CN210961787U

CN210961787U - Detection apparatus for robot sweeps floor

Info

Publication number: CN210961787U
Application number: CN201920556899.3U
Authority: CN
Inventors: 孙延标; 黄润才; 杨孜茁
Original assignee: Shanghai University of Engineering Science
Current assignee: Shanghai University of Engineering Science
Priority date: 2019-04-23
Filing date: 2019-04-23
Publication date: 2020-07-10
Anticipated expiration: 2029-04-23

Abstract

The utility model provides a detection device of robot sweeps floor, include the robot that sweeps floor, visual sensor, universal wheel, first brush cleaner, second brush cleaner, red L ED lamp, yellow L ED lamp, green L ED lamp, laser scanning distancer, data transmission port, dust absorption mouth, first drive wheel, second drive wheel and chassis, the utility model discloses a laser scanning distancer combines together with visual sensor, has greatly reduced the shared space of component, rationally draws the route of marcing out through laser scanning distancer, and effectual obstacle avoidance can guarantee that clean coverage area is more comprehensive to whether it is clean to adopt visual sensor to detect ground, avoided the robot that sweeps floor only to sweep an area and only rotated in an area because of the mechanism of random collision, guaranteed clear purpose.

Description

Detection apparatus for robot sweeps floor

Technical Field

The utility model relates to the technical field of robots, concretely relates to detection device of robot of sweeping floor.

Background

With the improvement of living standard, the requirements of people on daily furniture are higher and higher. With the continuous progress of science and technology, furniture becomes more and more intelligent. The floor sweeping robot is easy to operate, convenient to use and capable of entering the life of people more and more, and becomes an important person in smart home. The sweeping robot comprises a cleaning system, a detection system, a basic wiring and an exhaust filter screen.

At present, a detection system most commonly used by a sweeping robot mainly utilizes a plurality of sensors such as infrared rays and collision induction to combine to sense the surrounding environment, and a random collision mechanism is adopted to search for a route for cleaning, namely, the route is searched while collision is carried out. However, in this method, the accuracy of infrared sensing is not high, and there is a certain requirement for the use environment, and the route of random collision cannot cover the whole room, which may cause the sweeping robot to rotate in a certain area, resulting in incomplete sweeping, and further affecting the cleaning effect of the ground.

The application number is Z L2014102665974's patent application, a robot of sweeping floor keeps away barrier, positioning method is disclosed, it uses collision detection subassembly, along a series of subassembly devices such as wall detection subassembly design one set of composite sensor that is used for the robot of sweeping floor to keep away the barrier, this composite sensor adopts nine collision detection sensors to become semicircular array mode and distributes at the front end of the robot of sweeping floor mainly, two infrared ray distance sensor distribute in the both sides of the robot of sweeping floor, this kind of mode occupation space that sets up is big, the price is expensive, and can not detect out whether clean on ground.

In summary, the existing sweeping robot has low detection precision, high requirements on use environment, incomplete cleaning coverage area, incapability of detecting whether the ground is clean or not, large occupied space and high price.

SUMMERY OF THE UTILITY MODEL

To the shortcoming of the above prior art, the utility model aims at providing a occupation space is little, with low costs, and clean coverage area is comprehensive to can detect out simultaneously whether clean robot's of sweeping floor detection device on ground.

According to an aspect of the utility model provides a detection device of robot sweeps floor, including robot body, visual sensor, universal wheel, first brush cleaner, second brush cleaner, red L ED lamp, yellow L ED lamp, green L ED lamp, laser scanning distancer, data transmission port, dust absorption mouth, first drive wheel, second drive wheel and chassis sweep floor, visual sensor installs the front end at robot body, with the data transmission port links to each other, red L ED lamp, yellow L ED lamp, green L ED lamp install the intermediate position at robot body side by side, visual sensor is connected with red L ED lamp, yellow L ED lamp, green L ED lamp respectively, laser scanning distancer installs the top at robot body, with the data transmission port links to each other, the rear end of laser scanning distancer is arranged in to the data transmission port, the front end intermediate position on chassis is located to the first brush cleaner and the second brush cleaner locate the both sides on chassis, the dust absorption mouth is located the second drive wheel both sides.

