CN211022469U - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
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- CN211022469U CN211022469U CN201921185357.6U CN201921185357U CN211022469U CN 211022469 U CN211022469 U CN 211022469U CN 201921185357 U CN201921185357 U CN 201921185357U CN 211022469 U CN211022469 U CN 211022469U
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Abstract
The utility model relates to a robot of sweeping floor, increase camera and camera control module in this application, the first apron of the perpendicular robot fuselage of camera upwards sets up, and pass through the hole collection of first apron the image of robot fuselage top, the interior map that remains to clean the environment of storing of robot main control module and predetermine the route of cleaning, the robot main control module sends the map of waiting to clean the environment and predetermine the route of cleaning to camera control module, relevant image processing algorithm in the camera control module, compare through the image that analysis camera obtained and the map of waiting to clean the environment, calculate robot yaw angle and position coordinate, judge whether the robot is skew to predetermine the route of cleaning, if skew to predetermine the route of cleaning then feed back the result to robot main control module, robot main control module according to the robot yaw angle and the position coordinate control that camera control module calculated and sweep floor the robot returns and originally predetermine the route of cleaning A wire.
Description
Technical Field
The application relates to the field of intelligent electronic equipment, in particular to a sweeping robot.
Background
The floor sweeping robot is one kind of intelligent household appliances, and can automatically complete the floor cleaning work in a room by means of certain artificial intelligence. Generally, the mode of brushing and vacuum dust collection is adopted, and the impurities on the ground are absorbed into the garbage storage box, so that the function of cleaning the ground is achieved. Generally, robots that perform cleaning, dust collection, and floor wiping operations are collectively called floor sweeping robots.
In the prior art, a sweeping robot usually uses a camera to collect surrounding images in a sweeping process, then detects whether obstacles exist around, and then avoids the obstacles to carry out sweeping, or builds a map of an environment to be swept in advance, sets a sweeping route of the robot according to the map of the environment to be swept, and enables the robot to carry out sweeping on the set route. However, in the prior art, when the robot performs cleaning according to a preset cleaning route, if the robot deviates due to an accident, the robot cannot return to the original cleaning route, and thus the preset cleaning work cannot be completed.
SUMMERY OF THE UTILITY MODEL
To overcome, at least to some extent, the problems in the related art, the present application provides a sweeping robot.
The scheme of the application is as follows:
a sweeping robot is characterized by comprising: the robot comprises a camera, a camera control module, a robot main control module, a cleaning module, a robot body, a driving wheel, an infrared module and an anti-collision assembly;
a first cover plate is arranged above the robot body and provided with a transparent window;
the camera and the camera control module are arranged below the first cover plate; the camera is vertical to the first cover plate and faces upwards, and images above the robot body are collected through a transparent window of the first cover plate;
the robot main control module is arranged inside the robot body;
the cleaning module and the driving wheel are arranged at the bottom of the robot body;
the infrared module is arranged on the side surface of the robot body;
the anti-collision assembly is detachably connected with the robot body;
the camera is in communication connection with the camera control module;
the camera control module, clean the module, the drive wheel all with robot master control module communication connection.
Preferably, in an implementable manner of the present application, the robot body comprises: the first cover plate, the second cover plate, the main shell and the chassis are detachably connected from top to bottom in sequence;
the second cover plate is provided with a hole;
the camera and the camera control module are arranged between the second cover plate and the main shell;
the camera penetrates through the hole of the second cover plate;
the robot main control module is arranged in the main shell;
the driving wheel is arranged below the chassis;
the infrared module is arranged on the side surface of the main shell;
the anti-collision assembly is detachably connected with the chassis.
Preferably, in an implementable manner of the present application, the robot body further comprises: and the third cover plate is arranged above the first cover plate and is made of transparent materials.
Preferably, in an implementable manner of the present application, the third cover plate is connected to the first cover plate by a moveable connection assembly; the third cover plate is opened and closed through the movable connecting component.
Preferably, in an implementation manner of the present application, the method further includes: a wireless communication module;
the wireless communication module is arranged inside the main shell;
the camera control module is in communication connection with the wireless communication module.
Preferably, in an implementable manner of the present application, the purge module comprises: two side brush motors, a middle sweep motor;
the two side brush motors are respectively arranged on two sides below the first end of the chassis;
the middle sweeping motor is arranged in the center below the chassis.
