CN209172202U - Clean robot - Google Patents

Abstract

The utility model embodiment discloses a kind of clean robot comprising body, for detecting the clean robot sensor of obstacle distance, the memory for storing program and the processor for for executing the described program stored determining whether to plan the cleaning path in the memory according to the distance again above according to body top surface to the clean robot described in cleaning path moving process；The sensor is arranged on the body, and the processor is coupled with the memory, and the processor and the memory are arranged in the body, and the processor and the sensor are electrically connected.Distance of the top surface of the clean robot of the utility model embodiment clean robot according to detected by sensor to barrier above clean robot, determine whether to plan the cleaning path again, it can avoid clean robot to encounter short space in moving process and be stuck, promote the coverage rate and cleaning efficiency of clean robot.

Description

Clean robot

Technical field

The utility model belongs to clean robot technical field more particularly to a kind of clean robot.

Background technique

Clean robot sweep the floor mainly by hitting the spatial altitude in the detection motion process such as plate and buffer sensor, but Be it is this by contact hit plate and buffer sensor etc. to spatial altitude cannot in advance accurately quantify, and hit plate and Buffer sensor etc. can all have blind area, and the clean robot that is easy to make to sweep the floor enters the bottom or interior of furniture or other short spaces Portion, spatial altitude with sweep the floor clean robot highest point height close in the case where, be easy to cause clean robot of sweeping the floor Movement routine is abnormal, or even stuck phenomenon occurs, so that the coverage rate for clean robot of sweeping the floor declines, cleaning efficiency is reduced.

Utility model content

In view of this, the utility model embodiment provides a kind of clean robot, sweep the floor cleaner for solving tradition Device people is easy the technical issues of being stuck encountering short space.

The utility model embodiment provides a kind of clean robot comprising:

Body；

For detecting the clean robot according to body top surface described in cleaning path moving process to the cleaning The sensor of obstacle distance above robot, is arranged on the body；

For storing the memory of program, it is arranged in the body；

For executing the described program stored in the memory to be determined whether to plan institute again according to the distance The processor of cleaning path is stated, is arranged in the body, is coupled with the memory, and is electrically connected with the sensor.

Further, the sensor is located on the shell of the body, and the sensitive surface of the sensor is described in Above clean robot.

Further, the angle of the sensitive surface of the sensor and the body top surface is adjustable.

Further, the sensor is located in the shell of the body, and the shell of the body top surface and the biography Sensor setting opposite position offers transmissive window.

Further, the sensor is located on the body of the front end of the moving direction of the clean robot.

Further, the body is equipped with multiple sensors；

The multiple sensor is on the body respectively along the linear row of interval of the moving direction of the clean robot Cloth.

Further, the rounded structure in body top surface, the body are equipped with multiple sensors；

The multiple sensor is on the body respectively along the outer of the first half area of the moving direction of the clean robot Edge is intervally arranged in camber line.

Further, the rounded structure in body top surface, the body are equipped with multiple sensors；

Multiple sensors are stated on the body respectively along the outer rim in the first half area of the moving direction of the clean robot It is intervally arranged in camber line, and the outer rim along the first half area of the moving direction of the clean robot is intervally arranged in camber line.

Further, the clean robot further include:

For the regulatory region of sensor described in regulation and control, the regulatory region be located at the body top surface or Side wall, the regulatory region and the processor are electrically connected.

Further, the regulatory region includes being embedded in the touch panel of the body surface or being located at the body Control button on surface.

Clean robot provided by the embodiment of the utility model, in moving process, according to the sensor of clean robot Distance of the top surface of detected clean robot to barrier above clean robot, it is determined whether need to plan again described Cleaning path can avoid clean robot and encounter short space in moving process and be stuck, promotes covering for clean robot Lid rate and cleaning efficiency.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts, It is also possible to obtain other drawings based on these drawings.

Fig. 1 is an a kind of structural schematic diagram of clean robot provided by the embodiment of the utility model；

Fig. 2 is an a kind of application scenarios schematic diagram of clean robot provided by the embodiment of the utility model；

Fig. 3 is an a kind of the schematic diagram of the section structure of clean robot provided by the embodiment of the utility model；

Fig. 4 is a kind of another the schematic diagram of the section structure of clean robot provided by the embodiment of the utility model；

Fig. 5 is a kind of one arrangement schematic diagram of sensor of clean robot provided by the embodiment of the utility model；

Fig. 6 is a kind of another arrangement schematic diagram of the sensor of clean robot provided by the embodiment of the utility model；

Fig. 7 is a kind of another arrangement schematic diagram of the sensor of clean robot provided by the embodiment of the utility model；

Fig. 8 is a kind of another arrangement schematic diagram of the sensor of clean robot provided by the embodiment of the utility model；

Fig. 9 is an a kind of structural schematic diagram of the regulatory region of clean robot provided by the embodiment of the utility model；

Figure 10 is a kind of another structural schematic diagram of the regulatory region of clean robot provided by the embodiment of the utility model.

