Intelligent sweeper with positioning function

Abstract

The utility model discloses an intelligent sweeper with a positioning function, which comprises a sweeping robot, two groups of rotating rings are fixedly mounted on the upper surface of the sweeping robot, rotating mechanisms are rotatably mounted in the two groups of rotating rings, and transmission ends of the rotating mechanisms are fixedly mounted at one ends of driving wheels in the sweeping robot. A laser sensor and a camera are fixedly installed on the upper surfaces of the two rotating mechanisms correspondingly. Through the design of the laser sensor, the camera and the rotating mechanism, when the sweeping robot conducts sweeping, the laser sensor and the camera can rotate by 360 degrees along with walking without additional electric energy, then the sweeping robot can accurately sense the environment, accurate positioning can be achieved through combination of the laser sensor and the camera, and the sweeping robot is more convenient to use. Therefore, unnecessary repeated cleaning of the same area can be avoided, time is saved, and the overall cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of sweeping robots, in particular to an intelligent sweeping robot with a positioning function. Background Art

[0002] A smart sweeping robot is a type of smart home appliance that can automatically clean the floor in the room with the help of certain artificial intelligence. It generally uses brushing and vacuuming to absorb debris on the ground into its own garbage storage box, thereby completing the function of floor cleaning. Generally speaking, robots that complete cleaning, vacuuming, and mopping are also collectively classified as smart sweeping robots.

[0003] For example, the patent with national authorized patent announcement number CN215016896U discloses an intelligent sweeping robot with an automatic escape function, including an intelligent sweeping robot body, the top of which is provided with an anti-smashing mechanism, the anti-smashing mechanism including a fixing plate, the top of which is provided with a slot, and the top of which is provided with a protective mechanism. This utility model prevents the intelligent sweeping robot body from being hit, thereby protecting the intelligent sweeping robot body, greatly improving the safety of the intelligent sweeping robot body during use, reducing user losses, and having strong practicality. It prevents debris from falling on the charging port of the intelligent sweeping robot body, thereby affecting the normal use of the charging port of the intelligent sweeping robot body. This device protects the charging port of the intelligent sweeping robot body and improves the safety of the intelligent sweeping robot body.

[0004] However, the above-mentioned smart sweeping robot with automatic escape function does not have the function of automatically finding the cleaning path and positioning when sweeping the ground, which will cause the robot to be unable to cover the entire area during the cleaning process, resulting in omission or repeated cleaning of some areas, reducing the overall cleaning effect. Without intelligent path planning, the robot may move randomly when cleaning, resulting in unreasonable routes, prolonged cleaning time, and increased power consumption. Utility Model Content

[0005] The purpose of the present utility model is to provide an intelligent sweeping machine with a positioning function, so as to solve the problem in the above-mentioned background technology that the machine does not have the function of automatically finding a cleaning path and positioning during the process of sweeping the ground.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] An intelligent sweeping machine with a positioning function comprises: a sweeping robot, wherein two sets of rotating rings are fixedly mounted on the upper surface of the sweeping robot, a rotating mechanism is rotatably mounted inside the two sets of rotating rings, a transmission end of the rotating mechanism is fixedly mounted on one end of a driving wheel inside the sweeping robot, and a laser sensor and a camera are respectively fixedly mounted on the upper surfaces of the two sets of rotating mechanisms.

[0008] Preferably, the laser sensor and the camera can be driven by the rotating mechanism to rotate 360°, so that the laser sensor and the camera can effectively scan the surrounding environment, identify obstacles and draw maps, and the signal transmitting end of the laser sensor is connected to the signal receiving end of the controller, and the controller is integrated into the sweeping robot;

[0009] The models of the laser sensor and controller are Hokuyo and VL53L0X respectively.

[0010] Preferably, rubber rings are fixedly installed on the upper and lower ends of the outer surface of the sweeping robot in a protruding manner.

[0011] Preferably, the rotating mechanism includes a first bevel gear, which is fixedly mounted on one end of the driving wheel, meshing with a second bevel gear, which is fixedly mounted on the outer surface of a rotating rod, and the rotating rod is rotatably mounted in the sweeping robot.

[0012] Preferably, the upper and lower ends of the rotating rod are rotatably mounted in a convex plate, and the convex plate is fixedly mounted on the upper and lower surfaces of the housing of the sweeping robot.

