CN209172200U - A kind of sweeping robot based on gyroscope collision detection - Google Patents
A kind of sweeping robot based on gyroscope collision detection Download PDFInfo
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- CN209172200U CN209172200U CN201820669172.1U CN201820669172U CN209172200U CN 209172200 U CN209172200 U CN 209172200U CN 201820669172 U CN201820669172 U CN 201820669172U CN 209172200 U CN209172200 U CN 209172200U
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Abstract
The utility model provides a kind of sweeping robot based on gyroscope collision detection, including robot main body and the power supply being set to inside the robot main body, gyroscope, for carrying out gyroscope signal acquisition, collision alarm accurate calculation and comprehensive signal and visiting master controller, the first infrared sensor and the second infrared sensor that earth signal acquires and the sounding device for carrying out voice broadcast；Driving wheel is installed in robot main body lower part and the blower for being drawn to dirt, in actual use, angular velocity signal sensing is carried out using gyroscope, especially equipment with exterior object when being collided, accurate collision information can be collected, master controller is according to the acquisition of gyroscope detection unit signal by the unrestrained filtering processing of karr, accurate calculation goes out characteristic signal, conducive to the normal operation of equipment, the design is reasonable in design, use reliability is high, is very suitable to be widely used.
Description
[technical field]
The utility model relates to clean robot product technical field more particularly to a kind of high degree of automation, using just
The sweeping robot based on gyroscope collision detection of benefit.
[background technique]
In recent years, it was gradually increased with the continuous progress of science and technology with people's living standard, and more and more had a high-tech
The equipment of skill content comes into daily life successively, and sweeping robot is exactly wherein more typical example, can from
Capable clears up dirt within doors, and has certain intelligent functions, brings great convenience for people's lives.
However, at present sweeping robot there is also the shortcoming of more use aspect, as charging modes are more single,
Function is not abundant enough, practical clean level is poor, and satisfied cleaning requirement is not achieved, and is exactly also that collision detection is inflexible,
Components are easily damaged, and humanization level is not high.
Based on the above issues, those skilled in the art has carried out a large amount of research and development and experiment, from the knot of sweeping robot
The various aspects such as structure, function, which are started with, to be improved and improves, and achieves preferable achievement.
[utility model content]
To overcome the problems of prior art, the utility model provides a kind of high degree of automation, easy-to-use
Sweeping robot based on gyroscope collision detection.
The scheme that the utility model solves technical problem is to provide a kind of sweeping robot based on gyroscope collision detection,
Including robot main body and the power supply being set to inside the robot main body, the gyro for carrying out sensing directional
Instrument, the master control for carrying out gyroscope signal acquisition, collision alarm accurate calculation and comprehensive signal and spy earth signal acquisition
Device processed, data storage, for environmental aspect is carried out the first infrared sensor and the second infrared sensor of real-time sensing with
And the sounding device for carrying out voice broadcast；The gyroscope, data storage, the first infrared sensor, the second infrared sensing
Device and sounding device and master controller are electrically connected；Robot main body lower part be installed on driving wheel and for pair
The blower that dirt is drawn；It further include the control button and function interface for being set to robot main body side；Institute
It states and is additionally provided with drive wheel current output unit for providing drive wheel electric current, driving inside robot main body
Take turns control unit, infrared acquisition signal processing unit, blower drive control unit and gyroscope detection unit；The control is pressed
Button, function interface, drive wheel current output unit, driving wheel control unit, infrared acquisition signal processing unit, blower
Drive control unit and gyroscope detection unit and master controller are electrically connected.
Preferably, temperature sensor is additionally provided with inside the robot main body and for adding to equipment inside
The radiator of speed heat dissipation；It further include the alarm for alarming emergency；The temperature sensor, radiator and alarm
Device and master controller are electrically connected.
Preferably, signal lamp is provided on the outside of the robot main body；And it is set inside the robot main body
It is equipped with the indicator light control unit that scheme control is carried out to signal lamp.
Preferably, robot main body side position is provided with thermal window；Radiator is set close to the thermal window
It sets.
Preferably, it is additionally provided with inside the robot main body and is connect for being communicated wirelessly with external mobile terminal
Wireless communication networks unit；The wireless communication networks unit and master controller are electrically connected.