Preferably, in an implementation manner of the present application, the method further includes: a wind pressure motor;
the wind pressure motor is arranged in the center above the chassis.
Preferably, in an implementation manner of the present application, the method further includes: a dust collecting box;
the dust collection box is arranged above the second end of the chassis.
Preferably, in one implementation form of the present application, the bumper assembly includes:
the first arc-shaped anti-collision plate and the second arc-shaped anti-collision plate are arranged around the main shell;
a transparent arc-shaped plate is embedded in the first arc-shaped anti-collision plate;
the infrared module is arranged in a gap between the transparent arc plate of the first arc anti-collision plate and the main shell.
Preferably, in an implementable manner of the present application, the bumper assembly is removably attached to the chassis via a bumper bracket.
The technical scheme provided by the application can comprise the following beneficial effects:
in the sweeping robot, as the camera and the camera control module are added, the camera is arranged upwards vertical to the first cover plate of the robot body, the image above the robot body is collected through the transparent window of the first cover plate, the map of the environment to be cleaned and the preset cleaning route are stored in the robot main control module, the map of the environment to be cleaned and the preset cleaning route are sent to the camera control module by the robot main control module, the camera control module is internally provided with an image processing related algorithm, the image obtained by the camera is analyzed to be compared with a map of an environment to be cleaned, the yaw angle and the position coordinate of the robot are calculated, whether the robot deviates from a preset cleaning route or not is judged, if the robot deviates from the preset cleaning route, the result is fed back to the robot main control module, and the robot main control module controls the floor sweeping robot to return to the original preset cleaning route according to the robot yaw angle and the position coordinate calculated by the camera control module.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram of a sweeping robot provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a hardware system connection of a sweeping robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a sweeping robot according to another embodiment of the present application;
fig. 4 is a bottom structure view of a sweeping robot provided in an embodiment of the present application;
fig. 5 is a top view of a sweeping robot provided in an embodiment of the present application.
Reference numerals: a camera-1; a camera control module-2; a robot main control module-3; a cleaning module-4; an edge brush motor 41; a middle sweeping motor-42; a robot body-5; a first cover plate-51; a second cover-52; a main housing-53; -a chassis-54; a driving wheel-6; an infrared module-7; a collision avoidance component-8; a first arc-shaped impact prevention plate 81; a transparent arc-shaped plate-811; a second arcuate fender-82.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Fig. 1 is a schematic structural diagram of a sweeping robot provided in an embodiment of the present application, and referring to fig. 1, a sweeping robot is characterized by including: the robot comprises a camera 1, a camera control module 2, a robot main control module 3, a cleaning module 4, a robot body 5, a driving wheel 6, an infrared module 7 and an anti-collision assembly 8;
a first cover plate 51 is arranged above the robot body 5, and the first cover plate 51 is provided with a transparent window;
the camera 1 and the camera control module 2 are arranged below the first cover plate 51; the camera 1 is vertical to the first cover plate 51 and faces upwards, and images above the robot body 5 are collected through holes in the first cover plate 51;
the robot main control module 3 is arranged inside the robot body 5;
the cleaning module 4 and the driving wheel 6 are arranged at the bottom of the robot body 5;
the infrared module 7 is arranged on the side surface of the robot body 5;
the anti-collision assembly 8 is detachably connected with the robot body 5;
the camera 1 is in communication connection with the camera control module 2;
the camera control module 2, the cleaning module 4 and the driving wheel 6 are in communication connection with the robot main control module 3.
The camera 1 of the sweeping robot in the prior art is generally transversely arranged, collects image information around the sweeping robot and feeds the image information back to the robot controller, and the robot controller plans a route according to the image information around the sweeping robot collected by the camera 1 to prevent collision.
Clarity is the degree to which a crystalline mineral allows light to pass through when ground to a standard thickness (0.03 mm). The absorption coefficient is used in physics to describe the transparency of an object. In the visual identification, the transparency of the crystalline mineral is often identified by a simpler method, and is generally divided into three grades of transparency, translucency and opacity.
The transparent window of the first cover plate 51 is a circular transparent window corresponding to the shape of the camera head, and the transparency is a transparent level.
