A cleaning robot provided with a navigation radar

Abstract

The embodiment of the application provides a cleaning robot provided with a navigation radar, and relates to the technical field of cleaning robots. The cleaning robot comprises a robot main body, a radar device protruding on the robot main body, and the radar device comprises a rotating radar assembly. The detection angle of the radar assembly is set to a preset elevation angle alpha relative to the rotating surface. The radar assembly is installed on the robot main body at a preset installation angle beta relative to the horizontal plane. The preset elevation angle alpha and the preset installation angle beta are matched to limit the detection distance of the radar assembly. The matching relationship between the preset elevation angle alpha and the preset installation angle beta is set according to the height H1 of the robot main body and / or the height H2 of the protrusion of the radar device. The radar can maintain an effective detection distance by using the application.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a cleaning robot equipped with navigation radar. Background Technology

[0002] Currently, cleaning robots such as sweeping robots, mopping robots, and robot vacuum and mop combos typically use line-guided lidar for navigation. However, a mismatch between the lidar's detection angle and its installation angle often results in the lidar being obstructed by the ground or the robot body at shorter distances, causing the lidar's effective detection range to fall short of requirements. Summary of the Invention

[0003] The purpose of this application is to provide a cleaning robot equipped with navigation radar, which can maintain an effective detection range. The specific technical solution is as follows:

[0004] A cleaning robot equipped with a navigation radar includes a robot body and a radar device protruding from the robot body. The radar device includes a rotating radar component. The detection angle of the radar component is set at a preset elevation angle α relative to the rotation surface. The radar component is mounted on the robot body at a preset mounting angle β with the horizontal plane. The preset elevation angle α and the preset mounting angle β are matched to limit the detection distance of the radar component. The matching relationship between the preset elevation angle α and the preset mounting angle β is set according to the height H1 of the robot body and / or the height H2 of the protruding radar device.

[0005] Alternatively, -β1 < β, (H1 + H2) ÷ sin(β1 - α) = 4 meters.

[0006] Optionally, -β2 < β, H2 / L1 = tan(β2 - α), where L1 is the furthest horizontal distance between the radar device and the robot body.

[0007] Optionally, the cleaning robot also includes a left drive wheel and a right drive wheel located on the left and right sides of the bottom of the robot body. Each drive wheel is equipped with an anti-slip structure, which includes an anti-slip block protruding from the circumference of the drive wheel. The tilt angle of the robot body caused by the different positions of the anti-slip blocks of the left and right drive wheels in contact with the ground is γ, -β1<β, (H1+H2)÷sin(β1-α+γ)=4 meters.

[0008] Optionally, -β1 < β, (H1 + H2) ÷ sin(β1 - α + arctan(H3 / L2)) = 4 meters, where L2 is the wheel distance between the left and right drive wheels, and H3 is the height difference caused by the different positions of the anti-slip blocks of the left and right drive wheels in contact with the ground.

[0009] Optional, -β3<β<β4, 4-4*cos(β3-α)=0.03, 4-4*cos(β4+α)=0.03.

[0010] Optional, 0.2 degrees ≤ α ≤ 1 degree, -0.8 degrees ≤ β ≤ 0.8 degrees, 1 cm ≤ H2 ≤ 3 cm, 50 cm ≤ H1 ≤ 120 cm.

[0011] Optionally, the robot body has a dragging component at the bottom rear side, and the radar device is located at the front side of the robot body.

[0012] Optionally, the wiping component includes two rotating wiping components, which are respectively located on both sides of the robot body.

[0013] Optionally, the robot body is also equipped with a main cleaning brush at its bottom.

[0014] Compared with the prior art, this application has at least the following beneficial effects:

[0015] 1. The detection angle of the radar component is set at a preset elevation angle α relative to the rotation plane. The radar component is mounted on the robot body at a preset installation angle β with the horizontal plane. The preset elevation angle α and the preset installation angle β are matched to limit the detection range of the radar component. The matching relationship between the preset elevation angle α and the preset installation angle β is set according to the height H1 of the robot body and / or the height H2 of the protrusion of the radar device, which can make the radar component maintain an effective detection range.

