CN208314561U - Sweeping robot ultrasonic wave protective device - Google Patents
Sweeping robot ultrasonic wave protective device Download PDFInfo
- Publication number
- CN208314561U CN208314561U CN201721565022.8U CN201721565022U CN208314561U CN 208314561 U CN208314561 U CN 208314561U CN 201721565022 U CN201721565022 U CN 201721565022U CN 208314561 U CN208314561 U CN 208314561U
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- China
- Prior art keywords
- sweeping robot
- ultrasonic
- protective device
- ultrasonic wave
- utility
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 67
- 230000001681 protective effect Effects 0.000 title claims abstract description 17
- 239000000523 sample Substances 0.000 claims abstract description 32
- 238000007514 turning Methods 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 11
- 239000004744 fabric Substances 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 12
- 239000000428 dust Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000000007 visual effect Effects 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model belongs to sweeping robot field, is related to a kind of sweeping robot ultrasonic wave protective device.Existing sweeping robot, some detects extraneous barrier using a small amount of ultrasonic sensor, but it comprehensive cannot be detected；Some uses photoelectric sensor, but is easy to be polluted and failed by dust；Some uses visual sensor, but by strong light, dust interference is big, it is big to influence, above-mentioned several safeguard procedures make sweeping robot is more difficult for extraneous protection at work to accomplish that comprehensive avoidance is protected.A kind of sweeping robot ultrasonic wave protective device provided by the utility model, including ultrasonic sensor, the ultrasonic sensor are made of several ultrasonic radars probe, and the ultrasonic radar probe is distributed in the whole body of sweeping robot.The utility model passes through the precision ranging that the ultrasonic sensor realization three-dimensional space barrier of sweeping robot body whole body is arranged in, to solve the problems, such as that existing sweeping robot can not achieve comprehensive avoidance protection.
Description
Technical field
The utility model belongs to sweeping robot field, is related to a kind of sweeping robot ultrasonic wave protective device.
Background technique
Sweeping robot also known as sweeps machine, intelligent cleaning device, robot cleaner etc. automatically, is a kind of by program control
System completes the automation equipment of floor cleaning task.Sweeping robot when carrying out walking cleaning there is automatic range to be kept away
Barrier is to get around barrier, to realize that avoidance is protected.Current sweeping robot, usually walking are flow of the people is big, environment is complicated
Public arena, during sweeping robot walking, how so as to comprehensive self-protection, to protect other people
Safety is major issue existing for sweeping robot security fields for a long time.
The common safeguard procedures of sweeping robot have following three kinds at present:
One, it is solved by all around respectively installing four ultrasonic sensors in sweeping robot, but due to ultrasonic wave
There is the blind area that can't detect in centre, such mode obviously cannot protect the foreign matter fished in the air.
Two, by the way of ultrasonic wave combination photoelectric sensor, but since photoelectric sensor is easy the pollution by dust
And it fails.
Third detects external object using vision camera, and such mode is not only at high cost, while camera is in strong lamp
It is easy to be interfered under light, can also fail before glass surface, while being also easy to be polluted and reported by mistake by dust.
Therefore above-mentioned three kinds of safeguard procedures, cannot all make the comprehensive detection Environment Obstacles object of sweeping robot and right at present
Accomplish comprehensive avoidance protection in the external world.
Utility model content
The utility model aim is to provide a kind of sweeping robot ultrasonic wave protective device, passes through comprehensive accurate ranging
And realize the avoidance of sweeping robot, comprehensive avoidance, which is protected, cannot be accomplished to the external world very well to solve existing sweeping robot.
To achieve the above object, a kind of the technical solution adopted in the utility model are as follows: sweeping robot ultrasonic wave protection dress
It sets, including ultrasonic sensor, the ultrasonic sensor is made of several ultrasonic radars probe, the ultrasonic wave
Radar probe is distributed in the whole body of sweeping robot.
Above-mentioned ultrasonic radar probe has 20-40.