Preferably, the wireless communication networks unit includes Bluetooth transmission unit, wireless wifi transmission unit, 2.4G is wireless
Communication unit, 4G wireless communication unit and 5G wireless communication unit.
Preferably, the control button is power switch button；And function interface includes USB interface, electric power connecting
Mouth and network interface.
Preferably, first infrared sensor, the second infrared sensor are installed respectively in the left and right of robot main body
Two sides；And the signal lamp is located at robot main body upper end end face area.
Preferably, the robot main body is integrally in cylindrical shape.
Compared with prior art, a kind of sweeping robot based on gyroscope collision detection of the utility model passes through while setting
Power supply, the top for carrying out sensing directional setting robot main body 11 and being set to inside the robot main body 11
Spiral shell instrument, the master for carrying out gyroscope signal acquisition, collision alarm accurate calculation and comprehensive signal and spy earth signal acquisition
Controller, data storage, the first infrared sensor and the second infrared sensor for carrying out real-time sensing to environmental aspect
And the sounding device for carrying out voice broadcast, it is used to provide drive wheel inside robot main body 11 in conjunction with being set to
Drive wheel current output unit, driving wheel control unit, infrared acquisition signal processing unit, the blower drive control of electric current
Unit and gyroscope detection unit, during actual use, angular velocity signal sensing, especially equipment are carried out using gyroscope
When being collided with exterior object, accurate collision information can be collected, master controller is believed according to gyroscope detection unit
Number acquisition by the unrestrained filtering processing of karr, accurate calculation goes out characteristic signal, and conducive to the normal operation of equipment, the design structure is set
Rationally, use reliability is high for meter, is very suitable to be widely used.
[Detailed description of the invention]
Fig. 1 is a kind of stereoscopic-state structural representation of the sweeping robot based on gyroscope collision detection of the utility model
Figure.
[specific embodiment]
To make the purpose of this utility model, technical solution and advantage are more clearly understood, with reference to the accompanying drawings and embodiments,
The present invention will be further described in detail.It should be appreciated that specific embodiment described herein is used only for explaining this
Utility model is not used to limit this utility model.
Referring to Fig. 1, a kind of sweeping robot 1 based on gyroscope collision detection of the utility model includes robot host
Body 11 and the power supply being set to inside the robot main body 11, the gyroscope for carrying out sensing directional, for into
The acquisition of row gyroscope signal, collision alarm accurate calculation and comprehensive signal and the master controller of spy earth signal acquisition, data
Memory, the first infrared sensor for carrying out real-time sensing to environmental aspect are with the second infrared sensor and for carrying out
The sounding device of voice broadcast；The gyroscope, data storage, the first infrared sensor, the second infrared sensor and sounding
Device and master controller are electrically connected；Driving wheel is installed in 11 lower part of robot main body and for carrying out to dirt
The blower of absorption；It further include the control button 113 and function interface 115 for being set to 11 side of robot main body；Institute
It states and is additionally provided with drive wheel current output unit for providing drive wheel electric current inside robot main body 11, drives
Driving wheel control unit, infrared acquisition signal processing unit, blower drive control unit and gyroscope detection unit；The control is pressed
Button 113, function interface 115, drive wheel current output unit, driving wheel control unit, infrared acquisition signal processing list
Member, blower drive control unit and gyroscope detection unit and master controller are electrically connected.
By simultaneously robot main body 11 is set and be set to the robot main body 11 inside power supply, use
In the gyroscope of progress sensing directional, for carrying out gyroscope signal acquisition, collision alarm accurate calculation and comprehensive signal
With the master controller, data storage, the first infrared sensing for carrying out real-time sensing to environmental aspect for visiting earth signal acquisition
Device and the second infrared sensor and the sounding device for carrying out voice broadcast, in conjunction with being set to inside robot main body 11
At drive wheel current output unit, driving wheel control unit, infrared acquisition signal for providing drive wheel electric current
Manage unit, blower drive control unit and gyroscope detection unit, during actual use, angular speed is carried out using gyroscope
Sensing, especially equipment can collect accurate collision information, master controller root when being collided with exterior object
According to the acquisition of gyroscope detection unit signal by the unrestrained filtering processing of karr, accurate calculation goes out characteristic signal, just conducive to equipment
Often operation, the design is reasonable in design, and use reliability is high, is very suitable to be widely used.
