Laser radar is located inside robot of sweeping floor
阅读说明：本技术 一种激光雷达位于内部的扫地机器人 (Laser radar is located inside robot of sweeping floor ) 是由 廖鸿宇 郭煜玺 李晓伟 于 2018-09-04 设计创作，主要内容包括：本发明公开了一种激光雷达位于内部的扫地机器人,属于智能生活电器技术领域。包含壳体、积尘室、吸尘电机、行走机构、驱动机构、清扫机构、电池模组、传感器模组、提示装置和控制装置,传感器模组包括距离传感器和激光雷达,控制装置包含导航板和控制板；控制装置固定安装于扫地机器人本体内部的底盘上,激光雷达位于扫地机器人内部；覆盖激光雷达扫描区域的扫地机器人壳体部分为透光塑料件或者镀膜光学塑胶件或者对光线不产生折射和漫反射的其它材料。本发明提供的扫地机器人激光雷达在任何位置都能持续测距绘图,并且有效的解决了因碰撞或者物品跌落砸向扫地机器人而引起的雷达损坏问题。(The invention discloses a sweeping robot with a laser radar inside, and belongs to the technical field of intelligent living appliances. The device comprises a shell, a dust collecting chamber, a dust collecting motor, a travelling mechanism, a driving mechanism, a cleaning mechanism, a battery module, a sensor module, a prompting device and a control device, wherein the sensor module comprises a distance sensor and a laser radar, and the control device comprises a navigation board and a control board; the control device is fixedly arranged on a chassis inside the sweeping robot body, and the laser radar is positioned inside the sweeping robot; the part of the sweeping robot shell covering the laser radar scanning area is a light-transmitting plastic part or a coated optical plastic part or other materials which do not refract or diffuse light. The laser radar of the sweeping robot provided by the invention can continuously perform ranging and drawing at any position, and effectively solves the problem of radar damage caused by collision or object falling and smashing to the sweeping robot.)
1. A sweeping robot with a laser radar located inside comprises a shell (100), a dust chamber (200), a dust collection motor (300), a traveling mechanism (20), a driving mechanism (30), a cleaning mechanism (40), a battery module (50), a sensor module (60), a prompting device (70) and a control device (80), and is characterized in that the sensor module (60) comprises a distance sensor (601) and the laser radar (602), and the control device (80) comprises a navigation board (801) and a control board (802);
the laser radar (602) is positioned inside the sweeping robot; the part, which shields the scanning area of the laser radar (602), of the sweeping robot shell is a transparent plastic part or a coated optical plastic part or other materials which do not refract or diffuse the light.
2. The internally located lidar sweeping robot of claim 1, wherein the lidar (602) is mounted on a central axis of an internal forward direction of the sweeping robot.
3. The sweeping robot with the lidar inside according to claim 1 or 2, wherein the driving mechanism (30) is connected with the traveling mechanism (20) and the sweeping mechanism (40) respectively, the control device (80) is connected with the sensor module (60) and the prompting device (70) respectively, and the battery module (50) for supplying power to the driving mechanism (30), the sensor module (60), the prompting device (70) and the control device (80) is connected with the driving mechanism (30), the sensor module (60), the prompting device (70) and the control device (80) respectively.
4. The lidar internal sweeping robot according to claim 3, wherein the traveling mechanism (20) comprises a driving wheel (201) and a universal wheel (202); the driving mechanism (30) comprises a driving motor (301) and a cleaning motor (302); the cleaning mechanism (40) comprises a dust generating brush (401) and a cleaning brush (402); the prompting device (70) includes a voice prompter (701) and a display (702).
5. The sweeping robot with internal lidar according to claim 4, wherein the prompting device (70) comprises a voice prompt (701) for issuing voice prompt information to the user and/or a display (702) for issuing text prompt information to the user; the sweeping robot is in wireless communication with the mobile terminal to send the prompt information to the mobile terminal.
6. The sweeping robot with the lidar according to any of claims 1-5, wherein the sweeping robot is in wireless communication with a mobile terminal via 4G or WiFi communication.
7. The interior lidar sweeping robot of claim 6, wherein the sensor module (60) of the sweeping robot further comprises a collision sensor (603); the collision sensor is positioned on the inner side of the side shell at the front end of the sweeping robot.
8. The inside-located laser radar sweeping robot according to claim 7, further comprising a mopping mechanism; the mopping mechanism includes a humidifying box and a mop swab (902).
9. The sweeping robot with the lidar inside according to claim 8, wherein the mopping device is connected to the sweeping robot through a hinge or a buckle, and the sweeping robot comprises a corresponding hinge connector or a corresponding buckle connector.
10. The sweeping robot with the lidar inside according to any one of claims 1 to 9, wherein the control device (80) is fixedly mounted on a chassis (101) inside the sweeping robot body, a support frame (102) is mounted above the control device (80), the lower end of the support frame (102) is fixedly mounted on the chassis (101), and the lidar (602) and the counterweight device (103) are mounted on the support frame (102).
Technical Field
The invention relates to a sweeping robot with a laser radar inside, and belongs to the technical field of intelligent living appliances.
