Content of the invention
In view of this, it is an object of the invention to provide a kind of multi-functional self-movement robot in one.
The present invention solves prior art problem and be employed technical scheme comprise that：
A kind of self-movement robot, including：Housing；Drive module, drives described self-movement robot on groundMove on face；Mowing module, executes grass cutting action；Energy module, provides energy to self-movement robot；Control module, controls self-movement robot to automatically move and execute work；Wherein, self-movement robot also wrapsInclude the cleaning module of execution floor cleaning work；Self-movement robot has mowing pattern and cleaning mode,Under mowing pattern, control module controls self-movement robot execution grass cutting action, in the clean mode, controlsModule controls self-movement robot execution cleaning.
Preferably, self-movement robot also includes ground recognition unit, and ground recognition unit gathers target areaTerrestrial information simultaneously judges target area ground for meadow or road surface.
Preferably, module according to ground recognition unit the recognition result to target area, control self-movement robotRemain under mowing pattern on meadow to execute grass cutting action, to remain in the clean mode on road surfaceTo execute cleaning.
Preferably, module according to ground recognition unit the recognition result to target area, self-movement robot fromWhen meadow moves on road surface, from mowing pattern switching to cleaning mode；Move from road surface in self-movement robotWhen moving on meadow, it is switched to mowing pattern from cleaning mode.
Preferably, control module according to ground recognition unit the recognition result to target area, from mobile machinePeople controls it to be in mowing pattern when being located on meadow, controls at it when self-movement robot is located on road surfaceIn cleaning mode.
Preferably, ground recognition unit includes camera and the recognition component being connected with camera；Camera gathersThe ground image of target area simultaneously passes to recognition component, presets floor type evaluation algorithm in recognition component,Recognition component extracts characteristics of image and is inputted in floor type evaluation algorithm, to judge target area as grassGround or road surface.
Preferably, ground recognition unit includes landing stiffness sensor and the identification being connected with landing stiffness sensorElement；Landing stiffness sensor gathers the landing stiffness information of target area and passes to recognition component, identificationFloor type evaluation algorithm is preset, recognition component is by floor type described in landing stiffness information input in elementIn evaluation algorithm, to judge target area as meadow or road surface.
Preferably, control module includes mode controlling unit, and mode controlling unit controls from shifting according to pre-set programsMobile robot switches between mowing pattern and cleaning mode.
Preferably, mode controlling unit is in mowing pattern according to date or season information distribution self-movement robotTime and be in time of cleaning mode.
Preferably, cleaning module is the leaf cleaning module for cleaning fallen leaves
Preferably, leaf cleaning module is blow-off module, air draught module or module of sweeping the floor.
Preferably, cleaning module is detachably arranged on described housing.
Compared with prior art, beneficial effects of the present invention are：Self-movement robot has mowing module, permissibleRealize the function of automatically mowing, also there is cleaning module, be capable of the function on automated cleaning ground.UserCan a tractor serves several purposes, reduce expense.Self-movement robot judges target area for grass by ground recognition unitThe use of machine, such that it is able to automatic switchover grass cutting action pattern or cleaning mode, is improved in ground or road surfaceEfficiency.
Brief description
The purpose of invention described above, technical scheme and beneficial effect can by following can be realThe detailed description of the specific embodiment of the existing present invention.
Identical label in accompanying drawing and specification and symbol are used for representing identical or equivalent element.
Fig. 1 is the self-movement robot system schematic of one embodiment of the present invention.
Fig. 2 is the module map of the self-movement robot of one embodiment of the present invention.
Fig. 3 is that the flank of the self-movement robot of one embodiment of the present invention turns up state front-view schematic diagram.
Fig. 4 is the flank full state front-view schematic diagram of self-movement robot in Fig. 3.
Fig. 5 is the elevational schematic view of the self-movement robot of one embodiment of the present invention.
1st, self-movement robot 3, working region 31, meadow
33rd, road surface 11, control module 13, energy module
15th, drive module 17, mowing module 19, cleaning module
21st, ground recognition unit 211, camera 213, recognition component
215th, landing stiffness sensor 111, mode controlling unit 191, fan
193rd, air channel 5, bus stop 12, flank
Specific embodiment
As Fig. 1, self-movement robot system includes self-movement robot 1 and bus stop 5.Self-movement robotAutomate cruises in working region 3 and executes work, and bus stop 5 berths for self-movement robot.WorkMake region 3 and include meadow 31 and road surface 33, meadow 31 top length has turf, do not have grass above road surface 33Skin, is available for people and vehicle to run, and road surface 33 not only includes the path of long and narrow form, also includes broad confession peopleStop or the non-grass areas of activity, such as do not have garden, sports field of grass etc..
