CN211149278U - Autonomous robot - Google Patents
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- CN211149278U CN211149278U CN201922337619.2U CN201922337619U CN211149278U CN 211149278 U CN211149278 U CN 211149278U CN 201922337619 U CN201922337619 U CN 201922337619U CN 211149278 U CN211149278 U CN 211149278U
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Abstract
The utility model discloses an autonomous robot, include: the robot comprises a robot main body and a control unit, wherein the robot main body is provided with a front end, a side end and a forward direction passing through the front end, and a connecting line of the side end and the center of the robot main body is vertical to the forward direction; a detection area positioned between two side ends is formed on the periphery of the robot main body, and the front end is positioned in the detection area; the sensor system comprises a plurality of ranging sensors, the ranging sensors are distributed in a detection area along the circumferential direction of the robot main body, and at least one of the ranging sensors is defined as a first edge sensor; the driving system supports and drives the robot main body to rotate and move; and the controller is electrically connected with the sensor system and the driving system so as to control the robot main body to rotate to enable the first edge sensor to keep a preset distance with the barrier and control the robot main body to keep the preset distance to move. The utility model discloses autonomous robot has improved autonomous robot's edgewise performance and practicality.
Description
Technical Field
The utility model relates to a robotechnology field, in particular to autonomic robot.
Background
Cleaning machines people is used for carrying out cleaning works such as dust absorption, cleaning, washing to ground, and along with artificial intelligence's development, cleaning machines people has possessed that the intelligence keeps away functions such as barrier, anti-sticking is dead, automatic charging, autonomous navigation route planning for cleaning machines people's intelligent degree promotes by a wide margin, and whole cleaning process need not consider control, has liberated people's both hands greatly, and cleaning process labour saving and time saving more and more receives the young people favor.
Edgefollowing cleaning, which refers to cleaning when the robot moves along the contour edge of an object, is one of the important functions of the cleaning robot. When the robot carries out edgewise following cleaning, a follower needs to be found firstly, and the follower can be an object arranged on the ground such as a wall, a household appliance and the like.
The method for finding the follower is various, and at least comprises the following two modes according to different sensors: firstly, when the edge of the robot collides with an object, the collision sensor is triggered, and then the follower is considered to be found. And secondly, when the distance measuring sensor on the robot measures that the object is at a proper distance from the robot, the robot is considered to find the follower. After finding the follower, the robot needs to rotate to be basically parallel to the contour edge of the follower and then perform the following cleaning along the edge.
However, most cleaning robots can be substantially parallel to the contour edge of the following object after multiple collisions or multiple posture adjustments when rotating, so that the probability of damaging objects such as walls and household appliances is increased, the robot action also appears stiff and clumsy, the user experience is poor, and the practicability of the robot is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an autonomic robot, aim at solving the technical problem who how to improve autonomic robot practicality.
In order to achieve the above object, the utility model provides an autonomous robot includes:
the robot comprises a robot main body and a control unit, wherein the robot main body is provided with a front end, a side end and a forward direction passing through the front end, and a connecting line of the side end and the center of the robot main body is perpendicular to the forward direction; a detection area positioned between the two side ends is formed on the peripheral side of the robot main body, and the front end is positioned in the detection area;
the sensor system comprises a plurality of ranging sensors, the ranging sensors are distributed in the detection area along the circumferential direction of the robot main body, and at least one of the ranging sensors is defined as a first edge sensor;
a driving system supporting and driving the robot main body to rotate and move;
and the controller is electrically connected with the sensor system and the driving system so as to control the robot main body to rotate to enable the first edge sensor to keep a preset distance with the obstacle and control the robot main body to keep the preset distance to move.
Preferably, the controller is configured to control the robot main body to rotate by a first angle when any one of the distance measuring sensors maintains the preset distance from the obstacle, where the first angle is a central angle formed by the distance measuring sensor and the first edge sensor.
Preferably, the number of the ranging sensors is 12 to 20.