Background
With the rapid development of science and technology, more and more intelligent living electrical appliances enter thousands of households, and the living comfort and convenience of people are greatly improved. At present, an intelligent sweeping robot is favored by a large number of users, most sweeping robots are used for sweeping rooms, but information such as a sweeping process, a sweeping path, a house map and a position where the sweeping machine is located of a first-generation sweeping machine and a second-generation sweeping machine cannot be well presented to people, and a laser radar is designed to a position where the top surface of the sweeping machine is protruded by a third-generation sweeping machine, so that a lot of inconvenience is brought to the use process, and firstly, the protruded laser radar enables the overall appearance of the sweeping robot to be not attractive; secondly, the laser radar protrudes to increase the overall height of the sweeping robot, so that the sweeping robot is not suitable for sweeping the ground part at the bottom of part of furniture; thirdly, the most important point is that the laser radar protrudes outside and is easily damaged due to collision or article falling. CN10803044 discloses a sweeping robot with a liftable laser radar, which solves the problem of external collision to a certain extent, but still cannot solve the problem of damage caused by falling of articles, and in addition, when the height of the sweeping robot disclosed in CN10803044 is less than or equal to the height of the shell, the control method of the sweeping robot is changed to establish a sensor map through a sensor, and a mobile module moves according to the sensor map, so that the algorithm returns to the sweeping robot with the second-generation sensor, and the map is drawn through the sensor, so that the map cannot be quantized, and the sweeping opportunity has the problems of inaccurate positioning, incomplete cleaning and the like.
Disclosure of Invention
In order to solve the technical problems, the invention provides a sweeping robot with a laser radar located inside, the overall height of the sweeping robot is reduced, the bottom of most furniture can be cleaned, laser ranging drawing can be carried out at any position, the positioning is accurate, and the cleaning is complete and thorough.
A sweeping robot with a laser radar located inside comprises a
the
the part of the sweeping robot shell covering the scanning area of the
In one embodiment of the invention, the laser radar (602) is installed on a central shaft in the advancing direction of the interior of the sweeping robot.
In an embodiment of the invention, the control device 80 is fixedly installed on a chassis 101 inside the sweeping robot body, a support frame 102 is arranged above the navigation board 801 and the control board 802, the lower end of the support frame 102 is fixedly installed on the chassis 101, and the support frame 102 is provided with a
in one embodiment of the present invention, the
In one embodiment of the present invention, the
In one embodiment of the present invention, the
In one embodiment of the present invention, the
In one embodiment of the present invention, the prompting device 70 includes a voice prompter 701 and a display 702.
In one embodiment of the present invention, the prompting device 70 comprises a voice prompting device 701 for sending out a voice prompting message to the user and/or a display 702 for sending out a text prompting message to the user;
in one embodiment of the invention, the sweeping robot is in wireless communication with the mobile terminal to send prompt information to the mobile terminal;
in an embodiment of the invention, the sweeping robot wirelessly communicates with the mobile terminal through a 4G or WiFi communication mode.
In one embodiment of the present invention, the sensor module (60) of the sweeping robot further includes a collision sensor 603;
in one embodiment of the invention, the collision sensor is located inside a side housing of the front end of the sweeping robot.
In an embodiment of the present invention, the sweeping robot further comprises a mopping mechanism; the mopping mechanism comprises a humidifying box and a
In an embodiment of the present invention, the floor mopping mechanism 90 is connected to the floor sweeping robot through a hinge or a buckle, and the floor sweeping robot includes a corresponding hinge connector or a corresponding buckle connector.
The invention also provides a method for placing the laser radar inside the sweeping robot, which is characterized in that the control device 80 is fixedly arranged on a chassis 101 inside a sweeping robot body, a support frame 102 is arranged above the control device 80, the lower end of the support frame 102 is fixedly arranged on the chassis 101, and the
The invention has the beneficial effects that:
1. the laser radar is arranged inside the sweeping robot, so that the problem of radar damage caused by collision or falling of articles to hit the sweeping robot is effectively solved; the sweeping robot with the laser radar positioned inside provided by the invention has the advantages that the whole height is reduced to be within 8cm, the bottoms of most furniture can be swept, and the sweeping robot can be used for drawing and cleaning completely and thoroughly.
2. According to the sweeping robot, the shell part of the sweeping robot covering the scanning area of the laser radar is made of a light-transmitting plastic part or a coated optical plastic part or other materials which do not refract or diffuse light, so that the laser radar arranged in the sweeping robot can continuously perform ranging and drawing at any position, and the technical problem that the distance of the lifting laser radar is measured and drawn by a sensor when the height of the laser radar is less than or equal to that of the shell is effectively solved;
3. the sweeping robot with the laser radar positioned inside provided by the invention adopts a sensor fusion technology, is accurate in positioning and quantized in map, and can prevent falling and prevent collision;
4. the sweeping robot with the laser radar positioned inside adopts a human body bionic control system, and the control device sends a command to the control panel to execute the command by the navigation panel, and the execution mode is
5. The sweeping robot with the laser radar positioned inside can complete the mopping work while sweeping dust and absorbing dust.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention
FIG. 2 is a schematic structural diagram of an embodiment of the present invention
FIG. 3 is a bottom view of one embodiment of the present invention
FIG. 4 is a schematic structural diagram of an embodiment of the present invention
FIG. 5 is a flow chart of an embodiment of the present invention
In the figure: 100. a housing; 200. a dust collecting chamber; 300. a dust collection motor; 101. a chassis; 102. a support frame; 103. a counterweight device; 20. a traveling mechanism; 201. a drive wheel; 202. a universal wheel; 30. a drive mechanism; 301. a drive motor; 302. cleaning a motor; 40. a cleaning mechanism; 401. a dusting brush; 402. cleaning with a brush; 50. a battery module; 60. a sensor module; 601. a distance sensor; 602. a laser radar; 603. a collision sensor; 70. a prompting device; 701. a voice prompter; 702. a display; 80. a control device; 801. a navigation panel; 802. a control panel; 902 mop.
Detailed Description
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