At the same time, using gyroscope substitution anticollision switch, significantly drop bottom hardware cost, save production cost and when
Between, and the internal algorithm of this equipment carries learning functionality, contains tens collision model signals, so that detection is more stable and reliable.
The utility model is not related to the improvement to software.
Preferably, temperature sensor is additionally provided with inside the robot main body 11 and for carrying out to equipment inside
Accelerate the radiator of heat dissipation；It further include the alarm for alarming emergency；The temperature sensor, radiator and report
Alert device and master controller are electrically connected.Security performance is high.
Preferably, signal lamp is provided on the outside of the robot main body 11；And in the robot main body 11
Portion is provided with the indicator light control unit that scheme control is carried out to signal lamp.
Preferably, the 11 side position of robot main body is provided with thermal window 111；Radiator is close to the radiator window
Mouth 111 is arranged.Be conducive to improve the service life of equipment.
Preferably, it is additionally provided with inside the robot main body 11 for communicating wirelessly company with external mobile terminal
The wireless communication networks unit connect；The wireless communication networks unit and master controller are electrically connected.Intelligence degree is high.
Preferably, the wireless communication networks unit includes Bluetooth transmission unit, wireless wifi transmission unit, 2.4G is wireless
Communication unit, 4G wireless communication unit and 5G wireless communication unit.
Preferably, the control button 113 is power switch button；And function interface 115 includes USB interface, electricity
Source interface and network interface.
Preferably, first infrared sensor, the second infrared sensor are installed respectively in a left side for robot main body 11
Right two sides；And the signal lamp is located at 11 upper end end face area of robot main body.
Preferably, it is in cylindrical shape that the robot main body 11 is whole.
Compared with prior art, a kind of sweeping robot 1 based on gyroscope collision detection of the utility model is by simultaneously
Robot main body 11 is set and be set to inside the robot main body 11 power supply, for carrying out sensing directional
Gyroscope, for carry out gyroscope signal acquisition, collision alarm accurate calculation and comprehensive signal and visit earth signal acquisition
Master controller, data storage, the first infrared sensor and the second infrared sensing for carrying out real-time sensing to environmental aspect
Device and sounding device for carrying out voice broadcast drive in conjunction with being set to inside robot main body 11 for providing driving wheel
The drive wheel current output unit of streaming current, driving wheel control unit, infrared acquisition signal processing unit, blower driving control
Unit and gyroscope detection unit processed, during actual use, angular velocity signal sensing is carried out using gyroscope, is especially set
For when being collided with exterior object, accurate collision information can be collected, master controller is according to gyroscope detection unit
The acquisition of signal is by the unrestrained filtering processing of karr, and accurate calculation goes out characteristic signal, conducive to the normal operation of equipment, the design structure
Rationally, use reliability is high for design, is very suitable to be widely used.
Above-described the utility model embodiment, does not constitute the restriction to scope of protection of the utility model.It is any
Modifications, equivalent substitutions and improvements made within spirit of the present utility model and principle etc., should be included in the utility model
Claims within.
Claims (9)
1. a kind of sweeping robot based on gyroscope collision detection, it is characterised in that: including robot main body and setting
Power supply inside the robot main body, the gyroscope for carrying out sensing directional are adopted for carrying out gyroscope signal
Collection, collision alarm accurate calculation and comprehensive signal and the master controller of spy earth signal acquisition, are used for ring data storage
The first infrared sensor and the second infrared sensor of border situation progress real-time sensing and the sounding for carrying out voice broadcast
Device；The gyroscope, data storage, the first infrared sensor, the second infrared sensor and sounding device and master controller
It is electrically connected；Driving wheel is installed in robot main body lower part and the blower for being drawn to dirt；Also wrap
Include the control button and function interface for being set to robot main body side；It is also set up inside the robot main body
There are the drive wheel current output unit, driving wheel control unit, infrared acquisition signal for providing drive wheel electric current
Processing unit, blower drive control unit and gyroscope detection unit；The control button, function interface, drive wheel
Current output unit, driving wheel control unit, infrared acquisition signal processing unit, blower drive control unit and gyroscope inspection
It surveys unit and master controller is electrically connected.