Further, the above detecting device for a cleaning robot, the vision sensor includes: industrial shell, lens with adjustable focal length, multi-color lighting lamp, charge-coupled device, memory card, interface and support, the industrial shell is arranged at the top end of the vision sensor, the lens with adjustable focal length and the multicolor lighting lamp are arranged in the industrial shell, the lens with adjustable focal length is arranged in the middle of the industrial shell, the multicolor lighting lamps are arranged at intervals along the circumferential position of the industrial shell, the charge coupling element is arranged in the support, the lens with adjustable focal length, the multicolor illuminating lamp and the memory card are respectively connected, the memory card is arranged at the rear side of the charge coupling element, the interface is arranged at the tail part of the support, with this body coupling of robot, the support sets up in vision sensor's bottom, industry shell, adjustable focal length's camera lens, multicolour light, charge-coupled device, RAM card and interface are connected with the support respectively.

Further, above-mentioned detection device of robot of sweeping floor, laser scanning distancer includes: speculum, link, first optics rotary encoder, servo motor, objective, second optics rotary encoder, laser emitter, laser receiver, connector, outer frame body and base, the speculum sets up the inside at outer frame body, the speculum is connected through the link with first optics rotary encoder, first optics rotary encoder installs on servo motor to be located the lower extreme of speculum, the objective sets up the front end at laser scanning distancer, second optics rotary encoder installs between base and outer frame body, laser emitter is located second optics rotary encoder's intermediate position, laser receiver sets up the inside intermediate position at the base, laser emitter with laser receiver connects, the connector sets up the afterbody at the base, with this body coupling of robot.

Compared with the prior art, the utility model discloses a laser scanning distancer combines together with visual sensor, has greatly reduced the shared space of component, rationally plans out the route of marcing through laser scanning distancer, and the effectual obstacle of keeping away can guarantee that clean coverage area is more comprehensive to whether adopt visual sensor to detect ground clean, avoided sweeping the floor the robot only to scan an area and cross and beat at an area because of the mechanism of random collision, guaranteed clear purpose.

Drawings

Fig. 1 is a schematic structural view of a detection device of a robot sweeper according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a laser scanning range finder according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a vision sensor according to an embodiment of the present invention;

fig. 4 is a schematic view of the working principle of the detection device of the robot sweeper of the embodiment of the present invention;

the device comprises a visual sensor 1, a universal wheel 2, a first cleaning brush 3, a second cleaning brush 4, a red L ED lamp 5, a yellow L ED lamp 6, a green L ED lamp 7, a laser scanning range finder 8, a data transmission port 9, a dust suction port 10, a first driving wheel 11, a second driving wheel 12, a chassis 13, an industrial shell 21, a focal length adjustable lens 22, a multicolor illuminating lamp 23, a charge coupling element 24, a memory card 25, an interface 26, a support 27, a reflector 31, a connecting frame 32, a first optical rotary encoder 33, a servo motor 34, an objective 35, a second optical rotary encoder 36, a laser emitter 37, a laser receiver 38, a connecting port 39, an outer frame 310 and a base 311.

Detailed Description

In order to make the creation features, technical means and achievement objects of the present invention easily understood and appreciated, the present invention will be further described with reference to the following embodiments.

As shown in fig. 1, the utility model provides a detection device of robot sweeps floor, including robot body, visual sensor 1, universal wheel 2, first brush cleaner 3, second brush cleaner 4, red L ED lamp 5, yellow L ED lamp 6, green L ED lamp 7, laser scanning distancer 8, data transmission port 9, dust absorption mouth 10, first drive wheel 11, second drive wheel 12 and chassis 13 sweep floor.

