CN105167716A - Intelligent sweeping robot - Google Patents
Intelligent sweeping robot Download PDFInfo
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- CN105167716A CN105167716A CN201510513936.9A CN201510513936A CN105167716A CN 105167716 A CN105167716 A CN 105167716A CN 201510513936 A CN201510513936 A CN 201510513936A CN 105167716 A CN105167716 A CN 105167716A
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Abstract
An embodiment of the invention provides an intelligent sweeping robot. The intelligent sweeping robot is provided for reliably solving the technical problems: providing one or more operating paths, set by a user according to own sweeping requirements, of the sweeping robot, or allowing the sweeping robot to learn the operating paths according to characteristics of an operating area and store the operating paths for calling in future operations; when existence of obstacles ahead is judged in an operating process, intelligently and interactively using an ultrasonic sensor and an infrared transceiving sensor so as to overcome respective defects; realizing returning along the same way according to the stored paths in power insufficiency in the operating process, and realizing intelligent recharging; allowing a WIFI (wireless fidelity) transceiving module (108) to send data of a real-time motion trail, a current specific position and a temperature, humidity and air detection sensor system (109) to an APP (application) of a mobile phone in real time, and allowing the mobile phone to display the data.
Description
Technical field
The present invention relates to sweeping robot field, relate more particularly to a kind of Intelligent robot for sweeping floor.
Background technology
In prior art, Intelligent robot for sweeping floor in the course of the work, in order to can the place of working region be swept totally, usual machine intimate arranges several working method of sweeping, as limit is swept, from sweeping outside to inside, sweep from inside to outside, because the zone of action of each user is different, the way of these predetermined set really can not accomplish intellectuality, machine oneself can not be allowed to learn to sweep method or first arrange one sweep path and call after convenient storage by user oneself according to the feature of each working region, the place that such as user often walks about needs to sweep several times more, angle, corner, limit needs carefully to sweep, these all need setting repeatedly to clean, then sweeping robot is swept in an orderly manner according to the unmanned ground, path of the path oneself learnt or user's setting, in order to avoid barge about, really accomplish unmanned.
In prior art; Intelligent robot for sweeping floor is all generally only utilize infrared ray transceiving sensor to judge whether front has barrier; such as a lot of house fitting-up all can make foot-operated line with the marble of black; these will absorb the infrared ray sent of sweeping robot and not produce reflection; thus Intelligent robot for sweeping floor often can be allowed to produce erroneous judgement, think front clear so that advance breaks machine or breaks household.
In prior art, if Intelligent robot for sweeping floor can not find charger when job site is away from charger when electricity is not enough in the course of the work at all, all infrared ray virtual wall that has are limited to this operated within range to make sweeping robot.
In order to avoid the generation of above-mentioned situation as far as possible, the present invention produces and can realize avoiding it completely.
Summary of the invention
The embodiment of the present invention provides a kind of Intelligent robot for sweeping floor, and the technical problem that can reliably solve is, there is provided one or more users oneself to require to set the operating path of sweeping robot according to sweeping, or first stored and call in order to work later according to the first study and work path of the feature of working region by sweeping robot oneself.
Intelligent robot for sweeping floor can use with ultrasonic sensor and infrared ray transceiving sensor in the course of the work intelligently alternately, to overcome respective shortcoming, ultrasonic sensor is first used to judge time such as at a distance, re-use infrared ray transceiving sensor time closely to judge, if angular transducer detects sweeper, local front portion is more downward-sloping, can judge that there is downward step in front and retreats.
Intelligent robot for sweeping floor can return according to the path Yuan Lu stored when electricity is not enough in the course of the work, to charge, does not again need the annex of infrared virtual wall or divider wall.
The data of above-mentioned real time kinematics track data and particular location and temperature humidity and air detecting sensors system (109) at that time can be sent in mobile phone A PP by WIFI transmitting-receiving subassembly (108) in real time, shown by mobile phone A PP, the subscription time that user can set by mobile phone A PP, number of times is swept in location, specifically sweep path and be dealt into WIFI transmitting-receiving subassembly (108) by mobile phone in WIFI mode, thus instruct Intelligent robot for sweeping floor execution specifically to sweep function.