Above-mentioned ultrasonic radar probe is distributed in the surrounding of sweeping robot shell, ultrasonic radar probe and sweeper
Device people's surface of shell is vertically arranged.Be arranged such ultrasonic radar probe, can make ultrasonic radar probe in the horizontal direction into
The accurate barrier ranging of row, to realize that horizontal direction barrier avoidance is protected.
Above-mentioned ultrasonic radar probe distribution is arranged on four turnings of pedestal of sweeping robot, on each turning
Ultrasonic radar probe along sweeping robot pedestal comer edge and horizontal plane tiltedly it is upper 45 ° setting.Ultrasonic radar probe
Tiltedly upper 45 ° of settings can make standing higher than sweeping robot around ultrasonic radar probe monitors with horizontal plane on pedestal turning
Body spatial obstacle object simultaneously carries out ranging, realizes the avoidance protection of hanging barrier.
Technical solution provided by the utility model has the following advantages that and effect:
Sweeping robot ultrasonic wave protective device provided by the utility model, by 20-40 ultrasonic radar probe distribution
In the surrounding of sweeping robot shell, comprehensive detection sweeping robot peripheral obstacle and precision ranging can be carried out, realized
The precision ranging of sweeping robot and avoidance protection；Simultaneously on four turnings of pedestal of the sweeping robot, each is turned
Angle is provided with a ultrasonic radar probe, and ultrasonic radar probe is arranged at tiltedly upper 45 ° with pedestal turning plane,
Sweeping robot ultrasonic wave protective device is set to can detecte the barrier in three-dimensional space higher than sweeping robot, especially
It is hanging barrier, to realize comprehensive avoidance protection.
Detailed description of the invention
Fig. 1 is the utility model sweeping robot ultrasonic wave protective device main view.
Fig. 2 is the utility model sweeping robot ultrasonic wave protective device perspective view.
Fig. 3 is the portion the A enlarged diagram of Fig. 2.
Fig. 4 is the utility model robotic ultrasound wave protective device operation schematic diagram.
In figure, 1- ultrasonic radar is popped one's head in, 2- sweeping robot shell, 3- sweeping robot pedestal, 4- scarf, and 5- is turned
Angle, 6- directional bearing.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings.
As depicted in figs. 1 and 2.Sweeping robot ultrasonic wave protective device provided by the utility model, including ultrasonic wave pass
Sensor, the ultrasonic sensor are made of 20 ultrasonic radar probes 1.Certainly, ultrasonic radar probe 1
Quantity settable 20-40, depending on the size type of sweeping robot, the biggish sweeping robot of volume, ultrasonic wave
Radar probe 1 is arranged more, on the contrary then fewer.
Ultrasonic radar probe 1 is successively stratified and set on the surrounding of sweeping robot shell 2, and ultrasonic radar probe 1 is set
It sets and is vertically arranged on sweeping robot shell 2 with surface of shell, ultrasonic sensor can be made to carry out in the horizontal direction in this way
Effective barrier ranging.Simultaneously as be most of when sweeping robot is mobile sweeping robot shell 2 just forward,
Therefore positive front setting ultrasonic radar 1 quantity of probe of sweeping robot shell 2 is most, the two sides of sweeping robot shell 2
Take second place, 2 back side of sweeping robot shell can be not provided with or be arranged minimum number.
The sweeping robot ultrasonic wave protective device of the utility model is provided with 6 in 2 front of sweeping robot shell and surpasses
Sound radar probe 1, wherein shell front downside both sides are respectively arranged 1, and shell front middle position is provided with 1, and shell is just
Middle position is provided with 1 on the upside of face.5 ultrasonic radars are each provided with respectively in 2 two sides of sweeping robot shell to visit
First 1, wherein the downside both ends of shell left side are respectively arranged 1, and the middle and upper part both ends of shell left side are respectively arranged 1, and shell is left
Side upper end middle position is provided with 1, and shell right side be also equipped with 5 ultrasonic radars symmetrical with left side are visited
Head.
