Multi-line laser radar fusion vision perception full-automatic sweeping robot

Abstract

The present application relates to the technical field of sweeping robots, and more particularly to a full-automatic sweeping robot with multi-line laser radar fusion vision perception, which comprises a sweeping robot body, the upper end of the sweeping robot body is provided with a mechanical arm mechanism for clamping and limiting different shapes of door handles and glass doors, the mechanical arm mechanism comprises a first hollow groove opened in the upper end of the sweeping robot body, the upper end of the sweeping robot body is provided with a third hollow groove vertically arranged with the first hollow groove, the upper end of the sweeping robot body is provided with a fourth hollow groove vertically arranged with the third hollow groove, the sweeping robot body is provided with a first rotating arm in the first hollow groove, and the lower end of the sweeping robot body is provided with a cleaning and moving mechanism for cleaning and moving the ground; a third motor drives a plurality of top blocks to rotate, thereby driving the handle to rotate, opening the indoor door for cleaning operation, and the plurality of top blocks with different extension amounts can increase the contact area of the handle and improve the stability of clamping the handle.

Description

Technical Field

[0001] This invention relates to the field of robotic vacuum cleaner technology, and in particular to a fully automatic robotic vacuum cleaner based on multi-line lidar fusion visual perception. Background Technology

[0002] The fully automatic robotic vacuum cleaner relies on built-in LiDAR and sensors to complete environmental mapping and path planning. It moves autonomously by driving the wheels with motors. The main brush and side brushes work with the fan to create negative pressure to adsorb dirt on the ground. It is equipped with a rotating mop or a water mopping module to wipe the floor. The built-in main control chip processes obstacle avoidance signals in real time. After cleaning, it automatically returns to the base station, where it automatically collects dust, washes the mop, dries it with hot air, and recharges. The entire system relies on the coordinated operation of sensor perception, motion control, and cleaning execution mechanisms to achieve automated floor cleaning without human intervention.

[0003] Existing robotic vacuum cleaners generally have an automatic opening function. However, they cannot automatically open interior doors during use, requiring the user to turn the lock to open the door. This results in significant limitations and low applicability of robotic vacuum cleaners in practical use. For sliding glass doors in places such as kitchens, existing robotic vacuum cleaners cannot open them automatically, resulting in a very low level of automation. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by proposing a fully automatic sweeping robot based on multi-line lidar fusion visual perception.

[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows: a fully automatic sweeping robot with multi-line lidar fusion visual perception, comprising a sweeping robot body, wherein the upper end of the sweeping robot body is provided with a mechanical arm mechanism for clamping and limiting door handles and glass doors of different shapes, the mechanical arm mechanism includes a first slot opened at the upper end of the sweeping robot body, a third slot opened at the upper end of the sweeping robot body perpendicular to the first slot, a fourth slot opened at the upper end of the sweeping robot body perpendicular to the third slot, a first rotating arm provided in the first slot of the sweeping robot body, a lidar mechanism provided at the upper centerline of the sweeping robot body, a visual detection mechanism provided at the upper end of the sweeping robot body near the side, and a cleaning and moving mechanism for cleaning and moving the floor provided at the lower end of the sweeping robot body.

[0006] Preferably, the first, third, and fourth slots are interconnected, and a second slot communicating with the first slot is provided inside the main body of the sweeper. A first motor is fixedly connected to the main body of the sweeper in the second slot, and a connecting rod is fixedly connected to the drive shaft end of the first motor. A first through hole is provided on the side of the first rotating arm, and the side of the connecting rod is fixedly connected in the first through hole.

[0007] Preferably, the first rotating arm has a first rotating groove at its end, a second motor is fixedly connected to the side of the first rotating arm, the drive shaft end of the second motor is fixedly connected to the second rotating arm in the first rotating groove, the second rotating arm has a first placement groove at its end, and a first electric telescopic rod is fixedly connected to the second rotating arm in the first placement groove.