[accompanying drawing explanation]
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, introduce to the accompanying drawing used required in the embodiment of the present invention simply below, apparently, accompanying drawing described is below only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of the Intelligent robot for sweeping floor according to the embodiment of the present invention.
Fig. 2 is the position Relevant Analysis schematic diagram of the Intelligent robot for sweeping floor angular transducer according to the embodiment of the present invention.
[detailed description of the invention]
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiment.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all should belong to the scope of protection of the invention.
Fig. 1 is the schematic diagram of the Intelligent robot for sweeping floor according to the embodiment of the present invention.Comprise: angular transducer (101), body (102), infrared receiving/transmission sensor (103), ultrasonic transmission/reception sensor (104), left and right wheels (105), left and right wheels Hall sensor (106), universal wheel (107), WIFI transmitting-receiving subassembly (108).
The embodiment of the present invention provides a kind of Intelligent robot for sweeping floor, and the concrete technical problems that can reliably solve is,
1. provide one or more users oneself to require to set the operating path of sweeping robot according to sweeping, or first stored and call in order to work later according to the first study and work path of the feature of working region by sweeping robot oneself.
2. Intelligent robot for sweeping floor can use with ultrasonic sensor and infrared ray transceiving sensor in the course of the work intelligently alternately, to overcome respective shortcoming, ultrasonic transmission/reception sensor (104) is first used to judge, if when distance is greater than 0.05M, do not start infrared ray transceiving sensor, when distance is less than or equal to 0.05M, ultrasonic transmission/reception sensor should be turned off, enable infrared ray transceiving sensor to judge.
If Intelligent robot for sweeping floor in the course of the work angular transducer detect that sweeper body portion is downward-sloping, can judge that may there be downward step in front and retreats, left and right wheels drive body turn round; If detect that sweeper rear body is downward-sloping, go up a slope possibly or upper carpet, ontology-driven part can add high-power, there to be enough power, also saves the lower view sensor of traditional sweeping robot like this.
Intelligent robot for sweeping floor can return according to the path Yuan Lu stored when electricity is not enough in the course of the work, to charge, does not again need traditional infrared virtual wall or the annex of divider wall.
Fig. 2 is the position Relevant Analysis schematic diagram of the Intelligent robot for sweeping floor angular transducer according to the embodiment of the present invention, combine and jointly calculate Intelligent robot for sweeping floor in order to describe left and right wheels Hall sensor (106) and angular transducer (101) in detail and be equivalent to the real time kinematics track that fixing cradle (201) is initial point, to store, so that quick calling when working with real time record.
With the position of the holder that charges for initial point, Intelligent robot for sweeping floor moves to A1 point (X1, Y1) through the T1 time, and now angular transducer (101) obtains angle is angle 1, the numerical value L1 that left and right wheels Hall sensor (106) obtains; Move to A2 point (X2, Y2) through the T2 time again, now angular transducer (101) obtains angle is angle 2, the numerical value L2 that left and right wheels Hall sensor (106) obtains.A1 point is obtained, concrete coordinate value A1(X1, the Y1 of A2 point by above-mentioned being not difficult) and Y1(X2, Y2), X1=L1*SIN (∠ 1), Y1=L1*COS (∠ 1), X2=L1*SIN (∠ 2)+X1, Y2=L2*COS (∠ 2)+Y1.Because Hall sensor (106) obtains L1, L2 value has positive and negative, and namely left and right wheels is just transferring to forward, transfer to negative backward, so A1, A2 value is also vector value, Intelligent robot for sweeping floor is more goed ahead, and machine will by obtained new vector value A3, and A4 etc. will record by certain hour.Also can by the A4 stored when if intelligent robot course of work electricity is not enough, A3, A2, A1 etc. data be recalled to recharge.
