阅读说明：本技术 一种灵活转弯的移动式清洁机器人 (Flexible-turning mobile cleaning robot ) 是由 刘文波 陈传宇 许志平 赫荣江 张建佳 于 2019-10-21 设计创作，主要内容包括：一种灵活转弯的移动式清洁机器人,包括一可移动式机身(5),所述机身底部设置有底盘(2),所述底盘(2)上安装有驱动轮(1)和从动轮(4),其特征在于：所述驱动轮为同轴双轮结构,所述同轴双轮结构的驱动轮位于所述底盘的中间位置,所述同轴双轮结构的轴心(3)与所述底盘(2)的圆心重合。(The utility model provides a nimble portable cleaning machines people who turns, includes a movable fuselage (5), the fuselage bottom is provided with chassis (2), install drive wheel (1) and follow driving wheel (4) on chassis (2), its characterized in that: the driving wheel is of a coaxial double-wheel structure, the driving wheel of the coaxial double-wheel structure is located in the middle of the chassis, and the axis (3) of the coaxial double-wheel structure is superposed with the circle center of the chassis (2).)

1. The utility model provides a nimble portable cleaning machines people who turns, includes a movable fuselage, the fuselage bottom is provided with the chassis, install the drive wheel on the chassis and follow driving wheel, its characterized in that: the driving wheel is of a coaxial double-wheel structure, and the driving wheel of the coaxial double-wheel structure is located in the middle of the chassis.

2. The mobile flexible-turning cleaning robot according to claim 1, wherein the chassis is circular, and the axis of the coaxial two-wheel structure coincides with the center of the chassis.

3. The mobile flexible-turning cleaning robot according to claim 1, wherein the chassis is a regular polygon, and the axis of the coaxial two-wheel structure coincides with a focus of a diagonal of the regular polygon chassis.

4. The agile turn mobile cleaning robot of claim 1 or 2 further comprising a depth camera for obtaining depth data of the robot and communicating to the control system.

5. A flexible-turning mobile cleaning robot according to claim 1 or 2, further comprising radar and reverse radar sensors. The system is used for detecting the specific position of the robot in a certain set space and the distance between the robot and a peripheral fixed object, and navigation is performed by combining a software algorithm.

6. The mobile robot cleaner for cleaning flexible turn according to claim 1 or 2, further comprising collision sensor for implementing collision prevention function by installing ultrasonic sensor on the chassis and body part of the robot in combination with software algorithm.

7. The mobile robot cleaner that can turn freely according to claim 1 or 2, further comprising a fall prevention sensor for determining whether a fall is triggered by installing an infrared sensor on the chassis and determining the length of the infrared distance measurement.

8. The agile turn mobile cleaning robot of claim 1 or 2 further comprising a wall-following distance sensor.

Technical Field

The invention relates to an intelligent robot for cleaning in the field of robots, in particular to a robot for cleaning indoor floor.

Background

The intelligent robot for cleaning large places in the market can realize the functions of cleaning and mopping the floor. For example, patent document No. 201710186441.9 discloses an intelligent cleaning vehicle capable of cleaning and mopping indoor and realizing water circulation, which includes a bottom plate, a driving structure is installed on the bottom plate, a dust-collecting cleaning structure is installed at the front end of the bottom plate, a water circulation structure and a working condition switching structure for mopping floor are installed in the middle of the bottom plate, and a mopping dry structure is installed at the rear end of the middle of the bottom plate; the dust collection and cleaning structure comprises a dust collector head part which is communicated with a dust collector middle structure, the dust collector middle structure comprises a dust collector inner cavity, a dust outlet opening is formed in the middle of the dust collector middle structure, a dust outlet door or a dust collecting box is mounted at the dust outlet opening, a screen plate is fixed on the upper part of the dust collector inner cavity, and the dust collector inner cavity is communicated with a negative pressure device; the middle part of the inner cavity of the dust collector is provided with a rotating shaft, the rotating shaft is fixed with a built-in blade of the dust collector, and the rotating shaft is connected with a stepping motor of the dust collector. The water circulation structure comprises a water tank, the water tank is communicated with a filter cavity through a water pump, and a water inlet of the filter cavity is communicated with the water tank to form a water circulation structure; the working condition switching structure comprises a mop, and the mop is connected with a mop motor and a lifting mechanism; the bottom of the water tank is provided with a water tank bottom sealing cover matched with the mop; after the mop is soaked in water in the water tank and cleaned, water is pumped into the filter cavity by the booster pump to be filtered and stored, the mop is driven by the mop motor to rotate to spin the water of the mop, the seal cover at the bottom of the water tank is opened, the mop is lowered to be in contact with the ground by the lifting mechanism, and the mop motor drives the mop to rotate to mop the ground; when the mop needs to be cleaned, the lifting mechanism drives the mop to return to the water tank, the sealing cover at the bottom of the water tank is closed, filtered water in the filter cavity returns to the water tank through the sealing cover structure, and the mop motor drives the mop to rotate to clean the mop.