[0013] Preferably, the upper end of the rotating rod rotates and passes through the rotating ring, and a turntable is fixedly installed on the upper surface of the rotating rod passing through the rotating ring. The turntable rotates in the rotating ring, and a laser sensor and a camera are fixedly installed on the upper surfaces of the two groups of turntables.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. Through the design of the sweeping robot, laser sensor, camera, drive wheel and rotating mechanism, when the sweeping robot cleans the ground, it will drive the two sets of rotating mechanisms to rotate 360° in the swivel during the walking process of the driving wheel, and then the two sets of rotating mechanisms will drive the laser sensor and camera to rotate 360° respectively. When the laser sensor and camera rotate 360°, they can emit laser beams in all directions and receive reflected light and capture panoramic images of the surrounding environment. The laser sensor can calculate the distance between the sweeping robot and the surrounding obstacles by emitting laser beams and measuring the time it takes for the beams to return. By continuously rotating the laser sensor, the robot can scan the surrounding environment 360°, generate obstacle distance information, and use the collected distance data to build a two-dimensional or three-dimensional map of the environment. This map contains the location and shape of surrounding obstacles, so that the robot can clearly understand the layout of the cleaning area.

[0016] By capturing environmental images with a camera and processing them using computer vision technology, the robot vacuum can identify landmarks, furniture, and other obstacles. By recognizing specific signs or objects, the robot vacuum can better understand its position in space. Combining image data with laser ranging information, the robot vacuum can more accurately determine its position relative to surrounding objects, enhancing positioning accuracy.

[0017] By combining the data from laser sensors and cameras and improving positioning accuracy through the Kalman filter algorithm, this process is called sensor fusion, which can reduce the error of a single sensor. During movement, the sweeping robot will continuously update the environmental map, compare the current sensor data with the known map in real time, perform self-positioning, ensure accurate tracking of the position, and enable the sweeping robot to use the Dijkstra algorithm to calculate the optimal path. Based on the generated environmental map, the algorithm will find the best route from the starting position to the target position to avoid obstacles.

[0018] 2. Through the design of the first bevel gear, second bevel gear, rotating rod, and turntable, when the sweeping robot is cleaning the floor, the driving wheels will simultaneously drive the first bevel gear to mesh with the second bevel gear to rotate. This in turn enables the second bevel gear to drive the rotating rod to rotate between the convex plates, and at the same time, drives the turntable on the upper surface of the rotating rod to rotate between the rotating rings. The laser sensor and camera are fixedly mounted on the upper surfaces of the two sets of turntables. This enables the turntable to drive the laser sensor and camera to rotate 360°, and this rotation is transmitted along with the movement of the sweeping robot without the need for additional power supply. During the movement of the sweeping robot, the laser sensor and camera continuously rotate 360°, enabling them to dynamically monitor the surrounding environment in real time. Whether it is sudden obstacles such as pets and dropped objects during cleaning, or subtle changes in the environment layout such as slightly moved furniture, they can be detected and responded to in a timely manner. Compared with sensors with fixed angles or intermittent rotation, this continuous all-round perception capability can better adapt to the complex and changing home cleaning environment and improve the intelligence of the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the intelligent sweeping machine with positioning function of the utility model;

[0020] Figure 2 This is a schematic structural diagram of the drive wheel transmission rotation mechanism of the present utility model;

[0021] Figure 3 This is a schematic structural diagram of the first bevel gear and the second bevel gear meshing with each other in the present invention;

[0022] Figure 4 It is a structural schematic diagram of the rotating mechanism of the present utility model.

[0023] In the figure: 1. Vacuum robot; 101. Rubber ring; 102. Rotating ring; 103. Laser sensor; 104. Camera; 105. Driving wheel; 106. Convex disc; 2. Rotating mechanism; 201. First bevel gear; 202. Rotating rod; 203. Second bevel gear; 204. Turntable. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] See also Figures 1-4 , this embodiment provides the following technical solutions:

[0026] like Figure 1-Figure 2 As shown, an intelligent sweeping machine with a positioning function includes: a sweeping robot 1, two sets of rotating rings 102 are fixedly installed on the upper surface of the sweeping robot 1, and rotating mechanisms 2 are rotatably installed in the two sets of rotating rings 102, and the transmission end of the rotating mechanism 2 is fixedly installed on one end of the driving wheel 105 inside the sweeping robot 1, and a laser sensor 103 and a camera 104 are respectively fixedly installed on the upper surfaces of the two sets of rotating mechanisms 2.

[0027] The laser sensor 103 and the camera 104 can be driven by the rotating mechanism 2 to rotate 360 ​​degrees, so that the laser sensor 103 and the camera 104 can effectively scan the surrounding environment, identify obstacles and draw maps. The signal transmitting end of the laser sensor 103 is connected to the signal receiving end of the controller, and the controller is integrated into the sweeping robot 1;

[0028] The models of the laser sensor 103 and the controller are Hokuyo and VL53L0X respectively.

[0029] Rubber rings 101 are fixedly mounted on the upper and lower ends of the outer surface of the sweeping robot 1 in a protruding manner.