In the sweeping robot in the embodiment, the camera 1 is arranged upwards perpendicular to the first cover plate 51 of the robot body, and collects the image above the robot body 5 through the transparent window of the first cover plate 51, the robot main control module 3 stores the map of the environment to be cleaned and the preset cleaning route, the robot main control module 3 sends the map of the environment to be cleaned and the preset cleaning route to the camera control module 2, the camera control module 2 stores the related image processing algorithm, the image obtained by the analysis camera 1 is compared with a map of an environment to be cleaned, the yaw angle and the position coordinate of the robot are calculated, whether the robot deviates from a preset cleaning route or not is judged, if the robot deviates from the preset cleaning route, the result is fed back to the robot main control module 3, and the robot main control module 3 controls the floor sweeping robot to return to the original preset cleaning route according to the robot yaw angle and the position coordinate calculated by the camera control module 2.
The related image processing algorithm stored in the camera control module 2 is the existing technical means, and the existing technical means is also the existing technical means for calculating the yaw angle and the position coordinate of the robot by comparing the image obtained by analyzing the camera 1 with the map of the environment to be cleaned.
In a preferred embodiment of this embodiment, the first cover plate 51 is further provided with a power touch key, and the power touch key is respectively connected to the power module and the robot main control module 3, so that when pressed, the power module transmits or stops transmitting electric energy to the robot main control module 3, so that the sweeping robot starts or stops working.
The power module may be, but is not limited to, a rechargeable battery, typically a nickel metal hydride battery or a lithium battery.
The sweeping robot can also be provided with a matched charging seat.
And after the sweeping robot finishes working, the sweeping robot returns to the charging seat according to a preset path to charge.
Fig. 2 is a schematic diagram of the hardware system connection of the sweeping robot. Referring to fig. 2, a camera 1 is in communication connection with a camera control module 2; the camera control module 2, the cleaning module 4 and the driving wheel 6 are in communication connection with the robot main control module 3.
Further, referring to fig. 3, the robot body 5 includes: a first cover plate 51, a second cover plate 52, a main shell 53 and a chassis 54 which are detachably connected from top to bottom;
the second cover plate 52 has holes;
the camera 1 and the camera control module 2 are disposed between the second cover 52 and the main housing 53;
the camera 1 passes through the hole of the second cover plate 52;
the robot main control module 3 is arranged inside the main shell 53;
the drive wheel 6 is arranged below the chassis 54;
the infrared module 7 is arranged on the side surface of the main shell 53;
the bumper assembly 8 is removably attached to the chassis 54.
Because the camera 1 is cylindrical, a cover plate is required to cover the camera 1 to fix the camera 1, in this embodiment, a second cover plate 52 with holes is used to fix the camera 1 by passing the camera 1 through the holes of the second cover plate 52, and the bottom of the camera 1 is fixed on the main housing 53.
The sizes of the transparent window of the first cover plate 51 and the through hole of the second cover plate 52 are equal to the size of the cross section of the main body of the camera 1.
Preferably, the camera 1 is provided with a rubber pad at a fixed position on the main housing 53 to prevent the camera 1 from sliding; the size of the holes of the first cover plate 51 and the second cover plate 52 is slightly larger than the size of the cross section of the main body of the camera 1, and a circle of rubber ring is arranged in the holes of the first cover plate 51 and the second cover plate 52 to prevent the camera 1 from sliding.
In some embodiments, the sweeping robot, the robot body 5 further includes: and a third cover plate arranged above the first cover plate 51, wherein the third cover plate is made of transparent material.
Because the transparent window and the power touch key of first apron 51 expose outside, be stained with the dust on the first apron 51 and make transparent window department or power touch key department intake easily when clearing up to if the robot top of sweeping the floor receives the collision, then influence the camera under the transparent window easily, so in this embodiment, through set up the third apron above first apron 51, make the third apron play dustproof, and protect camera 1's effect. Because camera 1 needs to gather the image information of sweeping the floor robot top, so, adopt transparent material's third apron in this embodiment.
The third cover plate may be, but is not limited to, a transparent plastic material. The transparency is a transparency level.
Further, in consideration of the situation that the first cover plate 51 is provided with the power touch key, the third cover plate is connected with the first cover plate 51 through the movable connecting assembly; the third cover plate is opened and closed through the movable connecting component.