[0016] 2. -β1 < β, (H1 + H2) ÷ sin(β1 - α) = 4 meters. This ensures that the radar will not hit the ground within 4 meters, maintaining an effective detection range of at least 4 meters. Furthermore, maintaining at least 4 meters of effective detection data allows the cleaning robot to map the area along its path in one pass as long as the distance to the furthest edge is less than 8 meters, avoiding the inability to detect the center of the area. This meets the mapping requirements for home environments.

[0017] 3. The cleaning robot also includes left and right drive wheels located on the left and right sides of the bottom of the robot body. Each drive wheel is equipped with an anti-slip structure, including anti-slip blocks protruding from the circumference of the drive wheel. The tilt angle of the robot body caused by the different positions of the anti-slip blocks of the left and right drive wheels in contact with the ground is γ, -β1<β, (H1+H2)÷sin(β1-α+γ)=4 meters. In this way, the influence of the movement of the drive wheels is taken into account, so that the radar will not hit the ground within 4 meters, and the effective detection range of 4 meters can be maintained.

[0018] 4. -β3 < β < β4, 4 - 4*cos(β3 - α) = 0.03, 4 - 4*cos(β4 + α) = 0.03. This ensures that the radar's detection range error is within 3 centimeters within a detection range of 4 meters. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A top view of a cleaning robot provided in an embodiment of this application;

[0021] Figure 2 A bottom view of a surface cleaning machine provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the structure of a radar component provided in an embodiment of this application;

[0023] Figure 4 A schematic diagram of a radar assembly installed on the main body of a robot, provided as an embodiment of this application;

[0024] Figure 5 A schematic diagram showing another radar component installed on the robot body according to an embodiment of this application;

[0025] Figure 6 A schematic diagram showing another radar component installed on the robot body according to an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of another radar component installed on the robot body, as provided in an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Front and rear center axis; 10. Robot body; 11. Radar device; 20. Rotating mopping component; 21. Line connecting the center points of the two mopping components; 30. Drive wheel; 31. Line connecting the center points of the two drive wheels; 40. Omnidirectional wheel; 50. Main cleaning brush; 111. Radar assembly; 112. Rotation axis; 113. Detection line; 114. Rotation surface; 115. Ground. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] like Figure 1 and Figure 2 As shown, this application embodiment provides a cleaning robot equipped with a navigation radar, including a robot body 10 and a radar device 11 protruding from the robot body.

[0031] Optionally, the robot body 10 may be equipped with a travel wheel assembly at its bottom, which includes at least two drive wheels 30, located on either side of the bottom of the robot body 10. The drive wheels may be shock-absorbing drive wheels that can float up and down. The travel wheel assembly may also include casters 40.

[0032] Optionally, the bottom of the robot body 10 may also be provided with at least two rotating wiping components 20, which are respectively located on both sides of the robot body 10.

[0033] Optionally, the bottom of the robot body 10 may also be equipped with a main cleaning brush 50, which extends downward from the suction port.

[0034] Optionally, the midpoint of the line 31 connecting the center points of the two floating shock-absorbing drive wheels and the projection of the radar device 11 on the horizontal plane are both located on the front-rear central axis 1 of the robot body 10, and / or the midpoint of the line 21 connecting the center points of the two rotating dragging parts and the projection of the radar device 11 on the horizontal plane are both located on the front-rear central axis 1 of the robot body 10, which can reduce the impact of the radar device tilting due to uneven ground on detection.

[0035] Optional, such as Figure 3 As shown, the radar device 11 includes a rotating radar component 111, which rotates relative to the rotation axis 112. The detection angle of the radar component 111 is set at a preset elevation angle α relative to the rotation surface, that is, the detection line 113 is set at a preset elevation angle α relative to the rotation surface 114. The rotation surface is a surface perpendicular to the rotation axis 112.