[0008] Preferably, a fourth motor is fixedly connected to the telescopic end of the first electric telescopic rod, a second fixed body is fixedly connected to the drive shaft end of the fourth motor, a second rotating groove is provided on the side of the second fixed body, a fifth motor is fixedly connected to the side of the second fixed body, and a third rotating arm is fixedly connected to the drive shaft end of the fifth motor in the second rotating groove.

[0009] Preferably, the end of the third rotating arm is provided with a second placement groove, the third rotating arm is fixedly connected to a second electric telescopic rod in the second placement groove, the telescopic end of the second electric telescopic rod is fixedly connected to a third motor, the drive shaft end of the third motor is fixedly connected to a fixing plate, the side of the fixing plate is provided with a fifth slot, and the fixing plate is slidably connected to two first fixing bodies in the fifth slot.

[0010] Preferably, a dual-axis electric telescopic rod is fixedly connected to the fixing plate in the fifth slot. The telescopic ends of the dual-axis electric telescopic rod are respectively fixedly connected to the side of the first fixing body. The ends of the two first fixing bodies are respectively fixedly connected to the fixing shell. The ends of the two first fixing bodies are respectively provided with a second through hole communicating with the inside of the fixing shell. The inner side of the two first fixing bodies is respectively provided with a plurality of equidistantly arranged second guide grooves. The two first fixing bodies are respectively provided with a first guide groove communicating with the second through hole and the second guide groove. The first fixing bodies are respectively slidably connected to guide rods in the second guide grooves. The outer ends of the plurality of guide rods are respectively fixedly connected to top blocks. The inner ends of the plurality of guide rods are respectively fixedly connected to stop plates that slide in cooperation with the first guide grooves. A camera is provided on the side of the dual-axis electric telescopic rod. An air pump is provided at the end of the second through hole of each of the two first fixing bodies.

[0011] Preferably, one end of each of the two fixed shells is open, and an annular groove is provided at the end of each of the two fixed shells. Several springs are fixedly connected to each of the two fixed shells in the annular groove. Flexible rings are fixedly connected to the ends of the several springs. A sixth slot communicating with the second through hole is provided in each of the two fixed shells. A third electric telescopic rod is provided in each of the two sixth slots. A baffle is fixedly connected to the telescopic end of each of the two third electric telescopic rods.

[0012] Preferably, the visual inspection mechanism includes a camera module fixedly mounted on the upper part of the sweeper body, and two symmetrically arranged supplementary lights are fixedly connected to the upper part of the sweeper body.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. This invention uses an air pump to increase the pressure in the second through hole. Then, several stop plates move outward under the pressure. At the same time, the stop plates drive the top blocks to press against the side of the handle through the guide rod. For spherical locks, several top blocks can press and fix the sides of spherical locks with different curvatures. Then, the third motor is started, and the third motor drives several top blocks to rotate, thereby driving the handle to rotate and opening the indoor door for cleaning. By using several top blocks with different extension and retraction, the contact area with the handle can be increased, improving the stability of the handle clamping.

[0015] 2. In this invention, the flexible rings at the ends of the two fixed shells are brought into contact with the glass door by the second electric telescopic rod. Then, the two third electric telescopic rods are extended and retracted, and the air pumps are turned on. The two air pumps start and discharge the air in the second through hole to the outside, thereby reducing the pressure in the fixed shell. At this time, the two flexible rings stably adhere to the glass door. Then, the cleaning moving mechanism moves in parallel to open the glass door, thereby enabling the robot vacuum cleaner to clean places such as kitchens that are sealed by sliding glass doors, thus improving the applicability of the device.

[0016] 3. In this invention, the second motor drives the second rotating arm to rotate 90°, then the fifth motor drives the third rotating arm to rotate 90°, and finally the first motor drives the first rotating arm to rotate into the first slot through the connecting rod, thereby realizing that the mechanical arm mechanism can be completely stored and preventing the mechanical arm mechanism from affecting the overall passability of the sweeper. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the invention when it is closed. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention when the door lock is opened;

[0019] Figure 3 This is a schematic diagram of the overall structure of the invention when it is closed. Figure 2 ;

[0020] Figure 4 This is a partial structural diagram of the present invention. Figure 1 ;

[0021] Figure 5 This is a partial structural diagram of the present invention. Figure 2 ;

[0022] Figure 6This is a partial structural diagram of the present invention. Figure 3 ;

[0023] Figure 7 This is a partial cross-sectional view of the present invention;

[0024] Figure 8 For the present invention Figure 5 Enlarged view of point A;

[0025] Figure 9 For the present invention Figure 7 Enlarged view of point B.

