CN209301022U - A kind of sweeping robot based on gyroscope planning type - Google Patents
A kind of sweeping robot based on gyroscope planning type Download PDFInfo
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- CN209301022U CN209301022U CN201821982412.XU CN201821982412U CN209301022U CN 209301022 U CN209301022 U CN 209301022U CN 201821982412 U CN201821982412 U CN 201821982412U CN 209301022 U CN209301022 U CN 209301022U
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Abstract
The utility model provides a kind of sweeping robot based on gyroscope planning type, including robot main body and the power supply being set to inside the robot main body, controller, data storage, wireless communication transmission unit, water-storing tank and side brush assemblies, left and right sidesing driving wheel component；It is not provided with the left and right wheels controlled for the operation to left and right sidesing driving wheel component in robot host internal body portion and controls drive circuit unit, left and right wheels velocity checking circuits unit and side brush drive circuit unit, in actual moving process, controller is responsible for the normal operation work for the system of sweeping the floor, avoidance is realized to the acquisition of multi-faceted data, acquisition along wall signal ensures accurately along wall distance, angle signal acquisition to Gyro Assembly, according to the mobile grating signal of wheel, to establish plane coordinate system, the indoor running track of recorder people, it can realize that planning type cleans in robot chamber by algorithm, the time is cleaned to save, improve sweeping efficiency.
Description
[technical field]
The utility model relates to sweeping robot product technical field more particularly to a kind of intelligence degree are high based on top
The sweeping robot of spiral shell instrument planning type.
[background technique]
In recent years, sweeping robot product had obtained quick promotion and application, provided for daily life all
More conveniences, flexibility ratio is high, and can carry out more clean cleaning to flooring according to preset track, deep to be used
Person's likes.
However, current sweeping robot product still remains more deficiency, if function is not abundant enough, it is unable to satisfy people
Certain some special use demand, intelligence degree is not high etc., restrict product it is better popularization and use.
Based on this, those skilled in the art has carried out a large amount of research and development and experiment, and achieves preferable achievement.
[utility model content]
To overcome the problems of prior art, it is high based on gyroscope that the utility model provides a kind of intelligence degree
The sweeping robot of planning type.
The scheme that the utility model solves technical problem is to provide a kind of sweeping robot based on gyroscope planning type, wraps
It includes robot main body and the power supply being set to inside the robot main body, controller, deposited for carrying out data information
The data storage of storage, for external mobile terminal carry out the wireless communication transmission unit of communication connection, water-storing tank and
Install the side brush assemblies and left and right sidesing driving wheel component in robot main body lower part；It is other in the robot host internal body portion
It is provided with the left and right wheels for being controlled, being received the pwm control signal from controller for the operation to left and right sidesing driving wheel component
Control drive circuit unit, the left and right wheels velocity measuring electricity being measured in real time for the operating rate to left and right sidesing driving wheel component
The side brush drive circuit unit that road unit and operation for opposite side brush assemblies are controlled；It further include being set to the machine
It Gyro Assembly, fan assembly inside people's main body and installs external infrared distant for receiving on the outside of robot main body
Control the infrared sensor of signal；It is correspondingly provided with inside the robot main body and is controlled for the operation to fan assembly
The fan drive circuit unit of system, for detection circuit unit and being used for detecting control that steep cliff height prevents robot from falling
Detect Robot wall distance along wall detection circuit unit；The data storage, wireless communication transmission unit, left and right wheels control
Drive circuit unit processed, left and right wheels velocity checking circuits unit, side brush drive circuit unit, Gyro Assembly, blower driving electricity
Road unit is controlled ground detection circuit unit and is electrically connected along wall detection circuit unit and controller.
Preferably, the wireless communication transmission unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application,
For remotely controlling the operation of sweeping robot.
Preferably, it is additionally provided with Temperature Humidity Sensor, alarm inside the robot main body and is set for improving
The radiator fan of standby internal heat dissipating performance；The Temperature Humidity Sensor, alarm, radiator fan and controller are electrically connected.
Preferably, robot main body side position is additionally provided with camera, and sets in robot main body front
It is equipped with multiple function control buttons；The camera and function control button and controller are electrically connected.
Preferably, the controller inside the robot main body controls chip using GD32F103VET6.