[0036] Optional, such as Figure 4 As shown, the radar assembly is mounted on the robot body at a preset mounting angle β relative to the horizontal plane. The preset mounting angle β refers to the tilt angle of the rotation surface 114 relative to the horizontal plane. If β is less than zero, it means that the radar assembly is mounted tilted downwards, and if it is greater than zero, it means that the radar assembly is mounted tilted upwards.

[0037] The preset elevation angle α is matched with the preset installation angle β to limit the detection range of the radar component. The matching relationship between the preset elevation angle α and the preset installation angle β is set according to the height H1 of the robot body and / or the height H2 of the protrusion of the radar device.

[0038] In one implementation, the cleaning robot used in the home must have a radar device capable of detecting effective data at least 4 meters. This ensures that the cleaning robot can map the area using the detected radar data while moving along the boundary. Maintaining a 4-meter effective detection range allows the cleaning robot to map the area along the boundary in one pass as long as the distance to the farthest edge is less than 8 meters, avoiding the inability to detect the middle of the area, thus meeting the mapping requirements of the home environment. To achieve this, the preset elevation angle α and preset installation angle β of the radar component need to be matched.

[0039] like Figure 5 As shown, assuming the effective detection range of the radar component is 4 meters, that is, when the radar component 111 detects the ground 115 at a distance of 4 meters, the preset installation angle β of the radar component is -β1, that is, the angle at which the rotating surface 114 of the radar component is tilted downward is β1. At this time, the detection angle of the radar component is tilted downward relative to the horizontal plane by β1-α. β1-α satisfies the following relationship (H1+H2)÷sin(β1-α)=4 meters. Therefore, the preset installation angle β of the radar component is greater than -β1, which makes the effective detection range of the radar component greater than or equal to 4 meters, that is, it will not detect the ground within 4 meters. H1 is the height of the robot body, and H2 is the height of the protrusion of the radar device.

[0040] Optionally, a left drive wheel and a right drive wheel are respectively located on the left and right sides of the bottom of the robot body. Each drive wheel is equipped with an anti-slip structure, which includes an anti-slip block protruding from the circumference of the drive wheel. The different positions of the anti-slip blocks of the left drive wheel and the right drive wheel in contact with the ground will cause the robot body to tilt at an angle of γ. For example, if the boundary position of the anti-slip block of the left drive wheel is in contact with the ground, and the middle position of the anti-slip block of the right drive wheel is in contact with the ground, the left side of the robot body will be higher.

[0041] Considering the influence of the body tilt angle γ, assuming that the effective detection range of the radar component is 4 meters, the preset installation angle β of the radar component is -β1. At this time, the maximum downward tilt of the radar component's detection angle relative to the horizontal plane is β1-α+γ. β1-α+γ satisfies the following relationship (H1+H2)÷sin(β1-α+γ)=4 meters. Therefore, the preset installation angle β of the radar component is greater than -β1, which can make the effective detection range of the radar component greater than or equal to 4 meters. H1 is the height of the robot body, and H2 is the height of the protrusion of the radar device.

[0042] Where γ = arctan(H3 / L2), L2 is the wheel distance between the left and right drive wheels, H3 is the height difference caused by the different positions of the anti-slip blocks of the left and right drive wheels in contact with the ground, that is, -β1 < β, (H1 + H2) ÷ sin(β1 - α + arctan(H3 / L2)) = 4 meters.

[0043] In another implementation, to limit the effective detection range of the radar component, its detection cannot be obstructed by the robot body. To achieve this, the preset elevation angle α and preset mounting angle β of the radar component need to be matched. As shown in Figure 6, assuming that the radar component's detection is exactly obstructed by the robot body, the preset mounting angle β of the radar component is -β2. At this time, the radar component's detection angle is tilted downward relative to the horizontal plane as β2-α. β2-α satisfies the following relationship: H2 / L1=tan(β2-α), where L1 is the farthest horizontal distance between the radar device and the robot body. Therefore, the preset mounting angle β of the radar component is greater than -β2, which ensures that the radar component's detection is not obstructed by the robot body.