[0026] 1. Main body of the sweeping robot; 2. Robotic arm mechanism; 3. LiDAR mechanism; 4. Vision inspection mechanism; 5. Cleaning movement mechanism; 21. First rotating arm; 22. First empty slot; 23. Second empty slot; 24. First motor; 25. Connecting rod; 26. Third empty slot; 27. Fourth empty slot; 28. First through hole; 29. ​​First rotating slot; 210. Second motor; 211. Second rotating arm; 212. First placement slot; 213. First electric telescopic rod; 214. Third rotating arm; 215. Second placement slot; 216. Second electric telescopic rod; 217. Third motor; 218. 219. Fixed plate; 220. Dual-axis electric telescopic rod; 221. Camera; 222. Fifth slot; 223. Air pump; 224. First fixed body; 225. Fourth motor; 226. Second fixed body; 227. Fifth motor; 228. Second rotating slot; 229. First guide slot; 230. Second through hole; 231. Fixed shell; 232. Annular slot; 233. Spring; 234. Flexible ring; 235. Cut-off plate; 236. Second guide slot; 237. Guide rod; 238. Top block; 239. Sixth slot; 41. Baffle; 42. Camera module; 43. Fill light. Detailed Implementation

[0027] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0028] Please see Figure 1 - Figure 9 A fully automatic sweeping robot with multi-line lidar fusion visual perception includes a sweeping robot body 1, and a mechanical arm mechanism 2 is provided at the upper end of the sweeping robot body 1 to clamp and limit door handles and glass doors of different shapes.

[0029] In this embodiment, the robotic arm mechanism 2 includes a first slot 22 opened on the upper end of the sweeper body 1, a third slot 26 opened on the upper end of the sweeper body 1 perpendicular to the first slot 22, a fourth slot 27 opened on the upper end of the sweeper body 1 perpendicular to the third slot 26, and a first rotating arm 21 arranged in the first slot 22.

[0030] The first slot 22, the third slot 26 and the fourth slot 27 are connected. The main body 1 of the sweeper has a second slot 23 that is connected to the first slot 22. The main body 1 of the sweeper is fixedly connected to the second slot 23. The drive shaft end of the first motor 24 is fixedly connected to the connecting rod 25. The side of the first rotating arm 21 has a first through hole 28. The side of the connecting rod 25 is fixedly connected to the first through hole 28.

[0031] The first rotating arm 21 has a first rotating groove 29 at its end. A second motor 210 is fixedly connected to the side of the first rotating arm 21. The drive shaft end of the second motor 210 is fixedly connected to a second rotating arm 211 in the first rotating groove 29. The second rotating arm 211 has a first placement groove 212 at its end. A first electric telescopic rod 213 is fixedly connected to the second rotating arm 211 in the first placement groove 212.

[0032] The telescopic end of the first electric telescopic rod 213 is fixedly connected to a fourth motor 224. The drive shaft end of the fourth motor 224 is fixedly connected to a second fixing body 225. A second rotating groove 227 is provided on the side of the second fixing body 225. A fifth motor 226 is fixedly connected to the side of the second fixing body 225. The drive shaft end of the fifth motor 226 is fixedly connected to a third rotating arm 214 in the second rotating groove 227.

[0033] The third rotating arm 214 has a second placement groove 215 at its end. A second electric telescopic rod 216 is fixedly connected to the third rotating arm 214 in the second placement groove 215. A third motor 217 is fixedly connected to the telescopic end of the second electric telescopic rod 216. A fixing plate 218 is fixedly connected to the drive shaft end of the third motor 217. A fifth slot 221 is opened on the side of the fixing plate 218. Two first fixing bodies 223 are slidably connected in the fifth slot 221 of the fixing plate 218.