In one embodiment, self-movement robot system also includes virtual boundary, such as around working regionThe border electric wire of 3 arrangements, infrared wall, RFID label tag etc.；In one embodiment, virtual boundary is by workRegion 3 is divided into many sub-regions, for example, at least meadow region and at least one road surface region.
With continued reference to Fig. 1, bus stop 5 berths when not working for self-movement robot 1, implements a kind ofIn example, bus stop 5 is provided with power interface, power interface charges for self-movement robot 1.
As Fig. 2, self-movement robot 1 includes control module 11, energy module 13, drive module 15, cutsCareless module 17 and cleaning module 19, also include installing the housing of aforementioned unit.
The concrete physical form of control module 11 is to be disposed with one or more processors, memory, other phasesClose the control board of components and parts and respective peripheral circuit.Control unit is built-in with control program, to executePredetermined instruction, controls self-movement robot 1 to run, cruises and work in working region 3, return stopsPull in 5 etc..Energy module 13 provides work capacity to self-movement robot 1, can be rechargeable batteryBag, the suitable energy storage thing such as solar energy collecting storage device.Drive module 15 drives self-movement robot 1Move on the ground, generally include wheel group it is also possible to include crawler belt, machinery foot etc.；Drive module 15 is permissibleIncluding special power source, such as drive motor etc. is it is also possible to and other module shared power sources.Mowing module17 are used for executing grass cutting action, such as carry cutterhead, tool section or the rope of mowing of flail knife piece including cutting element；CutCareless module 17 can include special power source, and such as cutting motor etc. is it is also possible to and other module common powerSource.Cleaning module 19 is used for executing floor cleaning work, for example, sweep the floor, dust suction, the leaf that blows off, inhale fallen leaves etc.；Cleaning module 19 can include sweep the floor module, air draught module, blow-off module or pressure-vaccum module etc.；Cleaning module19 can include special power source, and such as cleaning motor etc. is it is also possible to and other module shared power sources.
Self-movement robot 1 has mowing pattern and cleaning mode, under mowing pattern, self-movement robot1 can on meadow 31 automatic cruising execute grass cutting action, in the clean mode, self-movement robot 1Being capable of automatic cruising execute cleaning.When executing grass cutting action, the mowing mould of self-movement robot 1Block starts, cleaning module stops；Conversely, when executing cleaning, mowing module stops, cleaning moduleStart.In the clean mode, the difference according to application scenarios, in certain embodiments, self-movement robotCleaning is executed only on meadow；In some other embodiment, self-movement robot is only held on road surfaceRow cleaning；In further embodiments, self-movement robot executes cleaning on meadow and road surface；In further embodiments, self-movement robot selectable only meadow or only road surface orCleaning is executed on meadow and road surface.For example, cleaning module mainly execute road surface sweep the floor work when, thenSelf-movement robot executes cleaning only on road surface in the clean mode；Mainly execute in cleaning moduleDuring leaf removing work, and fall leaves when can be scattered on meadow, self-movement robot is held on road surface and meadowRow cleaning.
In one embodiment of this invention, self-movement robot 1 also includes ground recognition unit 21, to identifyThe type on ground is meadow or road surface.In one embodiment, when self-movement robot moves from meadow 31 regionWhen moving road surface 33 region, the recognition result of its target area can be passed to control mould by ground recognition unit 21Block 11, control module 11 controls self-movement robot to become cleaning mode from mowing patten transformation, i.e. mowing mouldBlock stops, cleaning module starts.When self-movement robot moves to meadow 31 region from road surface 33 region,Its target identification result can be passed to control module 11 by ground recognition unit 21, and control module 11 controls from shiftingMobile robot is converted into mowing pattern from cleaning mode, and that is, cleaning module stops, mowing module starts.
In one embodiment, ground recognition unit 21 includes camera and the recognition component being connected with camera.Camera gathers the ground image of target area and passes to recognition component, presets ground in recognition componentType evaluation algorithm, recognition component extracts characteristics of image and is inputted in floor type algorithm, to judge meshMark region is meadow or road surface.Wherein characteristics of image can be different according to the difference of floor type evaluation algorithm.In one embodiment, characteristics of image includes the color pixel values of target area image, floor type algorithm be byThe pixel value obtaining forms COLOR COMPOSITION THROUGH DISTRIBUTION figure, according to the most peak region of color region in distribution map with defaultRegional value be compared, if the peak region in distribution map is between the thresholding of preset areas, judge groundType is meadow, otherwise judges floor type for road surface.In certain embodiments, ground preset algorithm also may be usedWith meadow recognizer based on image using other, here does not just illustrate one by one.