[0030] Through the design of the sweeping robot 1, the laser sensor 103, the camera 104, the driving wheel 105 and the rotating mechanism 2, when the sweeping robot 1 cleans the ground, the driving wheel 105 will drive the two sets of rotating mechanisms 2 to rotate 360° in the rotating ring 102, and then the two sets of rotating mechanisms 2 will respectively drive the laser sensor 103 and the camera 104 to rotate 360°. When the laser sensor 103 and the camera 104 rotate 360°, they can emit laser beams in all directions and receive reflected light and capture a panoramic image of the surrounding environment. The laser sensor 103 can calculate the distance between the sweeping robot 1 and the surrounding obstacles by emitting laser beams and measuring the time it takes for the beams to return. By continuously rotating the laser sensor 103, the robot can scan the surrounding environment 360°, generate obstacle distance information, and use the collected distance data to construct a two-dimensional or three-dimensional map of the environment. This map contains the location and shape of the surrounding obstacles, so that the robot can clearly understand the layout of the cleaning area.

[0031] The camera 104 captures environmental images and processes them using computer vision technology to identify landmarks, furniture, and other obstacles. By identifying specific signs or objects, the sweeping robot 1 can better understand its position in space. Combining image data with laser ranging information, the sweeping robot 1 can more accurately determine its position relative to surrounding objects, thereby enhancing positioning accuracy.

[0032] By combining the data from the laser sensor 103 and the camera 104 and improving the positioning accuracy through the Kalman filter algorithm, this process is called sensor fusion. It can reduce the error of a single sensor so that during movement, the sweeping robot 1 will continuously update the environmental map, compare the current sensor data with the known map in real time, perform self-positioning, ensure accurate tracking of the position, and enable the sweeping robot 1 to use the Dijkstra algorithm to calculate the optimal path. Based on the generated environmental map, the algorithm will find the best route from the starting position to the target position to avoid obstacles.

[0033] like Figure 3-Figure 4 As shown, the rotating mechanism 2 includes a first bevel gear 201, which is fixedly mounted on one end of the driving wheel 105. The first bevel gear 201 is meshed with a second bevel gear 203. The second bevel gear 203 is fixedly mounted on the outer surface of the rotating rod 202, and the rotating rod 202 is rotatably mounted in the sweeping robot 1.

[0034] The upper and lower ends of the rotating rod 202 are rotatably mounted in the convex plate 106 , and the convex plate 106 is fixedly mounted on the upper and lower surfaces of the housing of the sweeping robot 1 .

[0035] The upper end of the rotating rod 202 rotates and passes through the rotating ring 102, and a turntable 204 is fixedly installed on the upper surface of the rotating rod 202 passing through the rotating ring 102. The turntable 204 rotates in the rotating ring 102, and the upper surfaces of the two groups of turntables 204 are respectively fixedly installed with a laser sensor 103 and a camera 104.

[0036] By designing the first bevel gear 201, the second bevel gear 203, the rotating rod 202 and the rotating disk 204, when the sweeping robot 1 cleans the ground, the sweeping robot 1 will drive the first bevel gear 201 to mesh with the second bevel gear 203 during the walking process through the driving wheel 105, thereby enabling the second bevel gear 203 to drive the rotating rod 202 to rotate between the cams 106, and also drive the rotating disk 204 on the upper surface of the rotating rod 202 to rotate between the rotating rings 102, and the laser sensor 103 and the camera 104 are fixedly installed on the upper surfaces of the two sets of rotating disks 204, thereby enabling the rotating disk 204 to drive the laser sensor 103 and the camera 1 04 performs a 360° rotation operation, and this rotation is transmitted along with the walking of the sweeping robot 1, without the need for additional power supply. During the walking process of the sweeping robot 1, the laser sensor 103 and the camera 104 continue to rotate 360°, which enables them to dynamically monitor the surrounding environment in real time. Whether it is an obstacle that suddenly appears during the cleaning process, such as pets, fallen objects, etc., or a slight change in the environment layout, such as furniture being slightly moved, they can all be discovered and responded to in time. Compared with sensors with fixed angles or intermittent rotation, this continuous all-round perception capability can better adapt to the complex and changeable home cleaning environment and improve the intelligence level of the sweeping robot 1.