[0034] The fixed plate 218 has a dual-axis electric telescopic rod 219 fixedly connected in the fifth slot 221. The telescopic ends of the dual-axis electric telescopic rod 219 are respectively fixedly connected to the sides of the first fixed body 223. The ends of the two first fixed bodies 223 are respectively fixedly connected to the fixed shells 230. The ends of the two first fixed bodies 223 are respectively provided with second through holes 229 communicating with the inside of the fixed shells 230. The inner sides of the two first fixed bodies 223 are respectively provided with a plurality of equidistantly arranged second guide grooves 235. The two first fixed bodies 223 are respectively provided with... A first guide groove 228 is provided, which communicates with the second through hole 229 and the second guide groove 235. The first fixing body 223 is slidably connected to guide rods 236 in the second guide groove 235. The outer ends of several guide rods 236 are fixedly connected to top blocks 237. The inner ends of several guide rods 236 are fixedly connected to stop plates 234 that slide with the first guide groove 228. A camera 220 is provided on the side of the dual-axis electric telescopic rod 219. An air pump 222 is provided at the end of the two first fixing bodies 223 in the second through hole 229.

[0035] One end of each of the two fixed shells 230 is open. An annular groove 231 is provided at the end of each of the two fixed shells 230. Several springs 232 are fixedly connected to the annular groove 231 of each of the two fixed shells 230. Flexible rings 233 are fixedly connected to the ends of the several springs 232. A sixth slot 238 communicating with the second through hole 229 is provided in each of the two fixed shells 230. A third electric telescopic rod is provided in each of the two sixth slots 238. A baffle 239 is fixedly connected to the telescopic ends of each of the two third electric telescopic rods.

[0036] Specifically, the third motor 217 drives the fixed plate 218 to rotate until the two first fixed bodies 223 rotate to the angle corresponding to the side of the handle. Then, the second electric telescopic rod 216 extends, and the second electric telescopic rod 216 drives the first fixed body 223 to move to the side of the handle. Then, the two third electric telescopic rods extend, and the third electric telescopic rods drive the baffle 239 to seal the second through hole 229. The two air pumps 222 start, and the air pumps 222 drive the pressure in the second through hole 229 to increase. Then, several stop plates 234 move outward under the action of pressure. At the same time, the stop plates 234 drive the top block 237 to press against the side of the handle through the guide rod 236.

[0037] In this embodiment, a laser radar mechanism 3 is provided at the upper center line of the sweeping machine body 1, a visual detection mechanism 4 is provided at the upper end of the sweeping machine body 1 near the side, and a cleaning and moving mechanism 5 for cleaning and moving the ground is provided at the lower end of the sweeping machine body 1.

[0038] The visual inspection mechanism 4 includes a camera module 41 fixedly installed on the upper end of the sweeper body 1, and two symmetrically arranged supplementary lights 42 are fixedly connected to the upper end of the sweeper body 1.

[0039] Specifically, the cleaning moving mechanism 5 drives the visual detection mechanism 4 to rotate to face the obstacle, identify and analyze the obstacle, clean up items that can be cleaned, and detour around obstacles that cannot be cleaned. When the indoor lighting is dim, the camera module 41 is activated, which can improve the recognition efficiency of the supplementary light device 42.

[0040] When in use, after the main body 1 of the sweeping robot receives the cleaning start command through the controller, the controller starts the cleaning moving mechanism 5. The cleaning moving mechanism 5 can move the main body 1 of the sweeping robot along the predetermined route while cleaning. The laser radar mechanism 3 at the top of the main body 1 of the sweeping robot can detect obstacles on the ground. Then, the cleaning moving mechanism 5 drives the vision detection mechanism 4 to rotate to face the obstacle, identify and analyze the obstacle, clean up items that can be cleaned, and detour around obstacles that cannot be cleaned. When the indoor lighting is dim, the camera module 41 is activated, which can improve the recognition efficiency of the supplementary light device 42.