Specific embodiment

The embodiments of the present invention is described in detail below in conjunction with accompanying drawings and embodiments, whereby to the utility model How applied technology method solves technical problem and reaches the realization process of technical effect to fully understand and implement.

As used some vocabulary to censure specific components in the specification and claims.Those skilled in the art answer It is understood that hardware manufacturer may call the same component with different nouns.This specification and claims are not with name The difference of title is as the mode for distinguishing component, but with the difference of component functionally as the criterion of differentiation.Such as logical The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit In "." substantially " refer within the acceptable error range, those skilled in the art can solve technology within a certain error range Problem basically reaches technical effect.In addition, " coupling " or " electric connection " word includes any directly and indirectly electrical herein Coupling means.Therefore, if it is described herein that a first device is coupled to a second device, then representing first device can directly electrical coupling It is connected to second device, or is electrically coupled to second device indirectly by other devices or coupling means.Specification subsequent descriptions For preferred embodiment of the present invention, so description is to illustrate the general principles of this utility model, not To limit the scope of the utility model.The protection scope of the utility model is as defined by the appended claims.

It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability It include so that the process, method, commodity or the system that include a series of elements not only include those elements, but also to wrap Include the other elements being not explicitly listed, or further include for this process, method, commodity or system intrinsic want Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element There is also other identical elements in process, method, commodity or system.

Referring to FIG. 1, being a kind of structural schematic diagram of clean robot provided by the embodiment of the utility model, the cleaning Robot includes body 10, sensor 20, processor 30 and memory 40.

Wherein, the body 10 includes fuselage 110 and the shell 120 being covered on outside the fuselage 110, preferred embodiment In, the shell 120 is covered on top and the sidewall locations of the fuselage 110, and drive is then arranged in the bottom of the fuselage 110 The mobile mobile device 50 of the clean robot.Herein, the mobile device 50 is including but not limited to rotating wheel etc..

In conjunction with Fig. 2, the sensor 20 is arranged on the body 10, specifically, can be and is arranged in the shell 120 It is upper to be either arranged on the fuselage 110, but require the sensitive surface of the sensor 20 towards the clean robot Upper space, with for detect the clean robot according to 10 top surface of body described in cleaning path moving process arrive described in The distance between barrier 60 above clean robot.Herein, the distance is denoted as H, is 10 top surface of body described in Vertical range between top barrier 60, in triangle ABC, it is known that the sensitive surface of the sensor 20 and the body The length for the ranging ray AB that the angle α of 10 top surfaces and the sensor 20 issue is (by issuing ray to reception ray Time difference and ray velocity calculate), the length of BC, i.e., the size of the described distance H can be acquired by trigonometric function；It needs to illustrate It is, it is above that the method for obtaining the distance H by distance measuring sensor is only described with example property, it does not constitute to the biography The restriction of sensor 20, it is contemplated that the sensor 20 can also be deep vision sensor, by shooting moving process Described in top barrier 60 depth image, and carry out image analysis also and the distance H can be obtained；Therefore, it is emphasized that It is to detect the clean robot by the sensor 20 to arrive according to 10 top surface of body described in cleaning path moving process The distance H above the clean robot between barrier 60, does not do rising limit to the concrete type of the sensor 20 It is fixed.

The processor 30 is separately positioned in the body 10 with the memory 40, in preferred embodiment both It is arranged on the fuselage 110 in the shell 120, the processor 30 intercouples with the memory 40；The place It is electrically connected between reason device 30 and the sensor 20, the transmitting for signal data between the two；The memory 40 is used for Program is stored, the processor 30 is used to execute the described program stored in the memory 40 to determine according to the distance H Whether need to plan the cleaning path again；In practical applications, the sensor 20 obtains the distance H, and by this result It is transferred to the processor 30, the processor 30, which judges whether the distance H meets, to be needed to plan the cleaning path again, Such as when the distance H is less than a threshold distance, show that the moving direction of the clean robot will encounter short space, if after Continuous movement may have the stuck risk under short space, and to avoid such case, the processor 30 is determined to original Cleaning path planned that, in planning path, the processor 30 executes the program that the memory 40 is stored again, It controls the clean robot and stops one threshold angle of the rotation of the mobile device 50 that is mobile or controlling the clean robot Degree, so that the clean robot changes its original moving direction, then moves on, to complete remaining cleaning.