The data of above-mentioned real time kinematics track data and particular location and temperature humidity and air detecting sensors system (109) at that time can be sent in mobile phone A PP by WIFI transmitting-receiving subassembly (108) in real time, shown by mobile phone A PP, the subscription time that user can set by mobile phone A PP, number of times is swept in location, specifically sweep path and be dealt into WIFI transmitting-receiving subassembly (108) by mobile phone in WIFI mode, thus instruct Intelligent robot for sweeping floor execution specifically to sweep function.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in technical scope of the invention process; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (5)
1. an Intelligent robot for sweeping floor, by the body (102) of anterior posterior with infrared receiving/transmission sensor (103), has left and right wheels (105) and universal wheel (107) composition of driving force bottom it,
It is characterized in that, angular transducer (101) is had in body (102), the body (102) that can detect Intelligent robot for sweeping floor respectively with the X-axis of horizontal plane, Y-axis, the angle formed between Z axis, to carry out the intelligent decision of movement travel, its limit has left and right wheels Hall sensor (106), to carry out revolver in motion process or right rate-of-turn record of taking turns;
Above-mentioned left and right wheels Hall sensor (106) and angular transducer (101) combine and jointly calculate Intelligent robot for sweeping floor and be equivalent to the real time kinematics track that fixing cradle (201) is initial point, stores, so that quick calling when working with real time record.
2. Intelligent robot for sweeping floor as claimed in claim 1, it is characterized in that, the data of above-mentioned real time kinematics track data and particular location and temperature humidity and air detecting sensors system (109) at that time can be sent in mobile phone A PP by WIFI transmitting-receiving subassembly (108) in described body (102) in real time, shown by mobile phone A PP, the subscription time that user can set by mobile phone A PP, number of times is swept in location, specifically sweep path and be dealt into WIFI transmitting-receiving subassembly (108) by mobile phone in WIFI mode, thus instruct Intelligent robot for sweeping floor execution specifically to sweep function.
3. Intelligent robot for sweeping floor as claimed in claim 1, it is characterized in that, described angular transducer (101) can be the displacement transducer that acceleration transducer maybe can realize this function.
4. Intelligent robot for sweeping floor as claimed in claim 1, it is characterized in that, described infrared receiving/transmission sensor (103) and ultrasonic transmission/reception sensor (104) are had an effect alternately, thus avoid use single-sensor produce erroneous judgement because of insufficiency of function.
5. Intelligent robot for sweeping floor as claimed in claim 1, it is characterized in that, the ultrasonic receiver (202) of described fixing cradle (201) can receive the data of the ultrasonic transmitter transmitting of body (102), and the angle received because of ultrasonic wave is more much larger than infrared ray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510513936.9A CN105167716A (en) | 2015-08-21 | 2015-08-21 | Intelligent sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510513936.9A CN105167716A (en) | 2015-08-21 | 2015-08-21 | Intelligent sweeping robot |
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| CN105167716A true CN105167716A (en) | 2015-12-23 |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105686760A (en) * | 2016-04-06 | 2016-06-22 | 柳州定店科技有限公司 | Control method of intelligent sweeping robot |
| CN105741533A (en) * | 2016-04-11 | 2016-07-06 | 昱宇光电（东莞）有限公司 | Anti-infrared virtual wall remote control system and remote control ceiling lamp adopting same |