The inventor finds that in the technical scheme, the driving structure adopts a double-wheel driving type moving device, and two driving wheels are positioned at one third of the rear part of a chassis, so that the turning radius of the machine is too large, the machine is inflexible to turn and the turning energy consumption is large.

Disclosure of Invention

In order to solve the above problems, an object of the present invention is to provide a mobile robot having a small turning radius, which can improve the turning flexibility of the apparatus.

The technical scheme of the invention is as follows: the utility model provides a nimble portable cleaning machines people who turns, includes a movable fuselage, the fuselage bottom is provided with the chassis, install the drive wheel on the chassis and follow driving wheel, its characterized in that: the driving wheel is of a coaxial double-wheel structure, and the driving wheel of the coaxial double-wheel structure is located in the middle of the chassis.

Preferably, the chassis is circular, and the axis of the coaxial double-wheel structure coincides with the circle center of the chassis.

Preferably, the chassis is a regular polygon, and the axis of the coaxial double-wheel structure coincides with the focus of the diagonal of the regular polygon chassis.

Furthermore, the robot further comprises a depth camera which is used for obtaining the depth data of the robot and transmitting the depth data to the control system.

Further, the system also comprises a radar sensor and a reversing radar sensor. The system is used for detecting the specific position of the robot in a certain set space and the distance between the robot and a peripheral fixed object, and navigation is performed by combining a software algorithm.

Furthermore, the robot further comprises a collision sensor which is used for realizing the collision prevention function by installing ultrasonic sensors on the chassis and the body part of the robot and combining a software algorithm.

And further, the system also comprises a falling-prevention sensor, and is used for judging whether falling is triggered or not by installing an infrared sensor on the chassis and judging the length of infrared distance measurement.

Further, the device also comprises a wall-following distance sensor. The wall-following distance data acquisition and transmission device is used for acquiring wall-following distance data and transmitting the data to the control system when the robot performs wall-following cleaning work.

The invention has the beneficial effects that: the invention creatively changes the position of the existing driving wheel, obtains smaller turning radius, can improve the turning flexibility of the equipment, reduces the electric quantity and energy consumption, and can greatly reduce the distance between the equipment and a wall body when the equipment drives along the wall.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of a bottom view angle of an embodiment of the invention.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in fig. 1 and 2, a mobile cleaning robot capable of turning flexibly comprises a mobile robot body (5), a chassis (2) is arranged at the bottom of the robot body, and a driving wheel (1) and a driven wheel (4) are arranged on the chassis (2), and is characterized in that: the driving wheel is of a coaxial double-wheel structure, the driving wheel of the coaxial double-wheel structure is located in the middle of the chassis, and the axis (3) of the coaxial double-wheel structure is superposed with the circle center of the chassis (2).

Furthermore, the robot further comprises a depth camera which is used for obtaining the depth data of the robot and transmitting the depth data to the control system.

Further, the system also comprises a radar sensor and a reversing radar sensor. The system is used for detecting the specific position of the robot in a certain set space and the distance between the robot and a peripheral fixed object, and navigation is performed by combining a software algorithm.

Furthermore, the robot further comprises a collision sensor which is used for realizing the collision prevention function by installing ultrasonic sensors on the chassis and the body part of the robot and combining a software algorithm.

And further, the system also comprises a falling-prevention sensor, and is used for judging whether falling is triggered or not by installing an infrared sensor on the chassis and judging the length of infrared distance measurement.

The above description is only about some embodiments of the present invention, and any replacement or modification made by those skilled in the art based on the spirit of the present invention should be covered by the protection scope of the present invention, which should be controlled by the appended claims.