In one embodiment, ground recognition unit 21 is included landing stiffness sensor and is sensed with landing stiffnessThe recognition component that device connects.Landing stiffness sensor gathers the landing stiffness information of target area and passes to knowledgeOther element, presets floor type evaluation algorithm in recognition component, recognition component is by landing stiffness information inputIn floor type algorithm, to judge target area as meadow or road surface.According to the hardness transducer being adopted notWith landing stiffness sensor can be arranged on the diverse location of self-movement robot.In one embodiment, groundSurface hardness sensor can be arranged on the wheel of self-movement robot, for detecting landing stiffness value in real time.In other embodiments, landing stiffness sensor may also be arranged on the housing of self-movement robot.Ground noodlesType evaluation algorithm judges the floor type of target area according to the landing stiffness value that landing stiffness sensor provides,When landing stiffness value is more than and knows equal to preset value, judge that target area, for road surface, otherwise judges target areaDomain is meadow.In certain embodiments, ground preset algorithm can also adopt other roads based on hardness informationFace recognizer.
In one embodiment, landing stiffness sensor can also be arranged on meadow 31 and road surface 33 intersection.When self-movement robot is close to the intersection on meadow 31 and road surface 33, landing stiffness sensor can be to certainlyMobile robot launches notification signal.Floor type sentences the difference according to had notice signal for section algorithm, sentencesDisconnected self-movement robot is to enter meadow or enter road surface.
In one embodiment, control module 11 also includes mode controlling unit.Mode controlling unit is according to defaultProgramme-control self-movement robot switch between mowing pattern and cleaning mode.Mode controlling unitIt is in the time of mowing pattern and is in cleaning mode according to date or season information distribution self-movement robotTime.In one embodiment, the growth that pre-set programs can be according to the grass in each area global in a yearRule stores mowing pattern residing for self-movement robot with the time of cleaning mode than table, and these rules are permissibleLearnt by meteorological statistics data.For example, the grass of CHINESE REGION, the speed of growth is in summer the soonest, connectsGetting off is spring, autumn, and winter grass growth is the slowest, then the time in pre-set programs is than table as shown in Table 1：
Table one
| Season/date | 2 months-April | May-July | August-October | November-January next year |
| Mowing time ratio | 80% | 100% | 20% | 0% |
| Cleaning time ratio | 20% | 0% | 80% | 100% |
Table one is merely given as the percent data of an embodiment, and mowing pattern and cleaning mode are in the concrete timeInterior concrete time ratio, user can be set according to oneself present position or oneself hobby.
In an embodiment of the present invention, cleaning module 19 is leaf cleaning module.Leaf cleaning module is blowingModule or air draught module or module of sweeping the floor.Cleaning module 19 may be located under the housing of self-movement robotSide or side.In one embodiment, as shown in Figure 3 and Figure 4, the housing side of self-movement robot 1It is provided with mobilizable flank 12, cleaning module 19 is provided with flank 12.As shown in figure 3, work as being inDuring mowing pattern, flank 12 is turned up and is leaned against housing side；As shown in figure 4, when being in cleaning mode, sideThe wing 12 falls, cleaning module operation under the driving of drive module.
Cleaning module 19 is blow-off module in one embodiment.Blow-off module can include a fan, by windFan drives air motion to be dispelled the rubbish such as the leaf being scattered on road surface or dust or blown poly- heap.In one embodiment, as shown in figure 5, blow-off module includes a fan and the air channel connecting with fan, fanBelow the housing of displacement self-movement robot 1.When cleaning mode starts, drive module drives fan to produceAir-flow, air-flow blows to road surface through air channel, thus the rubbish such as the fallen leaves of wind passage mouth periphery or dust are blownDissipate or blow poly- heap.In other embodiments, blow-off module can also displacement self-movement robot housingSide.
In one embodiment, cleaning module 19 is air draught module.Air draught module includes a fan, air channel and collectionDirt device, produces inspiratory airflow by fan and the rubbish such as the leaf on road surface or dust is sucked dust collect plant.Air draught module may be located at below the housing of self-movement robot or housing side.In one embodiment, inhaleWind module can not include dust collect plant, and the rubbish such as the leaf of collection or dust is directly discharged by dust-exhausting port.
In one embodiment, cleaning module 19 is module of sweeping the floor.Specifically, module of sweeping the floor can be sweep brushOr roller of sweeping the floor.Module of sweeping the floor can be with below the housing of displacement self-movement robot or housing side.?In one embodiment, module of sweeping the floor is located at below housing, and when being in cleaning mode startup, drive module drivesModule of sweeping the floor operating road pavement is cleaned.
In one embodiment, cleaning module 19 is removably mounted on housing.Cleaning module damage orWhen crossing dirty, user can be disassembled, and be replaced or clean.Demountable structure includes commonSecuring member attachment structure, such as bolt and nut connection, mode connects for screw etc.；Demountable structure also includes fastener-freeConnect, such as buckle structure is connected, connected by shape.
The present invention is not limited to lifted specific embodiment structure, belongs to this based on the structure of present inventive conceptInvention protection domain.