Preferably, the installation height of the distance measuring sensor is not less than 1.5cm and not more than 4.5 cm.
Preferably, the first edge sensor is adjacent to one side end of the robot main body.
Preferably, at least one of the plurality of ranging sensors is defined as a second edge sensor adjacent to the other side end of the robot main body.
Preferably, the number of the first edge sensors is two, and the two first edge sensors are adjacent to each other.
Preferably, the detection area includes both sides detection area and is located two preceding detection area between the side detection area, the front end is located in preceding detection area, and a plurality of range finding sensor is in two the distribution density in side detection area is greater than in preceding detection area.
Preferably, the autonomous robot is a sweeping robot or a cleaning robot.
Preferably, the distance measuring sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.
The utility model discloses autonomous robot sets up a plurality of distance measuring sensors in the detection zone of robot main part, and define one of them at least distance measuring sensor as the edgewise sensor, record edgewise sensor and each laser sensor's centre of a circle angle, when certain distance measuring sensor keeps presetting the interval with the barrier, controller control actuating system drives the robot main part rotatory, rotatory angle is this distance measuring sensor and edgewise sensor's central angle, rotate to keep this presetting the interval with the barrier with the edgewise sensor, the direction of advance of robot main part and the extending direction of barrier or the tangential parallel through edgewise sensor irradiation point this moment, thereby robot main part can keep this presetting the interval with the barrier and advance, the edgewise operating mode of autonomous robot has been realized. Because the central angles of the edge sensor and each distance measuring sensor are not changed, when any distance measuring sensor keeps a preset distance with the barrier, the robot main body only needs to rotate the corresponding central angle to keep the preset distance between the edge sensor and the barrier, one-time rotation to position is realized, namely, multiple rotations are not needed, and the edge performance and the practicability of the autonomous robot are improved; in addition, the laser sensor can be used for realizing non-contact remote measurement, the measurement precision is high, the robot main body can be close to the obstacle as much as possible, meanwhile, the laser sensor can also be free from the interference of the surface color of the obstacle, and the stability of the edge function of the autonomous robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of the autonomous robot of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | Robot |
20 | |
30 | |
| 40 | Second edge sensor |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides an autonomic robot.
In an embodiment of the present invention, as shown in fig. 1, the autonomous robot includes:
a robot main body 10, the robot main body 10 having a front end, a side end, and a forward direction passing through the front end, a line connecting the side end and the center of the robot main body 10 being perpendicular to the forward direction; a detection area located between the two side ends is formed on the periphery of the robot main body 10, and the front end is located in the detection area;
a sensor system comprising a plurality of ranging sensors 20, a plurality of said ranging sensors 20 being distributed in said detection zone, at least one of them being defined as a first edge sensor 30;
a driving system supporting and driving the robot main body 10 to rotate and move;
and the controller is electrically connected with the sensor system and the driving system so as to control the robot main body 10 to rotate to enable the first edge sensor 30 to keep a preset distance with an obstacle, and control the robot main body 10 to keep the preset distance to move.
In the present embodiment, the contour of the robot main body 10 includes, but is not limited to, a circular structure, and may also be a rectangle or a combination of a rectangle and a circle. The driving system is mounted to the robot main body 10 and configured to drive the robot main body 10 to rotate and move. The driving system comprises a driving device and a driving wheel, the driving wheel comprises two moving wheels and a steering wheel, the steering wheel drives the robot main body 10 to rotate, the moving wheels drive the robot main body 10 to move forwards or backwards, and the advancing direction of the moving wheels is determined by the steering wheel. The front end of the robot main body 10 is the end farthest from the center of the robot main body 10 in the forward direction of the robot main body 10. The side ends of the robot main body 10, i.e., the left and right ends of the robot main body 10, are perpendicular to the forward direction from the line connecting the side ends and the center of the robot main body 10. The detection area is an area where the peripheral edge of the robot main body 10 is located between both side ends in the advancing direction of the robot main body 10, and the front end of the robot main body 10 is located at the middle of the detection area. The ranging sensor 20 may be a laser sensor, an ultrasonic sensor, or an infrared sensor.