In the implementation, the utility model discloses vision sensor 1 installs at the front end of robot body, with data transmission port 9 links to each other, is used for detecting whether clean on ground, the utility model discloses red L ED lamp 5, yellow L ED lamp 6, green L ED lamp 7 install side by side at the intermediate position of robot body, and respectively with vision sensor 1 is connected, is used for feeding back the result of ground cleanliness the utility model discloses laser scanning distancer 8 installs on the top of robot body, with data transmission port 9 links to each other, is used for surveying the distance of sweeping floor robot and barrier to carry out environmental modeling, the utility model discloses laser scanning distancer 8's rear end is arranged in to data transmission port 9 for transmit each item data, the utility model discloses universal wheel 2 locates the front end intermediate position on chassis 13, is used for controlling turning to of sweeping floor robot, the utility model discloses first cleaning brush 3 and second cleaning brush 4 arrange the both sides of chassis 13 front end in, are used for cleaning the part as sweeping floor robot 10 locate 13 the intermediate position, use the effect of realizing sweeping floor the second cleaning robot 12 the drive wheel after the chassis is used for driving action 12.

Specifically, the utility model discloses install laser scanning distancer 8 on the top of robot body of sweeping the floor, through transmitting the laser beam to utilize its self optoelectronic component from the area to receive the laser beam that is reflected by the target barrier promptly, survey the time that the laser beam made a round trip, thereby reachs the distance on laser scanning distancer 8 to barrier border, then the data information that will obtain stores with the form of polar coordinate vector diagram again. And because the utility model discloses a laser scanning distancer 8 its regional coverage of itself be 360 degrees, consequently can construct the model picture of room internal environment, can also update the model picture according to the change of furniture position to mark off the region that the room was cleaned, reunion algorithm plans out reasonable route and cleans.

To sum up, the utility model discloses a laser scanning distancer 8 is through transmitting laser to each boundary point, and the precision is high, can the rational planning out route, has not only shortened the time of whole cleaning, has guaranteed clean regional comprehensiveness moreover, has avoided traditional random collision to look for the regional confusion that route mode leads to, covers inhomogeneous problem.

Specifically, the utility model discloses vision sensor 1 installs at the foremost end of sweeping robot body to be connected with red L ED lamp 5, yellow L ED lamp 6, green L ED lamp 7, and it has the very high pixel of obtaining light from an image, and can utilize optical element and imaging component to catch the image of a certain region ground in the room through the image sensor that itself carried, and through adjusting well the focal length of camera lens, obtain very clear image, then compare with the reference image that has stored in its memory and distinguish whether the ground is clean, and feed back the result of comparison and connect with it and install L ED lamp department at sweeping robot intermediate position, if red L ED lamp 5 is bright, it has the barrier on the ground, need replanning the route, if yellow L ED lamp 6 is bright, it is clean to indicate the ground is clean, need to be cleaned again, if green L ED lamp 7 is bright, it indicates clean, continue to sweep next region, analogize to each clean region.

To sum up, the utility model discloses a vision sensor 1 catches ground image and compares with reference image in the memory, and the resolution ratio is high, and more directly perceived, has not only further improved the effect of keeping away the barrier, can detect out moreover that whether clean region is cleaned totally, has guaranteed the cleanliness, has avoided the problem that regional repetition was cleaned and regional hourglass was cleaned.

The utility model discloses a combination setting of each component such as visual sensor 1, laser scanning distancer 8 and L ED lamp has not only reached and has kept away the clear purpose of barrier, and laser scanning distancer 8 and visual sensor 1 and L ED lamp light in weight are small moreover, and the price is low, simple to operate, and occupation space is little.

Further, as shown in fig. 2, the vision sensor 1 of the present invention includes: industrial housing 21, adjustable focus lens 22, multi-color illumination lamp 23, charge-coupled device 24, memory card 25, interface 26, and support 27.