Preferably, the air quality for detecting indoor environment air quality is also installed on inside the robot main body
Sensor；The air quality sensor and controller are electrically connected；Robot main body side offers ventilation hole, air
Mass sensor is arranged close to the ventilation hole.
Preferably, water level sensor is additionally provided with inside the water-storing tank.
Preferably, the side brush assemblies of robot main body lower part are symmetrically disposed on robot main body two sides edge
Position, when brush drive circuit unit is close to this, brush assemblies are arranged；And left and right wheels velocity checking circuits unit, left and right wheels control driving
Circuit unit is arranged close to left and right sidesing driving wheel；Fan drive circuit unit is arranged close to fan assembly.
Compared with prior art, a kind of sweeping robot based on gyroscope planning type of the utility model passes through while being arranged
Robot main body 11 and the power supply being set to inside the robot main body 11, controller, for carrying out data information
The data storage of storage, for external mobile terminal carry out the wireless communication transmission unit of communication connection, water-storing tank with
And side brush assemblies and left and right sidesing driving wheel component 12 in 11 lower part of robot main body are installed, inside robot main body 11
It is respectively arranged to the operation of left and right sidesing driving wheel component 12 be controlled, received a left side for the pwm control signal from controller
The left and right wheel speed that right wheel controls drive circuit unit, is measured in real time for the operating rate to left and right sidesing driving wheel component 12
The side brush drive circuit unit that detection circuit unit and operation for opposite side brush assemblies are controlled, actual moving process
In, controller is responsible for the normal operation work for the system of sweeping the floor, and avoidance is realized to the acquisition of multi-faceted data, along the acquisition of wall signal
Ensure accurately to acquire the angle signal of Gyro Assembly, along wall distance according to the mobile grating signal of wheel, to establish
Plane coordinate system, the indoor running track of recorder people can realize that planning type cleans in robot chamber by algorithm, to save
It saves and cleans the time, improve sweeping efficiency.
[Detailed description of the invention]
Fig. 1 is a kind of stereoscopic-state structural schematic diagram of the sweeping robot based on gyroscope planning type of the utility model.
[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 planning type of the utility model includes robot main body
11 and be set to inside the robot main body 11 power supply, controller, deposit for carrying out the data of data information memory
Reservoir, for carrying out the wireless communication transmission unit of communication connection, water-storing tank with external mobile terminal and installing in machine
The side brush assemblies and left and right sidesing driving wheel component 12 of 11 lower part of people's main body；It is respectively set inside the robot main body 11
There is the left and right wheels control for being controlled, being received the pwm control signal from controller for the operation to left and right sidesing driving wheel component 12
Drive circuit unit processed, the left and right wheels velocity measuring electricity being measured in real time for the operating rate to left and right sidesing driving wheel component 12
The side brush drive circuit unit that road unit and operation for opposite side brush assemblies are controlled；It further include being set to the machine
It Gyro Assembly, fan assembly inside people's main body 11 and installs external infrared for receiving on the outside of robot main body
The infrared sensor of remote signal；Be correspondingly provided with inside the robot main body 11 for the operation to fan assembly into
Row control fan drive circuit unit, for detect steep cliff height prevent robot from falling control detection circuit unit and
For detect Robot wall distance along wall detection circuit unit；The data storage, wireless communication transmission unit, left and right
Wheel control drive circuit unit, left and right wheels velocity checking circuits unit, side brush drive circuit unit, Gyro Assembly, blower drive
Dynamic circuit unit is controlled ground detection circuit unit and is electrically connected along wall detection circuit unit and controller.
The electricity that the application passes through while robot main body 11 is arranged and is set to inside the robot main body 11
Source, controller, the data storage for carrying out data information memory, the nothing for carrying out communication connection with external mobile terminal
Line communication transfer unit, water-storing tank and install side brush assemblies and left and right sidesing driving wheel group in 11 lower part of robot main body
Part 12 is respectively arranged to control the operation of left and right sidesing driving wheel component 12 inside robot main body 11, receives and
From the left and right wheels control drive circuit unit of the pwm control signal of controller, for the operation speed to left and right sidesing driving wheel component 12
The left and right wheels velocity checking circuits unit that rate is measured in real time and the side that the operation for opposite side brush assemblies is controlled brush
Drive circuit unit, in actual moving process, controller is responsible for the normal operation work for the system of sweeping the floor, and adopts to multi-faceted data
Collection realizes avoidance, and the acquisition along wall signal ensures accurately to acquire the angle signal of Gyro Assembly, along wall distance according to wheel
The mobile grating signal of son, to establish plane coordinate system, the indoor running track of recorder people can realize machine by algorithm
Planning type cleans in device people room, cleans the time to save, improves sweeping efficiency.