The movable connection assembly can be implemented in a variety of ways, such as a hinge. A hinge is a component that connects and enables movement of two parts of an object.
The sweeping robot in some embodiments, further comprising: a wireless communication module;
the wireless communication module is disposed inside the main housing 53;
the camera control module 2 is in communication connection with the wireless communication module.
The camera control module 2 is in communication connection with the mobile equipment through the wireless communication module, and sends the collected images above the sweeping robot to the mobile equipment end. The mobile device end can store the image collected by the camera control module 2, and a user of the mobile device can manually judge the current position of the floor sweeping robot according to the image collected by the camera control module 2. The user can also assign various instructions to the robot of sweeping the floor through mobile device, for example change and clean the route, set up virtual wall and the region of self-defining cleaning etc. then send the instruction to camera control module 2 through wireless communication module, camera control module 2 sends information for robot main control module 3, and each module of robot main control module 3 control robot of sweeping the floor accomplishes the instruction.
The sweeping robot in some embodiments, referring to fig. 4, the sweeping module 4 includes: two side brush motors 41, a middle sweep motor 42;
the two side brush motors 41 are respectively arranged at two sides below the first end of the chassis 54;
the mid-sweep motor 42 is centrally disposed below the chassis 54.
In this embodiment, set up three motor that cleans, two limit brush motors 41 set up respectively in fuselage chassis 54 first end below both sides, are responsible for gathering together the dust, clean corner and gap, and well motor 42 that sweeps sets up in fuselage chassis 54 below center, is responsible for cleaning ground, and three motor collaborative work that cleans the effect better.
The sweeping robot in some embodiments further comprises: a wind pressure motor;
the wind pressure motor is centrally disposed above the chassis 54.
Further, the robot of sweeping the floor still includes: a dust collecting box;
the dust bin is disposed above the second end of the chassis 54.
The wind pressure motor absorbs dust on the ground and transmits the dust to the dust collecting box.
The dust collecting box is of a detachable structure and is provided with an openable top cover.
After the sweeping robot cleans every pair of surrounding environments once, the dust collecting box can be detached, the top cover of the dust collecting box is opened, dust in the dust collecting box is cleaned, and then the dust collecting box is installed back.
In some embodiments, referring to fig. 5, the sweeping robot, the collision avoidance module 8 includes:
a first arc-shaped collision prevention plate 81 and a second arc-shaped collision prevention plate 82, the first arc-shaped collision prevention plate 81 and the second arc-shaped collision prevention plate 82 being provided around the main casing 53;
a transparent arc-shaped plate 811 is embedded in the first arc-shaped anti-collision plate 81;
the infrared module 7 is disposed at a gap between the transparent arc plate 811 of the first arc-shaped impact prevention plate 81 and the main casing 53.
First arc anticollision board 81 is embedded to have transparent arc 811, and infrared module 7 sets up the space department between transparent arc 811 and the main casing body 53 of first arc anticollision board 81 for infrared module 7 can see through the outside transmission infrared ray of transparent arc 811 of first arc anticollision board 81, does not influence infrared module 7's work.
The transparent arc 811 of the first arc-shaped anti-collision plate 81 may be a translucent transparent arc, that is, the transparent arc is translucent in transparency level, because of the strong penetration of infrared rays.
The arc-shaped collision-proof plate can effectively reduce the collision impact force on the sweeping robot.
Further, the bumper assembly 8 is removably attached to the chassis 54 via a bumper bracket.
The anticollision support is arc support, and anticollision subassembly 8 can be dismantled through buckle structure and be connected between anticollision support and the chassis 54.
In some embodiments, the sweeping robot, the infrared module 7 includes: the system comprises an infrared cliff detection module and an infrared obstacle detection module;
the infrared cliff detection module is used for detecting steps in front of the sweeping robot and sending a first alarm signal to the main control module when detecting that the steps in front of the sweeping robot are larger;
the infrared obstacle detection module is used for detecting obstacles in front of the sweeping robot and sending a second alarm signal to the main control module when detecting that the obstacles are in front of the sweeping robot.
In this embodiment, the infrared module 7 includes: the infrared cliff detection module and the infrared obstacle detection module can simultaneously detect a large step and an obstacle in front of the sweeping robot, prevent the sweeping robot from falling into the lower part of the step in front, and prevent the sweeping robot from colliding with the obstacle in front.