In implementation, the utility model discloses industrial shell 21 is installed on the top of vision sensor 1 for protect each components and parts. The utility model discloses adjustable focal length's camera lens 22 and multicolor lighting lamp 23 arrange the inside of industrial shell 21 in, adjustable focal length's camera lens 22 arranges the intermediate position of industrial shell 21 in for gather the image, and adjustment focal length that can be appropriate, so that obtain clear image. The utility model discloses multicolor lighting lamp 23 sets up along industrial shell 21's circumference position interval, through shining ground on the reference thing promptly, increases certain contrast to acquire clearer ground image. The utility model discloses charge-coupled device 24 sets up inside support 27, links to each other respectively with adjustable focal length's camera lens 22, multicolour lighting lamp 23, RAM card 25, mainly used transmission signal. In the embodiment, the charge-coupled device 24 converts the light into electric charges, and converts the electric charges into digital signals through analog-to-digital conversion, so as to obtain the information of the image.

The utility model discloses memory card 25 sets up the rear side at charge-coupled device 24, mainly is used for the storage to gather image and reference image, and through the image information of inside CPU processing collection, carry out comparative analysis with the reference image in the memory, with the result feedback of comparison on L ED lamp, if red L ED lamp 5 is bright, it has the barrier to show ground, need plan the route again, if yellow L ED lamp 6 is bright, it is clean not totally to show ground, need clean once more, if green L ED lamp 7 is bright, it is clean to show ground, carry out the cleaning in next region, reach clear purpose with this.

The interface 26 of the utility model is arranged at the tail of the support 27 and connected with the robot body. The utility model discloses support 27 sets up in vision sensor 1's bottom for support and each components and parts of protection. In specific implementation, the utility model discloses industrial shell 21, adjustable focal length's camera lens 22, multicolor light 23, charge-coupled device 24, memory card 25 and interface 26 are connected with support 27 respectively.

Further, as shown in fig. 3, the laser scanning range finder 8 of the present invention includes: the optical pickup includes a mirror 31, a link 32, a first optical rotary encoder 33, a servo motor 34, an objective lens 35, a second optical rotary encoder 36, a laser transmitter 37, a laser receiver 38, a connection port 39, an outer frame 310, and a base 311.

In practice, the reflecting mirror 31 of the present invention is disposed inside the outer frame 310 for reflecting the laser beam. The utility model discloses speculum 31 is connected through link 32 with first optics rotary encoder 33, first optics rotary encoder 33 is installed on servo motor 34 to be located the lower extreme of speculum 31, first optics rotary encoder 33 can obtain corresponding rotation angle through photoelectric conversion, with this rotation of guaranteeing speculum 31, increases the scope of reflection. The utility model discloses servo motor 34 sets up the lower extreme at first optics rotary encoder 33 to link to each other with it, mainly used for driving first optics rotary encoder 33. The utility model discloses objective 35 sets up at the front end of laser scanning distancer 8, is used for seeing through the laser beam, shines the external world.

The utility model discloses second optics rotary encoder 36 installs between base 311 and outer frame body 310, obtains corresponding rotation angle through photoelectric conversion, increases laser scanning distancer 8's scanning range to handle each distance and rotation angle information by inside CPU, can mark off each region, plan out the route, reach the purpose of keeping away the barrier. The laser transmitter 37 of the present invention is located in the middle of the second optical rotary encoder 36, and is used for transmitting a laser beam; the laser receiver 38 is arranged at the inner middle position of the base 311 and is used for receiving laser beams; the laser transmitter 37 is connected to the laser receiver 38. The utility model discloses connector 39 sets up the afterbody at base 311 for be connected with this body coupling of robot.

The utility model discloses in the concrete implementation, laser emitter 37 launches the laser beam to speculum 31 on, through speculum 31 reflection through objective 35 reachs the target promptly the barrier, barrier reflection laser beam passes through speculum 31 to laser receiver 38 on, can obtain the distance of sweeping the floor robot to the barrier through inside CPU's processing calculation.