In the process of the robot main body 10 moving forward, the detection area is always the closest to the obstacle in front, so the distance measuring sensor 20 arranged in the detection area can detect the obstacle first, it should be noted that the detection direction of the distance measuring sensor 20 is consistent with the radial direction of the robot main body 10, and the distance between the distance measuring sensor 20 and the obstacle, that is, the distance between the position of the distance measuring sensor 20 and the obstacle, detected by any distance measuring sensor 20. When the distance between a certain distance measuring sensor 20 and an obstacle satisfies a preset distance, the controller controls the driving system to rotate so as to drive the robot main body 10 to rotate, so that the edge sensor is rotated to the position where the distance measuring sensor 20 is located, and the edge sensor keeps the preset distance with the obstacle, which needs to be explained, when the edge sensor keeps the preset distance with the obstacle, the advancing direction of the robot main body 10 is parallel to the extending direction of the obstacle, or parallel to the tangential direction of the detected point of the obstacle, so that the advancing process of the robot main body 10 always satisfies the preset distance between the edge sensor and the obstacle.
If the first edge sensor 30 is adjacent to the side end of the robot main body 10, the preset distance may be set to a minimum distance between each of the ranging sensors 20 and the obstacle; if the first edge sensor 30 is not adjacent to the side end of the robot main body 10, the preset distance should be greater than the minimum distance between each distance measuring sensor 20 and the obstacle. The controller records the angle of the center of a circle between the first edge sensor 30 and each distance measuring sensor 20 in advance, and when the first edge sensor 30 needs to be rotated to the position of a certain distance measuring sensor 20, the robot main body 10 only needs to rotate the angle of the center of a circle between the first edge sensor 30 and the distance measuring sensor 20 at one time. The distance measuring sensor 20 can perform contactless distance measurement to prevent the robot main body 10 from colliding with an obstacle; in addition, the laser sensor also has the advantages of high speed, high precision, large measuring range, strong light and electric interference resistance and the like, and can also eliminate the interference of the surface color of the obstacle on the detection result so as to improve the detection accuracy and the stability of the edgewise moving function of the robot main body 10.
The utility model discloses autonomous robot sets up a plurality of distance measuring sensor 20 in the detection zone of robot main part 10, and with one of them at least distance measuring sensor 20 definition for the edgewise sensor, record edgewise sensor and each distance measuring sensor 20's centre of a circle angle, when certain distance measuring sensor 20 keeps presetting the interval with the barrier, controller control actuating system drives robot main part 10 rotatory, rotatory angle is this distance measuring sensor 20 and edgewise sensor's central angle, in order to rotate edgewise sensor and keep this preset interval with the barrier, the direction of advance of robot main part 10 and the extending direction of barrier or through the tangential parallel of edgewise sensor irradiation point this moment, thereby robot main part 10 can keep this preset interval with the barrier and advance, the edgewise operating mode of autonomous robot has been realized. Because the central angles of the edge sensor and each ranging sensor 20 are not changed, when any ranging sensor 20 keeps a preset distance from the obstacle, the robot main body 10 only needs to rotate the corresponding central angle to keep the preset distance between the edge sensor and the obstacle, so that the edge sensor and the obstacle can be rotated to the position once, namely, the edge sensor and the obstacle do not need to be rotated for many times, and the edge performance and the practicability of the autonomous robot are improved; in addition, the laser sensor can be used for realizing non-contact remote measurement, the measurement precision is high, the robot main body 10 can be close to the obstacle as much as possible, meanwhile, the laser sensor can be prevented from being interfered by the surface color of the obstacle, and the stability of the edge function of the autonomous robot is improved.