As shown in Figure 3.On four turnings 5 of sweeping robot pedestal 3, respectively along four turnings towards 5 outside of turning
Oblique incision and a horizontal plane scarf 4 at 45 °, corner surface are the upper surface at sweeping robot pedestal turning；Sweeper
There is a scarf 4 on four turnings 5 of device people pedestal 3, a ultrasonic radar is provided on four scarves 4 and is visited
First 1, ultrasonic radar probe 1 is vertical with the scarf 4 at respective turning 5 respectively.It can make the ultrasonic wave at four turnings in this way
Radar probe 1 monitors solid space barrier of the surrounding higher than sweeping robot obliquely and carries out precision ranging.
Certainly, if the scarf 4 is arranged on scarf 4 at this time not along oblique 45 ° of incision of 5 outside of turning
Ultrasonic sensor probe 1 along the 45 ° of settings obliquely of the comer edge and horizontal plane.
As shown in Figure 4.The sweeping robot ultrasonic wave protective device of the utility model, the ultrasonic radar probe 1
It is provided with 20 altogether, 20 ultrasonic radar probes 1 are arranged on sweeping robot shell 2 and sweeping robot pedestal 3, sweep
When floor-washing robot ultrasonic wave protective device works, 20 ultrasonic radars of ultrasonic sensor are popped one's head in along respective detection direction
6 are detected, for carrying out ranging after monitoring the barrier situation in sweeping robot surrounding three-dimensional space, to realize sweeper
The comprehensive avoidance of device people is protected.
Claims (2)
1. a kind of sweeping robot ultrasonic wave protective device, including ultrasonic sensor, the ultrasonic sensor is by several
A ultrasonic radar probe composition, the ultrasonic radar probe are distributed in the whole body of sweeping robot, it is characterised in that: institute
The ultrasonic radar probe stated is distributed in the surrounding of sweeping robot shell and sweeping robot surface of shell is vertically arranged or divides
Cloth is arranged on four turnings of sweeping robot pedestal, and the ultrasonic radar on each turning is popped one's head in along sweeping robot bottom
The tiltedly upper 45 ° of settings of the comer edge and horizontal plane of seat.
2. sweeping robot ultrasonic wave protective device according to claim 1, it is characterised in that: the ultrasonic radar
Probe has 20-40.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721565022.8U CN208314561U (en) | 2017-11-22 | 2017-11-22 | Sweeping robot ultrasonic wave protective device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721565022.8U CN208314561U (en) | 2017-11-22 | 2017-11-22 | Sweeping robot ultrasonic wave protective device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208314561U true CN208314561U (en) | 2019-01-01 |
Family
ID=64724482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721565022.8U Expired - Fee Related CN208314561U (en) | 2017-11-22 | 2017-11-22 | Sweeping robot ultrasonic wave protective device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208314561U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111309027A (en) * | 2020-03-18 | 2020-06-19 | 远景能源有限公司 | Walking obstacle avoidance system and method of mobile robot |
| USD1043000S1 (en) * | 2023-01-31 | 2024-09-17 | FJ Dynamics International Limited | Cleaning robot |
-
2017
- 2017-11-22 CN CN201721565022.8U patent/CN208314561U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111309027A (en) * | 2020-03-18 | 2020-06-19 | 远景能源有限公司 | Walking obstacle avoidance system and method of mobile robot |
| USD1043000S1 (en) * | 2023-01-31 | 2024-09-17 | FJ Dynamics International Limited | Cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 511447 D1-1, No.63 Chuangqi Road, Shilou Town, Panyu District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU ICLEAN ROBOT Co.,Ltd. Address before: 511450, No. 240, No. 240 (No. 2), lotus road, Xinqiao village, Panyu District Dlong street, Panyu District City, 501, 501 Patentee before: GUANGDONG ICLEAN ROBOT INTELLIGENT EQUIPMENT Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP02 | Change in the address of a patent holder |
Address after: 511447 building B, No.78, Shiqing Road, Shilou Town, Panyu District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU ICLEAN ROBOT Co.,Ltd. Address before: 511447 D1-1, No.63 Chuangqi Road, Shilou Town, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU ICLEAN ROBOT Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190101 |