As shown in figure 4, the working principle of the detection device of the sweeping robot of the utility model is as follows, the distance from the sweeping robot to the boundary of the obstacle is measured through the laser scanning distance measuring instrument, then the distance is processed through the CPU of the robot, a model diagram of the room environment is constructed, the area is divided, the route is planned by combining the algorithm, the image of the external ground is obtained through the visual sensor, the feedback is acted on the L ED lamp, if the red L ED lamp 5 is bright, the obstacle is on the ground, the route needs to be planned again, if the yellow L ED lamp 6 is bright, the ground is unclean, the cleaning is needed to be performed again, if the green L ED lamp 7 is bright, the ground is clean, the next area is cleaned, and the purpose of obstacle avoidance and cleaning is achieved.

To sum up, compare with prior art, the utility model discloses clean regional scope is wider, the cleanliness is higher, and the space occupies for a short time, and is with low costs, is suitable for the popularization.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a detection apparatus of robot sweeps floor, its characterized in that, including sweeping floor robot body, visual sensor (1), universal wheel (2), first brush cleaner (3), second brush cleaner (4), red L ED lamp (5), yellow L ED lamp (6), green L ED lamp (7), laser scanning distancer (8), data transmission port (9), dust absorption mouth (10), first drive wheel (11), second drive wheel (12) and chassis (13), the front end at the robot body is installed in visual sensor (1), with data transmission port (9) link to each other, red L ED lamp (5), yellow L ED lamp (6), green L ED lamp (7) are installed side by side at the intermediate position of robot body, visual sensor (1) respectively with red L ED lamp (5), yellow L ED lamp (6), green L ED lamp (7) are connected, install on the top of robot body laser scanning distancer (8) with data transmission brush cleaner (9) link to each other the data transmission port (13) are located behind second drive wheel (13) first drive wheel cleaner (13) front end chassis (13), second chassis (13) rear end position (13) and chassis (13) are located the front end port (13).

2. The detection device of a sweeping robot according to claim 1, characterized in that the vision sensor (1) comprises: industry shell (21), focus adjustable's camera lens (22), multicolour illuminating lamp (23), charge coupled device (24), RAM card (25), interface (26) and support (27), the top at vision sensor (1) is installed in industry shell (21), the inside of industry shell (21) is arranged in to focus adjustable's camera lens (22) and multicolour illuminating lamp (23), the intermediate position of industry shell (21) is arranged in to focus adjustable's camera lens (22), the circumference position interval setting of industry shell (21) is followed in multicolour illuminating lamp (23), charge coupled device (24) set up inside support (27), with focus adjustable's camera lens (22), multicolour illuminating lamp (23), RAM card (25) link to each other respectively, RAM card (25) set up the rear side at charge coupled device (24), the afterbody at support (27) is established in interface (26), with this body coupling of robot, support (27) set up the bottom at vision sensor (1), industry shell (21), adjustable focal length's camera lens (22), multicolour illuminating lamp (23), charge-coupled device (24), memory card (25) and interface (26) are connected with support (27) respectively.

3. The detection device of a sweeping robot according to claim 1, characterized in that the laser scanning rangefinder (8) comprises: the laser scanning range finder comprises a reflector (31), a connecting frame (32), a first optical rotary encoder (33), a servo motor (34), an objective lens (35), a second optical rotary encoder (36), a laser transmitter (37), a laser receiver (38), a connecting port (39), an outer frame (310) and a base (311), wherein the reflector (31) is arranged inside the outer frame (310), the reflector (31) is connected with the first optical rotary encoder (33) through the connecting frame (32), the first optical rotary encoder (33) is arranged on the servo motor (34) and is positioned at the lower end of the reflector (31), the objective lens (35) is arranged at the front end of the laser scanning range finder (8), the second optical rotary encoder (36) is arranged between the base (311) and the outer frame (310), and the laser transmitter (37) is positioned at the middle position of the second optical rotary encoder (36), the laser receiver (38) is arranged in the middle of the inside of the base (311), the laser transmitter (37) is connected with the laser receiver (38), and the connecting port (39) is arranged at the tail of the base (311) and connected with the robot body.