Specifically, the number of the ranging sensors 20 is 12 to 20. In the present embodiment, the field of view of a single ranging sensor 20 is 15 °, and the central angle of the detection area is 180 °, so at least 12 ranging sensors 20 need to be provided, so that the field of view of the ranging sensors 20 completely covers the peripheral side of the detection area, and a detection blind area is avoided. The single distance measuring sensor 20 has a detection range, and the central angle between the distance measuring sensor 20 and the first edge sensor 30 is fixed, so that the distance between the rotated first edge sensor 30 and the obstacle has an error from the preset distance, and if the number of the distance measuring sensors 20 is larger, the error can be controlled to be smaller; therefore, the number of the distance measuring sensors 20 is set to 20, so that the moving accuracy of the autonomous robot along the edge can be improved, and the stable installation of each distance measuring sensor 20 can be ensured.
In practical application, the installation height of the distance measuring sensor 20 is not less than 1.5cm and not more than 4.5 cm. In the present embodiment, the installation height of the distance measuring sensor 20 refers to a distance between the center of the distance measuring sensor 20 and the ground. The field of view of the distance measuring sensor 20 in the longitudinal direction is also 15 °, and the distance between the lowest point of the field of view and the ground is the obstacle crossing height which is set to be 2 cm. Since the effective detection distance of the distance measuring sensor 20 is 10cm, the installation height H of the distance measuring sensor 20 should be set to H ═ the obstacle crossing height + tan (7.5 °) and the effective detection distance ═ 2+ tan (7.5 °) and 10 ═ 2.4 cm. Therefore, the installation height of the ranging sensor 20 is set to be 1.5 cm-4.5 cm, the obstacle crossing height of the autonomous robot can be effectively met, and the interference of non-obstacles on the movement of the autonomous robot is avoided.
In one embodiment, as shown in fig. 1, the first edge sensor 30 is adjacent to one side end of the robot main body 10. In the present embodiment, the first edge sensor 30 may be adjacent to a right side end of the robot main body 10, thereby enabling right edge movement of the robot main body 10 to an obstacle. The first edgewise sensor 30 is disposed at the side end of the robot main body 10, and when the robot main body 10 moves edgewise, the distance between the first edgewise sensor 30 and the obstacle, that is, the minimum distance between the robot main body 10 and the obstacle, may prevent the robot main body 10 from colliding with the obstacle during the edgewise rotation or movement process, and may simplify the control process of the edgewise rotation of the robot main body 10.
Specifically, as shown in fig. 1, at least one of the plurality of distance measuring sensors 20 is defined as a second edgewise sensor 40, and the second edgewise sensor 40 is adjacent to the other side end of the robot main body 10. In this embodiment, the second edge sensor 40 may be adjacent to the left end of the robot main body 10, and when the environmental characteristics satisfy a specific condition, the autonomous robot may switch to move to the left edge for the obstacle, so that the autonomous robot may adapt to more application environments, satisfy different application requirements, and improve the practicability of the autonomous robot.
In practical applications, the number of the first edge sensors 30 is two, and two first edge sensors 30 are adjacent to each other. The number of the first edge sensors 30 is two, so that the error of a single edge sensor in the edge walking process can be effectively overcome, the dynamic adjustment of the autonomous robot can be realized in the edge moving process, the preset distance is further kept between the autonomous robot and an obstacle, and the stability of the autonomous robot in the edge moving process is improved.
In one embodiment, the detection regions include two side detection regions and a front detection region located between the two side detection regions, the front end is located in the front detection region, and the distribution density of the plurality of ranging sensors 20 in the two side detection regions is greater than that in the front detection region. In this embodiment, the circumferential dimension of the leading detection zone may coincide with the two side detection zones. In the process that robot body 10 gos forward, the barrier in the dead ahead is detected by the distance measuring sensor 20 of preceding detection zone more easily, and the detection blind area appears more easily in the side detection zone, consequently, establishes the distribution density of distance measuring sensor 20 in the side detection zone to be greater than the distribution density of preceding detection zone, can further improve the detection precision of side detection zone, improves distance measuring sensor 20's effective utilization simultaneously.