[0044] In another implementation, when the radar component is mounted on the robot body, and the detection angle is tilted relative to the horizontal plane, the radar component's detection distance for obstacles is slightly greater than the actual horizontal distance between the lidar and the obstacle. The difference between the two is the error. The magnitude of the error is positively correlated with the tilt angle of the detection angle relative to the horizontal plane. To keep the error within 3 centimeters at a detection distance of 4 meters, see [reference needed]. Figure 7 That is, 4m-L3≤3cm, the preset elevation angle α of the radar component needs to match the preset installation angle β, -β3≤β≤β4. In other words, when the radar component is installed on the robot body, the maximum downward tilt angle of the radar component relative to the horizontal plane is β3-α, and the maximum upward tilt angle is β4+α. At a detection distance of 4 meters, the error should be kept within 3 centimeters, satisfying the following relationship: -β3<β<β4, 4-4*cos(β1-α)=0.03, 4-4*cos(β2+α)=0.03.

[0045] Optionally, 0.2 degrees ≤ α ≤ 1 degree, -0.8 degrees ≤ β ≤ 0.8 degrees, 1 cm ≤ H2 ≤ 3 cm, and 50 cm ≤ H1 ≤ 120 cm. β can also be less than zero degrees.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0047] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A cleaning robot provided with a navigation radar, comprising a robot main body, a radar device protruding from the robot main body, the radar device comprising a rotating radar assembly, characterized in that, The detection angle of the radar assembly is set at a preset elevation angle a relative to the rotation plane, the radar assembly is installed on the robot body at a preset installation angle β relative to the horizontal plane, the preset elevation angle a matches the preset installation angle β to define the detection distance of the radar assembly, and the matching relationship between the preset elevation angle a and the preset installation angle β is set according to the height H1 of the robot body and / or the height H2 of the radar device.

2. The cleaning robot according to claim 1, wherein, -β1<β,(H1+H2)÷sin(β1-α)=4m.

3. The cleaning robot according to claim 1, wherein, -β2<β,H2 / L1=tan(β2-α),wherein L1 is the farthest horizontal distance between the radar device and the robot body.

4. The cleaning robot according to claim 2, wherein, The cleaning robot further comprises a left driving wheel and a right driving wheel arranged on the left and right sides of the bottom of the robot body respectively, each driving wheel is provided with an anti-skid structure, the anti-skid structure comprises an anti-skid block protruding from the circumferential surface of the driving wheel, and the inclination angle of the robot body caused by the different positions of the anti-skid blocks of the left driving wheel and the right driving wheel contacting the ground is γ, -β1<β,(H1+H2)÷sin(β1-α+γ)=4m.

5. The cleaning robot according to claim 4, wherein, -β1<β,(H1+H2)÷sin(β1-α+arctan(H3 / L2))=4m,wherein L2 is the wheelbase between the left driving wheel and the right driving wheel, and H3 is the height difference caused by the different positions of the anti-skid blocks of the left driving wheel and the right driving wheel contacting the ground.

6. The cleaning robot according to claim 2, wherein, -β3<β<β4,4-4*cos(β3-α)=0.03,4-4*cos(β4+α)=0.

03.

7. The cleaning robot according to any one of claims 1 to 6, wherein, 0.2 degrees≤a≤1 degree,-0.8 degrees≤β≤0.8 degrees,1 cm≤H2≤3 cm,50 cm≤H1≤120 cm.

8. The cleaning robot according to any one of claims 1 to 6, wherein, The rear bottom of the robot body is provided with a mopping member, and the radar device is arranged on the front side of the robot body. 9.The cleaning robot according to claim 8, wherein, The mopping member comprises two rotating mopping members and is arranged on the two sides of the robot body.

10. The cleaning robot of claim 1, wherein, The bottom of the robot body is further provided with a cleaning main brush.

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