In this way, the clean robot of the present embodiment is in moving process, according to cleaning detected by the sensor 20 Distance of the top surface of robot to barrier above clean robot, it is determined whether need to plan the cleaning path again, can keep away Exempt from clean robot to encounter short space in moving process and be stuck, promotes the coverage rate and cleaning effect of clean robot Rate.

Referring to FIG. 3, the sensor 20 is located at the body 10 in other preferred embodiments of the utility model On shell 120, and the sensitive surface 210 of the sensor 20 is towards above the clean robot.Specifically, the sensor 20 It can be and be embedded on the shell 120 of 10 top surface of body, and the appearance of the sensitive surface 210 and the shell 120 Face is concordant, so that upper space of the sensitive surface 210 towards the clean robot；The either described sensor 20 protrudes On the shell 120 of 10 top surface of body, the sensitive surface 210 is a certain included angle with 10 top surface of body, So that upper space of the sensitive surface 210 towards the clean robot.

Further, the angle of the sensitive surface 210 of the sensor 20 and 10 top surface of body is adjustable.Specifically Ground, between the sensor 20 and the body 10 connect regulating device (not shown), the regulating device with it is described Processor 30 connects, by issuing the adjusting that adjusting event pair is connected with the sensor 20 to the processor 30 Device 30 is adjusted, and then completes that the angle of the sensitive surface 210 of the sensor 20 is adjusted.

In addition, referring to FIG. 4, the sensor 20 is located at the machine in other preferred embodiments of the utility model In the shell 120 of body 10；Specifically, as described in being located at the sensor 20 on fuselage 110, the sensor 20 it is described Shell 120 described in 210 direction of sensitive surface；In addition, the shell 120 and the sensor 20 in 10 top surface of body Setting opposite position offers transmissive window 1201, herein, in order to which the ray of the sensor 20 is unobstructed by described Shell 120 offers the transmissive window 1201 on the shell 120, wherein the setting position of the transmissive window 1201 and institute The setting position for stating sensor 20 is corresponding, i.e., the described transmissive window 1201 is provided with the surface of the sensor 20.It is such to set Meter, the ray that not only can satisfy the sensor 20 unobstructed can be projected and be returned, but also can be risen to the sensor 20 To protective effect.

Incorporated by reference to Fig. 5, the sensor set 20 the front end of the moving direction of the clean robot the body On 10, herein, the sensor 20 is single setting, positioned at the front end of the moving direction of the clean robot, i.e. institute That states the body 10 of clean robot leans on front position, can be and is arranged on the shell 120, or is arranged in institute It states on the fuselage 110 under shell 120.This design can guarantee that the sensor 20 detects the timeliness of the distance H, Avoid the front end part of the clean robot stuck by the lower space of top barrier.

Incorporated by reference to Fig. 6, the sensor sets 20 as multiple settings, i.e., the described body 10 is equipped with multiple sensors 20, and the multiple sensor 20 on the body 10 respectively along the linear row of interval of the moving direction of the clean robot Cloth.Herein, the multiple sensor 20 is linearly arranged on the body 10, and the straight line and the clean robot Moving direction it is consistent, in preferred embodiment, the multiple 20 spaced set of sensor, these sensors 20, which can be, to be set It sets on the shell 120, or on the fuselage 110 being arranged under the shell 120, this design can be to described The top barrier of clean robot carries out continuing detection, obtains the top specific shape of barrier, really for the processor 30 Whether again fixed planning cleaning path makes accurate reference.

Incorporated by reference to Fig. 7, the sensor sets 20 as multiple settings, i.e., the described body 10 is equipped with multiple sensors 20, the shell 120 of the rounded structure in 10 top surface of body, i.e., described 10 top surface of body is circular configuration, and described more A sensor 20 on the body 10 respectively the outer rim along the first half area of the moving direction of the clean robot between camber line Every arrangement.Herein, the multiple sensor 20 is arranged on the body 10 in camber line, and the camber line is along the cleaner The outer rim of the shell 120 in the first half area of the moving direction of device people, in preferred embodiment, between the multiple sensor 20 Spaced set, these sensors 20, which can be, to be arranged on the shell 120, or is arranged under the shell 120 On the fuselage 110, this design can carry out the top barrier in the clean robot moving direction first half area comprehensive Detection obtains the top specific shape of barrier, determines whether to plan that cleaning path is made accurately again for the processor 30 Reference.