| CN106325281A (en) * | 2016-10-30 | 2017-01-11 | 苏州市克拉思科文化传播有限公司 | Smart home dust collection device |
| CN106354182A (en) * | 2016-10-24 | 2017-01-25 | 美的集团武汉制冷设备有限公司 | Fan, fan control system, fan control method and intelligent robot cleaner |
| CN106768035A (en) * | 2016-12-09 | 2017-05-31 | 北海职业学院 | A kind of atmospheric safety monitoring system based on sweeping robot |
| CN107788916A (en) * | 2017-11-08 | 2018-03-13 | 安嘉琦 | Smart home cleans all-in-one |
| CN108115707A (en) * | 2018-01-25 | 2018-06-05 | 芜湖应天光电科技有限责任公司 | A kind of band recharges the intelligent sweeping and its control system of function |
| CN108136582A (en) * | 2016-07-29 | 2018-06-08 | 深圳市赛亿科技开发有限公司 | A kind of automatic detection and the robot of avoiding barrier |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN108549379A (en) * | 2018-05-04 | 2018-09-18 | 安徽三弟电子科技有限责任公司 | A kind of sweeping robot regulator control system based on time control reservation |
| CN108606740A (en) * | 2018-05-16 | 2018-10-02 | 北京小米移动软件有限公司 | Control the method and device of cleaning equipment operation |
| CN108733061A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of path modification method of cleaning work |
| CN108762273A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of cleaning method |
| CN109263755A (en) * | 2018-11-02 | 2019-01-25 | 博众精工科技股份有限公司 | A kind of mounting structure and AGV |
| CN109316131A (en) * | 2018-10-30 | 2019-02-12 | 小狗电器互联网科技（北京）股份有限公司 | A kind of water tank control method, control device and sweeping robot |
| CN109414142A (en) * | 2016-05-11 | 2019-03-01 | 云海智行股份有限公司 | The system and method independently advanced for image training robot along route |
| CN109528086A (en) * | 2017-09-22 | 2019-03-29 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification device and method |
| CN110231825A (en) * | 2019-06-21 | 2019-09-13 | 中国神华能源股份有限公司 | Vehicular intelligent cruising inspection system and method |
| CN110405760A (en) * | 2019-07-19 | 2019-11-05 | 上海景吾智能科技有限公司 | A kind of method and system controlled by computer animation auxiliary mechanical arm |
| CN111258357A (en) * | 2018-11-30 | 2020-06-09 | 速感科技（北京）有限公司 | Environment distribution establishing method, intelligent device, cleaning robot and storage medium |
| CN111329411A (en) * | 2018-12-19 | 2020-06-26 | 广达电脑股份有限公司 | Dust absorption sweeper system |
| CN111367301A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Sweeping planning method, system and chip of sweeping robot |
| CN111568307A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Robot cleaning execution method, device and computer readable storage medium |
| CN112799307A (en) * | 2020-12-25 | 2021-05-14 | 美的集团股份有限公司 | Intelligent control method and device for equipment |
| CN112932342A (en) * | 2021-03-30 | 2021-06-11 | 广东爱兰仕科技有限公司 | Robot of sweeping floor with remove indicating device |
| CN109002043B (en) * | 2018-08-24 | 2021-06-15 | 湖南超能机器人技术有限公司 | Infrared alignment signal data processing method applied to robot |
| CN113075889A (en) * | 2020-01-03 | 2021-07-06 | 佛山市云米电器科技有限公司 | Control method of sweeping robot, cloud server, system and storage medium |
| CN114022995A (en) * | 2021-11-02 | 2022-02-08 | 黄韶宾 | Shopping system |
| CN115443793A (en) * | 2022-08-18 | 2022-12-09 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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2015
- 2015-08-21 CN CN201510513936.9A patent/CN105167716A/en active Pending
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105686760A (en) * | 2016-04-06 | 2016-06-22 | 柳州定店科技有限公司 | Control method of intelligent sweeping robot |
| CN105741533A (en) * | 2016-04-11 | 2016-07-06 | 昱宇光电（东莞）有限公司 | Anti-infrared virtual wall remote control system and remote control ceiling lamp adopting same |
| CN105741533B (en) * | 2016-04-11 | 2019-03-05 | 东莞市优优照明科技有限公司 | Counter infrared ray virtual wall remote control system and the remote-control ceiling lamp for using the system |
| CN109414142A (en) * | 2016-05-11 | 2019-03-01 | 云海智行股份有限公司 | The system and method independently advanced for image training robot along route |