2. a kind of sweeping robot based on gyroscope collision detection as described in claim 1, it is characterised in that: the machine
Temperature sensor and the radiator for accelerate to equipment inside heat dissipation are additionally provided with inside people's main body；It further include using
In the alarm alarmed emergency；The temperature sensor, radiator and alarm and master controller are electrically connected.
3. a kind of sweeping robot based on gyroscope collision detection as claimed in claim 1 or 2, it is characterised in that: described
Signal lamp is provided on the outside of robot main body；And it is internally provided in the robot main body and signal lamp is carried out
The indicator light control unit of scheme control.
4. a kind of sweeping robot based on gyroscope collision detection as claimed in claim 2, it is characterised in that: the machine
People's main body side position is provided with thermal window；Radiator is arranged close to the thermal window.
5. a kind of sweeping robot based on gyroscope collision detection as described in claim 1, it is characterised in that: the machine
The wireless communication networks unit for communicating wirelessly connection with external mobile terminal is additionally provided with inside people's main body；The nothing
Line communication network unit and master controller are electrically connected.
6. a kind of sweeping robot based on gyroscope collision detection as claimed in claim 5, it is characterised in that: described wireless
Communication network unit includes Bluetooth transmission unit, wireless wifi transmission unit, 2.4G wireless communication unit, 4G wireless communication unit
And 5G wireless communication unit.
7. a kind of sweeping robot based on gyroscope collision detection as described in claim 1, it is characterised in that: the control
Button is power switch button；And function interface includes USB interface, electric power connecting mouth and network interface.
8. a kind of sweeping robot based on gyroscope collision detection as claimed in claim 3, it is characterised in that: described first
Infrared sensor, the second infrared sensor are installed respectively in the left and right sides of robot main body；And the signal lamp is located at
Robot main body upper end end face area.
9. a kind of sweeping robot based on gyroscope collision detection as described in claim 1, it is characterised in that: the machine
People's main body is integrally in cylindrical shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820669172.1U CN209172200U (en) | 2018-05-07 | 2018-05-07 | A kind of sweeping robot based on gyroscope collision detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820669172.1U CN209172200U (en) | 2018-05-07 | 2018-05-07 | A kind of sweeping robot based on gyroscope collision detection |
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| Publication Number | Publication Date |
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| CN209172200U true CN209172200U (en) | 2019-07-30 |
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| CN201820669172.1U Active CN209172200U (en) | 2018-05-07 | 2018-05-07 | A kind of sweeping robot based on gyroscope collision detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693396A (en) * | 2019-10-21 | 2020-01-17 | 深圳市云鼠科技开发有限公司 | Obstacle avoidance processing mode of sweeper based on free move technology |
| CN114831545A (en) * | 2022-05-18 | 2022-08-02 | 陀螺人工智能(山东)有限公司 | Cleaning robot based on gyroscope collision detection |
| SE2250611A1 (en) * | 2022-05-20 | 2023-11-21 | Husqvarna Ab | Autonomous work tool and method for operation thereof |
-
2018
- 2018-05-07 CN CN201820669172.1U patent/CN209172200U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110693396A (en) * | 2019-10-21 | 2020-01-17 | 深圳市云鼠科技开发有限公司 | Obstacle avoidance processing mode of sweeper based on free move technology |
| CN110693396B (en) * | 2019-10-21 | 2021-06-11 | 深圳市云鼠科技开发有限公司 | Obstacle avoidance processing mode of sweeper based on free move technology |
| US11520330B2 (en) | 2019-10-21 | 2022-12-06 | Shenzhen Umouse Technology Co., Ltd. | Sweeping robot obstacle avoidance treatment method based on free move technology |
| CN114831545A (en) * | 2022-05-18 | 2022-08-02 | 陀螺人工智能(山东)有限公司 | Cleaning robot based on gyroscope collision detection |
| SE2250611A1 (en) * | 2022-05-20 | 2023-11-21 | Husqvarna Ab | Autonomous work tool and method for operation thereof |
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