It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A sweeping robot is characterized by comprising: the robot comprises a camera, a camera control module, a robot main control module, a cleaning module, a robot body, a driving wheel, an infrared module and an anti-collision assembly;
a first cover plate is arranged above the robot body and provided with a transparent window;
the camera and the camera control module are arranged below the first cover plate; the camera is vertical to the first cover plate and faces upwards, and images above the robot body are collected through a transparent window of the first cover plate;
the robot main control module is arranged inside the robot body;
the cleaning module and the driving wheel are arranged at the bottom of the robot body;
the infrared module is arranged on the side surface of the robot body;
the anti-collision assembly is detachably connected with the robot body;
the camera is in communication connection with the camera control module;
the camera control module, clean the module, the drive wheel all with robot master control module communication connection.
2. The sweeping robot of claim 1, wherein the robot body comprises: the first cover plate, the second cover plate, the main shell and the chassis are detachably connected from top to bottom in sequence;
the second cover plate is provided with a hole;
the camera and the camera control module are arranged between the second cover plate and the main shell;
the camera penetrates through the hole of the second cover plate;
the robot main control module is arranged in the main shell;
the driving wheel is arranged below the chassis;
the infrared module is arranged on the side surface of the main shell;
the anti-collision assembly is detachably connected with the chassis.
3. The sweeping robot of claim 1, wherein the robot body further comprises: and the third cover plate is arranged above the first cover plate and is made of transparent materials.
4. The sweeping robot of claim 3, wherein the third deck is connected to the first deck by a moveable connection assembly; the third cover plate is opened and closed through the movable connecting component.
5. The sweeping robot of claim 2, further comprising: a wireless communication module;
the wireless communication module is arranged inside the main shell;
the camera control module is in communication connection with the wireless communication module.
6. The sweeping robot of claim 2, wherein the sweeping module comprises: two side brush motors, a middle sweep motor;
the two side brush motors are respectively arranged on two sides below the first end of the chassis;
the middle sweeping motor is arranged in the center below the chassis.
7. The sweeping robot of claim 2, further comprising: a wind pressure motor;
the wind pressure motor is arranged in the center above the chassis.
8. The sweeping robot of claim 2, further comprising: a dust collecting box;
the dust collection box is arranged above the second end of the chassis.
9. The sweeping robot of claim 2, wherein the collision avoidance assembly comprises:
the first arc-shaped anti-collision plate and the second arc-shaped anti-collision plate are arranged around the main shell;
a transparent arc-shaped plate is embedded in the first arc-shaped anti-collision plate;
the infrared module is arranged in a gap between the transparent arc plate of the first arc anti-collision plate and the main shell.
10. The sweeping robot of claim 9, wherein the bumper assembly is removably connected to the chassis via a bumper bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921185357.6U CN211022469U (en) | 2019-07-25 | 2019-07-25 | Floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921185357.6U CN211022469U (en) | 2019-07-25 | 2019-07-25 | Floor sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211022469U true CN211022469U (en) | 2020-07-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201921185357.6U Active CN211022469U (en) | 2019-07-25 | 2019-07-25 | Floor sweeping robot |
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| CN (1) | CN211022469U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924021A (en) * | 2020-07-27 | 2020-11-13 | 广州哨马智能装备科技有限公司 | Full-automatic inspection robot chassis |
| CN112244690A (en) * | 2020-08-28 | 2021-01-22 | 南京驭逡通信科技有限公司 | Indoor cleaning anti-collision robot and cleaning method thereof |
| CN114305261A (en) * | 2021-12-29 | 2022-04-12 | 广州科语机器人有限公司 | Route deviation rectifying processing method and device for sweeper |
-
2019
- 2019-07-25 CN CN201921185357.6U patent/CN211022469U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111924021A (en) * | 2020-07-27 | 2020-11-13 | 广州哨马智能装备科技有限公司 | Full-automatic inspection robot chassis |
| CN112244690A (en) * | 2020-08-28 | 2021-01-22 | 南京驭逡通信科技有限公司 | Indoor cleaning anti-collision robot and cleaning method thereof |
| CN114305261A (en) * | 2021-12-29 | 2022-04-12 | 广州科语机器人有限公司 | Route deviation rectifying processing method and device for sweeper |
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