[0041] When the main body 1 of the sweeping robot moves to the vicinity of the interior door under the drive of the cleaning moving mechanism 5, the first motor 24 starts, and the first motor 24 drives the first rotating arm 21 to rotate 90° via the connecting rod 25. The second motor 210 on the side of the first rotating arm 21 starts, and the second motor 210 drives the second rotating arm 211 to rotate. The fifth motor 226 starts, and the fifth motor 226 drives the third rotating arm 214 to rotate 90°. Then the fourth motor 224 drives the third rotating arm 214 to rotate, and the first electric telescopic rod 213 extends until the camera 220 on the side of the dual-axis electric telescopic rod 219 is aligned with the handle of the interior door. For handles of lever lock and ball lock types, the third motor 217 starts, and the third motor 217 drives the fixing plate 218 to rotate until the two first fixing bodies 223 rotate to the angle corresponding to the side of the handle. Then the second electric telescopic rod 213 extends. 16. The second electric telescopic rod 216 extends, driving the first fixed body 223 to move to the side of the handle. Then, the two third electric telescopic rods extend, driving the baffle 239 to seal the second through hole 229. The two air pumps 222 start, and the air pumps 222 increase the pressure in the second through hole 229. Then, several stop plates 234 move outward under the pressure. At the same time, the stop plates 234 drive the top blocks 237 to press against the side of the handle through the guide rod 236. For spherical locks, several top blocks 237 can press and fix the sides of spherical locks with different curvatures. Then, the third motor 217 starts, driving several top blocks 237 to rotate, thereby driving the handle to rotate and open the indoor door for cleaning. By using several top blocks 237 with different extension amounts, the contact area with the handle can be increased, improving the stability of the handle clamping.

[0042] For sliding glass doors without handles, the robot vacuum body 1 moves the fixed plate 218 to a position aligned with the glass door via the cleaning and moving mechanism 5. Then, the second electric telescopic rod 216 extends, causing the flexible rings 233 at the ends of the two fixed shells 230 to contact the glass door. After that, the two third electric telescopic rods extend and retract, turning on the air pumps 222. The air pumps 222 start up and expel the air from the second through hole 229, thereby reducing the pressure inside the fixed shell 230. At this time, the two flexible rings 233 stably adhere to the glass door. Then, the cleaning and moving mechanism 5 moves in parallel, thereby opening the glass door. This enables the robot vacuum to be used in places such as kitchens that are sealed by sliding glass doors, improving the applicability of the device.

[0043] After cleaning is completed, the second motor 210 drives the second rotating arm 211 to rotate 90°, then the fifth motor 226 drives the third rotating arm 214 to rotate 90°, and finally the first motor 24 drives the first rotating arm 21 to rotate into the first empty slot 22 through the connecting rod 25, so that the robotic arm mechanism 2 can be completely stored and prevent the robotic arm mechanism 2 from affecting the overall passability of the sweeper.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A fully automatic sweeping robot based on multi-line lidar fusion visual perception, comprising a sweeping robot body (1), characterized in that: The upper end of the sweeper body (1) is provided with a mechanical arm mechanism (2) for clamping and limiting door handles and glass doors of different shapes. The mechanical arm mechanism (2) includes a first slot (22) opened at the upper end of the sweeper body (1), a third slot (26) opened at the upper end of the sweeper body (1) perpendicular to the first slot (22), a fourth slot (27) opened at the upper end of the sweeper body (1) perpendicular to the third slot (26), a first rotating arm (21) provided in the first slot (22) of the sweeper body (1), a laser radar mechanism (3) provided at the upper center line of the sweeper body (1), a visual detection mechanism (4) provided at the upper end of the sweeper body (1) near the side, and a cleaning and moving mechanism (5) for cleaning and moving the ground provided at the lower end of the sweeper body (1).

2. The fully automatic sweeping robot with multi-line lidar fusion visual perception as described in claim 1, characterized in that: The first slot (22), the third slot (26) and the fourth slot (27) are connected. The main body (1) of the sweeper has a second slot (23) that is connected to the first slot (22). The main body (1) of the sweeper has a first motor (24) fixedly connected in the second slot (23). The drive shaft end of the first motor (24) is fixedly connected to a connecting rod (25). The side of the first rotating arm (21) has a first through hole (28). The side of the connecting rod (25) is fixedly connected in the first through hole (28).