Specifically, the autonomous robot is a sweeping robot or a cleaning robot. In this embodiment, the autonomous robot is provided with a cleaning unit to have a function of sucking in dust, foreign materials, and the like on the floor. The cleaning member protrudes from the peripheral wall of the robot main body 10, so that the cleaning member can effectively clean the area between the obstacle and the robot main body 10 during the movement of the robot main body 10 along the edge.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. An autonomous robot, comprising:
the robot comprises a robot main body and a control unit, wherein the robot main body is provided with a front end, a side end and a forward direction passing through the front end, and a connecting line of the side end and the center of the robot main body is perpendicular to the forward direction; a detection area positioned between the two side ends is formed on the peripheral side of the robot main body, and the front end is positioned in the detection area;
the sensor system comprises a plurality of ranging sensors, the ranging sensors are distributed in the detection area along the circumferential direction of the robot main body, and at least one of the ranging sensors is defined as a first edge sensor;
a driving system supporting and driving the robot main body to rotate and move;
and the controller is electrically connected with the sensor system and the driving system so as to control the robot main body to rotate to enable the first edge sensor to keep a preset distance with the obstacle and control the robot main body to keep the preset distance to move.
2. The autonomous robot of claim 1, wherein the controller is configured to control the robot body to rotate by a first angle when any one of the ranging sensors maintains the predetermined distance from the obstacle, the first angle being a central angle formed by the ranging sensor and the first edge sensor.
3. The autonomous robot of claim 1, wherein the number of ranging sensors is 12 to 20.
4. The autonomous robot of claim 1, wherein a mounting height of the ranging sensor is not less than 1.5cm and not more than 4.5 cm.
5. The autonomous robot of claim 1, wherein the first edge sensor is proximate to a side end of the robot body.
6. The autonomous robot of claim 5, wherein at least one of the plurality of ranging sensors is defined as a second edge sensor adjacent to the other side end of the robot body.
7. The autonomous robot of claim 1, wherein the number of first edge sensors is two, the first edge sensors being adjacent to each other.
8. The autonomous robot of claim 1, wherein the detection zone comprises two side detection zones and a front detection zone disposed between the two side detection zones, the front end being disposed within the front detection zone, the plurality of ranging sensors having a greater distribution density at the two side detection zones than at the front detection zone.
9. The autonomous robot of claim 1, wherein the autonomous robot is a sweeping robot or a cleaning robot.
10. The autonomous robot of claim 1, wherein the ranging sensor is a laser sensor, an ultrasonic sensor, or an infrared sensor.
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| CN201922337619.2U CN211149278U (en) | 2019-12-20 | 2019-12-20 | Autonomous robot |
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| CN201922337619.2U CN211149278U (en) | 2019-12-20 | 2019-12-20 | Autonomous robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112130564A (en) * | 2020-09-11 | 2020-12-25 | 珠海市一微半导体有限公司 | Robot rotation angle acquisition method, chip and robot |
| WO2021120997A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | Method for controlling autonomous robot, and autonomous robot |
| CN114281088A (en) * | 2021-12-31 | 2022-04-05 | 南京苏美达智能技术有限公司 | Obstacle-detouring operation method and automatic walking equipment |
-
2019
- 2019-12-20 CN CN201922337619.2U patent/CN211149278U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021120997A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市杉川机器人有限公司 | Method for controlling autonomous robot, and autonomous robot |
| CN112130564A (en) * | 2020-09-11 | 2020-12-25 | 珠海市一微半导体有限公司 | Robot rotation angle acquisition method, chip and robot |
| CN112130564B (en) * | 2020-09-11 | 2022-12-13 | 珠海一微半导体股份有限公司 | Method for acquiring rotation angle of robot |
| CN114281088A (en) * | 2021-12-31 | 2022-04-05 | 南京苏美达智能技术有限公司 | Obstacle-detouring operation method and automatic walking equipment |
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