in that side of the body (100) close to round brush (101)
For round brush side (108), the distance between the round brush and round brush side≤20mm.
3. clean robot as claimed in claim 2, which is characterized in that the body (100) leans on the side of near side (ns) brush (102)
For side brush side (109), it is described while brush center and while brush round brush described in the > of the distance between side between round brush side
Distance.
4. clean robot as claimed in claim 3, which is characterized in that the side brush (102) has bristle, the side brush
Center and the distance between the center and bristle end brushed when brushing described in the < of the distance between side (109).
5. clean robot as described in claim 1, which is characterized in that the center of the side brush (102) is located at round brush (101)
The front at center.
6. clean robot as described in claim 1, which is characterized in that the side brush (102) and round brush (101) are laterally side by side
Arrangement.
7. clean robot as described in claim 1, which is characterized in that the forward portion (110) of the body (100) is side
Shape.
8. clean robot as described in claim 1, which is characterized in that the body (100) is equipped with welt sensor, institute
Stating welt sensor includes the infrared sensor being arranged at left and right sides of body (100), and the infrared sensor includes hair
Penetrate end and receiving end.
9. clean robot as described in claim 1, which is characterized in that the ground media recognition sensor (103) is located at
In front of round brush (101).
10. clean robot as claimed in claim 9, which is characterized in that the body (100), which is equipped with, is located at round brush
(101) two lower view sensors (104) in front of, the ground media recognition sensor (103) are located at two lower view sensors
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820596373.3U CN208957993U (en) | 2018-04-25 | 2018-04-25 | Clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820596373.3U CN208957993U (en) | 2018-04-25 | 2018-04-25 | Clean robot |
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| Publication Number | Publication Date |
|---|---|
| CN208957993U true CN208957993U (en) | 2019-06-11 |
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ID=66747010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820596373.3U Active CN208957993U (en) | 2018-04-25 | 2018-04-25 | Clean robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393476A (en) * | 2018-04-25 | 2019-11-01 | 科沃斯机器人股份有限公司 | Clean robot and its welt traveling method, readable medium |
| WO2022171144A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Automatic cleaning device control method and apparatus, and medium and electronic device |
-
2018
- 2018-04-25 CN CN201820596373.3U patent/CN208957993U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393476A (en) * | 2018-04-25 | 2019-11-01 | 科沃斯机器人股份有限公司 | Clean robot and its welt traveling method, readable medium |
| WO2022171144A1 (en) * | 2021-02-10 | 2022-08-18 | 北京石头创新科技有限公司 | Automatic cleaning device control method and apparatus, and medium and electronic device |
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