| CN108136582A (en) * | 2016-07-29 | 2018-06-08 | 深圳市赛亿科技开发有限公司 | A kind of automatic detection and the robot of avoiding barrier |
| CN106354182A (en) * | 2016-10-24 | 2017-01-25 | 美的集团武汉制冷设备有限公司 | Fan, fan control system, fan control method and intelligent robot cleaner |
| CN106325281A (en) * | 2016-10-30 | 2017-01-11 | 苏州市克拉思科文化传播有限公司 | Smart home dust collection device |
| CN106768035A (en) * | 2016-12-09 | 2017-05-31 | 北海职业学院 | A kind of atmospheric safety monitoring system based on sweeping robot |
| CN108536135A (en) * | 2017-03-06 | 2018-09-14 | 苏州宝时得电动工具有限公司 | Controlling of path thereof, device and clean robot |
| CN108536135B (en) * | 2017-03-06 | 2023-10-27 | 苏州宝时得电动工具有限公司 | Path control method and device and cleaning robot |
| CN109528086A (en) * | 2017-09-22 | 2019-03-29 | 浙江绍兴苏泊尔生活电器有限公司 | Air purification device and method |
| CN107788916B (en) * | 2017-11-08 | 2018-09-28 | 安嘉琦 | Smart home cleans all-in-one machine |
| CN107788916A (en) * | 2017-11-08 | 2018-03-13 | 安嘉琦 | Smart home cleans all-in-one |
| CN108115707A (en) * | 2018-01-25 | 2018-06-05 | 芜湖应天光电科技有限责任公司 | A kind of band recharges the intelligent sweeping and its control system of function |
| CN108549379A (en) * | 2018-05-04 | 2018-09-18 | 安徽三弟电子科技有限责任公司 | A kind of sweeping robot regulator control system based on time control reservation |
| CN108606740A (en) * | 2018-05-16 | 2018-10-02 | 北京小米移动软件有限公司 | Control the method and device of cleaning equipment operation |
| CN108733061A (en) * | 2018-06-05 | 2018-11-02 | 北京智行者科技有限公司 | A kind of path modification method of cleaning work |
| CN108762273A (en) * | 2018-06-05 | 2018-11-06 | 北京智行者科技有限公司 | A kind of cleaning method |
| CN109002043B (en) * | 2018-08-24 | 2021-06-15 | 湖南超能机器人技术有限公司 | Infrared alignment signal data processing method applied to robot |
| CN109316131A (en) * | 2018-10-30 | 2019-02-12 | 小狗电器互联网科技（北京）股份有限公司 | A kind of water tank control method, control device and sweeping robot |
| CN109263755A (en) * | 2018-11-02 | 2019-01-25 | 博众精工科技股份有限公司 | A kind of mounting structure and AGV |
| CN111258357A (en) * | 2018-11-30 | 2020-06-09 | 速感科技（北京）有限公司 | Environment distribution establishing method, intelligent device, cleaning robot and storage medium |
| CN111258357B (en) * | 2018-11-30 | 2022-03-01 | 速感科技（北京）有限公司 | Environment distribution establishing method, intelligent device, cleaning robot and storage medium |
| CN111329411A (en) * | 2018-12-19 | 2020-06-26 | 广达电脑股份有限公司 | Dust absorption sweeper system |
| CN111367301A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Sweeping planning method, system and chip of sweeping robot |
| CN111568307B (en) * | 2019-02-19 | 2023-02-17 | 北京奇虎科技有限公司 | Robot cleaning work execution method, device and computer readable storage medium |
| CN111568307A (en) * | 2019-02-19 | 2020-08-25 | 北京奇虎科技有限公司 | Robot cleaning execution method, device and computer readable storage medium |
| CN110231825A (en) * | 2019-06-21 | 2019-09-13 | 中国神华能源股份有限公司 | Vehicular intelligent cruising inspection system and method |
| CN110405760A (en) * | 2019-07-19 | 2019-11-05 | 上海景吾智能科技有限公司 | A kind of method and system controlled by computer animation auxiliary mechanical arm |
| CN113075889A (en) * | 2020-01-03 | 2021-07-06 | 佛山市云米电器科技有限公司 | Control method of sweeping robot, cloud server, system and storage medium |
| CN112799307A (en) * | 2020-12-25 | 2021-05-14 | 美的集团股份有限公司 | Intelligent control method and device for equipment |
| CN112932342A (en) * | 2021-03-30 | 2021-06-11 | 广东爱兰仕科技有限公司 | Robot of sweeping floor with remove indicating device |
| CN114022995A (en) * | 2021-11-02 | 2022-02-08 | 黄韶宾 | Shopping system |
| CN115443793A (en) * | 2022-08-18 | 2022-12-09 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
| CN115443793B (en) * | 2022-08-18 | 2024-04-30 | 深圳拓邦股份有限公司 | Mower and mower path planning method |
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Application publication date: 20151223 |