Incorporated by reference to Fig. 8, the sensor sets 20 as multiple settings, i.e., the described body 10 is equipped with multiple sensors 20, the shell 120 of the rounded structure in 10 top surface of body, i.e., described 10 top surface of body is circular configuration, and described more A sensor 20 on the body 10 respectively the outer rim along the first half area of the moving direction of the clean robot between camber line It is linearly intervally arranged every arrangement, and along the moving direction of the clean robot.As described above, this design can be to institute The top barrier for stating clean robot moving direction first half area continue and complete detection, acquisition top barrier are specific Shape, determine whether to plan that cleaning path makes accurate reference again for the processor 30.

Furthermore it is thinkable that arrangement mode of multiple sensors 20 on the body 10 can be array Arrangement, can the top barrier to the clean robot continue and comprehensive detection, and then obtain top obstacle The specific shape of object determines whether to plan that cleaning path makes comprehensive, accurate reference again for the processor 30

Further, incorporated by reference to Fig. 9, in other preferred embodiments of the utility model, the clean robot is also wrapped Regulatory region 70 is included, the regulatory region 70 is located at top surface or the side wall of the body 10, the regulatory region and the place Device 30 is managed to be electrically connected.Herein, the function of the regulatory region 70 is including but not limited to sensing described in regulation and control Device 20, the sensed parameter adjusted the sensor 20, controls unlatching/closing of the sensor 20, can also be adjusting with The parameter etc. of other devices of clean robot is controlled, the regulatory region 70 is electrically connected with the processor 30, will It is transferred to the processor 30 in response to the operation signal of user, so that the sensor 20 is adjusted in the processor 30 And control.

Further, the regulatory region 70 is the touch panel 710 for being embedded in 10 surface of body, or is set Control button 720 on 10 surface of body.Specifically, the touch panel 710 is embedded in the table of the shell 120 Face, the flush with the shell 120 carry out touch control for user, as shown in Figure 9；The control button 720 has more A independent key and the surface for protruding from the shell 120, are touched for user by as shown in Figure 10.It should be pointed out that with The situation that the regulatory region 70 is located at 120 top surface of shell is shown in upper figure, this is not constituted to the utility model It limits, in other embodiments, the regulatory region 70 can also be located on the side wall of the shell 120.

In addition, the processor 30 can also be connected to mobile terminal device (such as mobile phone, tablet computer by local area network Deng), and the operation of mobile terminal device is adjusted and is controlled to the clean robot in response to user, described in enhancing Clean robot is intelligent.

Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations； Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution The spirit and scope of scheme.

Claims (10)

1. a kind of clean robot characterized by comprising

Body；

For detecting the clean robot according to body top surface described in cleaning path moving process to the cleaning machine The sensor of obstacle distance above people, is arranged on the body；

For storing the memory of program, it is arranged in the body；

It is described clear to determine whether to plan again according to the distance for executing the described program stored in the memory The processor in clean path is arranged in the body, couples with the memory, and is electrically connected with the sensor.

2. clean robot according to claim 1, which is characterized in that the sensor is located at the shell of the body On, and the sensitive surface of the sensor is towards above the clean robot.

3. clean robot according to claim 2, which is characterized in that the sensitive surface of the sensor and the body top The angle in face is adjustable.

4. clean robot according to claim 1, which is characterized in that the sensor is located at the shell of the body It is interior, and the shell of the body top surface and sensor setting opposite position offer transmissive window.

5. clean robot according to claim 1-4, which is characterized in that the sensor is located at the cleaning On the body of the front end of the moving direction of robot.

6. clean robot according to claim 1-4, which is characterized in that the body is equipped with multiple described Sensor；

Moving direction of the multiple sensor on the body respectively along the clean robot is linearly intervally arranged.

7. clean robot according to claim 1-4, which is characterized in that the rounded knot in body top surface Structure, the body are equipped with multiple sensors；

Outer rim of the multiple sensor on the body respectively along the first half area of the moving direction of the clean robot be in Camber line is intervally arranged.

8. clean robot according to claim 1-4, which is characterized in that the rounded knot in body top surface Structure, the body are equipped with multiple sensors；

Stating outer rim of multiple sensors on the body respectively along the first half area of the moving direction of the clean robot is in arc Line is intervally arranged, and the outer rim along the first half area of the moving direction of the clean robot is intervally arranged in camber line.

9. clean robot according to claim 1-4, which is characterized in that further include:

For the regulatory region of sensor described in regulation and control, the regulatory region is located at the top surface or side of the body Wall, the regulatory region and the processor are electrically connected.

10. clean robot according to claim 9, which is characterized in that the regulatory region includes being embedded in the machine The touch panel in body surface face or the control button being located on the body surface.