[0037] The working steps of this scheme are summarized and sorted out according to the above technical scheme: when the sweeping robot 1 cleans the ground, the sweeping robot 1 will drive the first bevel gear 201 to mesh with the second bevel gear 203 to rotate during the walking of the driving wheel 105, and then the second bevel gear 203 will drive the rotating rod 202 to rotate between the convex plates 106, and at the same time, it will also drive the turntable 204 on the upper surface of the rotating rod 202 to rotate between the rotating rings 102, and the laser sensors 103 and the cameras 104 are fixedly installed on the upper surfaces of the two sets of turntables 204, so that the turntable 204 can drive the laser sensors 103 and the cameras 104 to perform a 360° rotation operation, and this rotation is detected along with the walking of the sweeping robot 1. Transmission, no additional power supply is required. During the walking process of the sweeping robot 1, the laser sensor 103 and the camera 104 continuously rotate 360°, so that the sweeping robot 1 can emit laser beams in all directions and receive reflected light and capture a panoramic image of the surrounding environment. The laser sensor 103 can calculate the distance between the sweeping robot 1 and the surrounding obstacles by emitting laser beams and measuring the time it takes for the beams to return. By continuously rotating the laser sensor 103, the robot can scan the surrounding environment 360°, generate obstacle distance information, and use the collected distance data to build a two-dimensional or three-dimensional map of the environment. This map includes the location and shape of the surrounding obstacles, so that the robot can clearly understand the layout of the cleaning area;

[0038] The camera 104 captures environmental images and processes them using computer vision technology to identify landmarks, furniture, and other obstacles. By identifying specific signs or objects, the sweeping robot 1 can better understand its position in space. Combining image data with laser ranging information, the sweeping robot 1 can more accurately determine its position relative to surrounding objects, thereby enhancing positioning accuracy.

[0039] By combining the data from the laser sensor 103 and the camera 104 and improving the positioning accuracy through the Kalman filter algorithm, this process is called sensor fusion. It can reduce the error of a single sensor so that during movement, the sweeping robot 1 will continuously update the environmental map, compare the current sensor data with the known map in real time, perform self-positioning, ensure accurate tracking of the position, and enable the sweeping robot 1 to use the Dijkstra algorithm to calculate the optimal path. Based on the generated environmental map, the algorithm will find the best route from the starting position to the target position to avoid obstacles.

[0040] In summary: when the sweeping robot 1 is cleaning, the laser sensor 103 and the camera 104 can rotate 360° as it walks without the need for additional electricity, thereby enabling it to accurately perceive the environment. The combination of the two can achieve precise positioning, thereby avoiding unnecessary repeated cleaning of the same area, thereby saving time and improving overall cleaning efficiency.

[0041] Any portion not described in the present invention is the same as the prior art or can be implemented using the prior art. Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent sweeping machine with positioning function, characterized in that: include: A sweeping robot (1) is provided, wherein two sets of rotating rings (102) are fixedly mounted on the upper surface of the sweeping robot (1), a rotating mechanism (2) is rotatably mounted in each of the two sets of rotating rings (102), a transmission end of the rotating mechanism (2) is fixedly mounted on one end of a driving wheel (105) inside the sweeping robot (1), and a laser sensor (103) and a camera (104) are fixedly mounted on the upper surfaces of the two sets of rotating mechanisms (2), respectively.

2. The intelligent sweeping machine with positioning function according to claim 1, characterized in that: The laser sensor (103) and the camera (104) can be driven by the rotating mechanism (2) to rotate 360 ​​degrees. The laser sensor (103) and the camera (104) can scan the surrounding environment and identify obstacles. The signal transmitting end of the laser sensor (103) is connected to the signal receiving end of the controller, and the controller is integrated into the sweeping robot (1).

3. The intelligent sweeping machine with positioning function according to claim 1, characterized in that: The upper and lower ends of the outer surface of the sweeping robot (1) are both fixedly mounted with rubber rings (101) in a protruding manner.

4. The intelligent sweeping machine with positioning function according to claim 1, characterized in that: The rotating mechanism (2) comprises a first bevel gear (201), the first bevel gear (201) being fixedly mounted on one end of a driving wheel (105), the first bevel gear (201) being meshed with a second bevel gear (203), the second bevel gear (203) being fixedly mounted on the outer surface of a rotating rod (202), and the rotating rod (202) being rotatably mounted in the sweeping robot (1).

5. The intelligent sweeping machine with positioning function according to claim 4, characterized in that: The upper and lower ends of the rotating rod (202) are both rotatably mounted in the convex plate (106), and the convex plate (106) is fixedly mounted on the upper and lower surfaces of the housing of the sweeping robot (1).

6. The intelligent sweeping machine with positioning function according to claim 5, characterized in that: The upper end of the rotating rod (202) rotates and penetrates into the rotating ring (102), and a rotating disk (204) is fixedly installed on the upper surface of the rotating rod (202) that penetrates into the rotating ring (102). The rotating disk (204) rotates in the rotating ring (102), and a laser sensor (103) and a camera (104) are fixedly installed on the upper surfaces of two groups of the rotating disks (204).

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