Gyro Assembly is responsible for the calculating of operation angle, obtains machine by complicated algorithms such as Kalman filtering, data calibrations
The accurate angle of device operation.
Left and right wheels control drive circuit unit, and controller output pwm signal can be controlled with by the output of the driving circuit
Speed, corner of robot processed etc..
Left and right wheels velocity checking circuits unit, using grating sensor, it can be achieved that the detection of wheel distance, feeds back to MCU
To realize constant distance.
Fan drive circuit unit, is responsible for the clean work of sweeper, and wind-force absorbs the dust on ground.
Side brush drive circuit unit can collect the dust of outside absorbable in blower by left and right side brush to rotate
Range.
Infrared sensor, infrared receiving circuit, for receiving the signal of IR remote controller, to control the behaviour of robot
Make, recharges reception signal, recharged automatically for robot.
It further include infrared emission tube drive circuit, constant current section driving circuit controls emitting portion in constant intensity,
So that infrared distance measurement is stablized accurately.
Control ground detection circuit unit prevents robot from falling for detecting steep cliff height.
Along wall detection circuit unit, for detecting the distance of Robot wall.
Preferably, the wireless communication transmission unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application,
For remotely controlling the operation of sweeping robot.The manipulation work for realizing cell phone application and sweeper, can remotely be grasped by network
Sweeper is controlled, realizes that timing cleans, map is cleaned and the manipulation work such as checks, recharges.
Preferably, Temperature Humidity Sensor, alarm are additionally provided with inside the robot main body 11 and for improving
The radiator fan of equipment internal heat dissipating performance；The Temperature Humidity Sensor, alarm, radiator fan and controller are electrically connected.
Preferably, the 11 side position of robot main body is additionally provided with camera, and robot main body 11 just
Face is provided with multiple function control buttons；The camera and function control button and controller are electrically connected.
Preferably, the controller inside the robot main body 11 controls chip using GD32F103VET6.
Preferably, the air matter for detecting indoor environment air quality is also installed on inside the robot main body 11
Quantity sensor；The air quality sensor and controller are electrically connected；11 side of robot main body offers ventilation hole,
Air quality sensor is arranged close to the ventilation hole.
Preferably, water level sensor is additionally provided with inside the water-storing tank.
Preferably, the side brush assemblies of 11 lower part of robot main body are symmetrically disposed on 11 two sides of robot main body
Position, when brush drive circuit unit is close to this, brush assemblies are arranged；And the control of left and right wheels velocity checking circuits unit, left and right wheels is driven
Dynamic circuit unit is arranged close to left and right sidesing driving wheel；Fan drive circuit unit is arranged close to fan assembly.
Compared with prior art, a kind of sweeping robot 1 based on gyroscope planning type of the utility model passes through while setting
Set robot main body 11 and the power supply being set to inside the robot main body 11, controller, for carrying out data letter
Data storage, wireless communication transmission unit, the water-storing tank for carrying out communication connection with external mobile terminal for ceasing storage
And side brush assemblies and left and right sidesing driving wheel component 12 in 11 lower part of robot main body are installed, in robot main body 11
Portion is respectively arranged to control the operation of left and right sidesing driving wheel component 12, receives the pwm control signal from controller
The left and right wheel speed that left and right wheels control drive circuit unit, are measured in real time for the operating rate to left and right sidesing driving wheel component 12
The side brush drive circuit unit that degree detection circuit unit and the operation for opposite side brush assemblies are controlled, actual moving process
In, controller is responsible for the normal operation work for the system of sweeping the floor, and avoidance is realized to the acquisition of multi-faceted data, along the acquisition of wall signal
Ensure accurately to acquire the angle signal of Gyro Assembly, along wall distance according to the mobile grating signal of wheel, to establish
Plane coordinate system, the indoor running track of recorder people can realize that planning type cleans in robot chamber by algorithm, to save
It saves and cleans the time, improve sweeping efficiency.