3. The fully automatic sweeping robot based on multi-line lidar fusion visual perception according to claim 1, characterized in that: The first rotating arm (21) has a first rotating groove (29) at its end. A second motor (210) is fixedly connected to the side of the first rotating arm (21). The drive shaft end of the second motor (210) is fixedly connected to a second rotating arm (211) in the first rotating groove (29). The second rotating arm (211) has a first placement groove (212) at its end. A first electric telescopic rod (213) is fixedly connected to the second rotating arm (211) in the first placement groove (212).

4. The fully automatic sweeping robot with multi-line lidar fusion visual perception as described in claim 3, characterized in that: The telescopic end of the first electric telescopic rod (213) is fixedly connected to a fourth motor (224), the drive shaft end of the fourth motor (224) is fixedly connected to a second fixed body (225), the side of the second fixed body (225) is provided with a second rotating groove (227), the side of the second fixed body (225) is fixedly connected to a fifth motor (226), and the drive shaft end of the fifth motor (226) is fixedly connected to a third rotating arm (214) in the second rotating groove (227).

5. The fully automatic sweeping robot based on multi-line lidar fusion visual perception according to claim 4, characterized in that: The end of the third rotating arm (214) is provided with a second placement groove (215). The third rotating arm (214) is fixedly connected to a second electric telescopic rod (216) in the second placement groove (215). The telescopic end of the second electric telescopic rod (216) is fixedly connected to a third motor (217). The drive shaft end of the third motor (217) is fixedly connected to a fixing plate (218). The side of the fixing plate (218) is provided with a fifth slot (221). The fixing plate (218) is slidably connected to two first fixing bodies (223) in the fifth slot (221).

6. The fully automatic sweeping robot based on multi-line lidar fusion visual perception according to claim 5, characterized in that: The fixing plate (218) is fixedly connected to a dual-axis electric telescopic rod (219) in the fifth slot (221). The telescopic ends of the dual-axis electric telescopic rod (219) are fixedly connected to the sides of the first fixing body (223). The ends of the two first fixing bodies (223) are fixedly connected to a fixing shell (230). The ends of the two first fixing bodies (223) are respectively provided with a second through hole (229) communicating with the inside of the fixing shell (230). The inner sides of the two first fixing bodies (223) are respectively provided with a plurality of equidistant second guide grooves (235). The two first fixing bodies (223) are respectively provided with a plurality of second guide grooves (235) arranged at equal intervals. The first guide groove (228) is connected to the second through hole (229) and the second guide groove (235). The first fixing body (223) is slidably connected to the guide rod (236) in the second guide groove (235). The outer ends of the several guide rods (236) are respectively fixedly connected to the top block (237). The inner ends of the several guide rods (236) are respectively fixedly connected to the stop plate (234) that slides with the first guide groove (228). The side of the dual-axis electric telescopic rod (219) is provided with a camera (220). The two first fixing bodies (223) are respectively provided with air pumps (222) at the ends of the second through hole (229).

7. The fully automatic sweeping robot based on multi-line lidar fusion visual perception according to claim 6, characterized in that: One end of each of the two fixed shells (230) is open. An annular groove (231) is provided at the end of each of the two fixed shells (230). Several springs (232) are fixedly connected in the annular groove (231) of each of the two fixed shells (230). Flexible rings (233) are fixedly connected at the ends of the several springs (232). A sixth slot (238) communicating with the second through hole (229) is provided in each of the two fixed shells (230). A third electric telescopic rod is provided in each of the two sixth slots (238). A baffle (239) is fixedly connected at the telescopic ends of each of the two third electric telescopic rods.

8. The fully automatic sweeping robot based on multi-line lidar fusion visual perception according to claim 1, characterized in that: The visual inspection mechanism (4) includes a camera module (41) fixedly installed on the upper end of the sweeper body (1), and two symmetrically arranged supplementary lights (42) are fixedly connected to the upper end of the sweeper body (1).

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