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 (8)
1. a kind of sweeping robot based on gyroscope planning type, it is characterised in that: including robot main body and be set to
Power supply, controller inside the robot main body, is used for and outside the data storage for carrying out data information memory
Mobile terminal carries out the wireless communication transmission unit of communication connection, water-storing tank and installs in the side of robot main body lower part
Brush assemblies and left and right sidesing driving wheel component；It is not provided in the robot host internal body portion for left and right sidesing driving wheel component
Operation controlled, receive the pwm control signal from controller left and right wheels control drive circuit unit, for left and right
Left and right wheels velocity checking circuits unit that the operating rate of drive wheel assemblies is measured in real time and for opposite side brush assemblies
Run the side brush drive circuit unit controlled；Further include be set to Gyro Assembly inside the robot main body,
It fan assembly and installs on the outside of robot main body for receiving the infrared sensor of external infrared remote-controlled signal；Described
It is correspondingly provided with the fan drive circuit unit controlled for the operation to fan assembly inside robot main body, is used for
The edge of control ground detection circuit unit and the distance for detecting Robot wall that detection steep cliff height prevents robot from falling
Wall detection circuit unit；The data storage, wireless communication transmission unit, left and right wheels control drive circuit unit, left and right wheel speed
Spend detection circuit unit, side brush drive circuit unit, Gyro Assembly, fan drive circuit unit, control ground detection circuit unit
And it is electrically connected along wall detection circuit unit and controller.
2. a kind of sweeping robot based on gyroscope planning type as described in claim 1, it is characterised in that: the channel radio
News transmission unit is wireless WiFi module group unit；It is wirelessly connected with cell phone application, for remotely controlling the fortune of sweeping robot
Row.
3. a kind of sweeping robot based on gyroscope planning type as described in claim 1, it is characterised in that: the robot
Temperature Humidity Sensor, alarm and the radiator fan for improving equipment internal heat dissipating performance are additionally provided with inside main body；
The Temperature Humidity Sensor, alarm, radiator fan and controller are electrically connected.
4. a kind of sweeping robot based on gyroscope planning type as described in any one of claims 1 to 3 claim,
It is characterized by: robot main body side position is additionally provided with camera, and it is provided in robot main body front
Multiple function control buttons；The camera and function control button and controller are electrically connected.
5. a kind of sweeping robot based on gyroscope planning type as described in claim 1, it is characterised in that: the robot
Controller inside main body controls chip using GD32F103VET6.
6. a kind of sweeping robot based on gyroscope planning type as described in claim 1, it is characterised in that: the robot
The air quality sensor for detecting indoor environment air quality is also installed on inside main body；The air quality sensor with
Controller is electrically connected；Robot main body side offers ventilation hole, and air quality sensor is set close to the ventilation hole
It sets.
7. a kind of sweeping robot based on gyroscope planning type as described in claim 1 or 6, it is characterised in that: the storage
Water level sensor is additionally provided with inside water tank.
8. a kind of sweeping robot based on gyroscope planning type as described in claim 1, it is characterised in that: the robot
The side brush assemblies of main body lower part are symmetrically disposed on robot main body two sides position, when brush drive circuit unit is close to this
Brush assemblies setting；And left and right wheels velocity checking circuits unit, left and right wheels control drive circuit unit are arranged close to left and right sidesing driving wheel；
Fan drive circuit unit is arranged close to fan assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821982412.XU CN209301022U (en) | 2018-11-29 | 2018-11-29 | A kind of sweeping robot based on gyroscope planning type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821982412.XU CN209301022U (en) | 2018-11-29 | 2018-11-29 | A kind of sweeping robot based on gyroscope planning type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209301022U true CN209301022U (en) | 2019-08-27 |
Family
ID=67674865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821982412.XU Active CN209301022U (en) | 2018-11-29 | 2018-11-29 | A kind of sweeping robot based on gyroscope planning type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209301022U (en) |
-
2018
- 2018-11-29 CN CN201821982412.XU patent/CN209301022U/en active Active
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