CN108201427B

CN108201427B - Anti-collision mechanism of sweeping robot and intelligent sweeping robot

Info

Publication number: CN108201427B
Application number: CN201810309011.6A
Authority: CN
Inventors: 李明; 苟晓梅
Original assignee: Yancheng Institute of Industry Technology
Current assignee: Yancheng Institute of Industry Technology
Priority date: 2018-04-04
Filing date: 2018-04-04
Publication date: 2023-06-27
Anticipated expiration: 2038-04-04
Also published as: CN108201427A

Abstract

The invention relates to the field of sweeping robots, and provides an anti-collision mechanism of a sweeping robot and an intelligent sweeping robot. This robot anticollision mechanism of sweeping floor includes the machine body of sweeping floor, the anticollision lantern ring, a distance sensor, speed governing module and steering module, a distance sensor installs in the side that the machine body of sweeping floor is used for responding to the machine body of sweeping floor and the distance between the barrier, a distance sensor is connected with speed governing module, the mounting groove that holds the anticollision lantern ring has been seted up to the machine body of sweeping floor, the cladding of anticollision lantern ring just can slide in the mounting groove in the outside of machine body of sweeping floor, be provided with steering switch in the mounting groove, the anticollision lantern ring can contact and control steering switch's start and stop, steering switch is connected with steering module. The device can effectively detect the obstacle, reduce the working speed, timely adjust the movement direction, and be favorable for reducing the damage of collision to the sweeping robot and furniture. The intelligent sweeping robot can effectively avoid obstacles, clean completely and has long service life.

Description

Anti-collision mechanism of sweeping robot and intelligent sweeping robot

Technical Field

The invention relates to the field of sweeping robots, in particular to an anti-collision mechanism of a sweeping robot and an intelligent sweeping robot.

Background

The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room with certain artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally, robots that perform cleaning, dust collection, and floor scrubbing work are also collectively referred to as floor cleaning robots. However, the sweeping robot is artificial intelligence, and the sensing of objects and directions is realized by the sweeping robot being provided with a positioning system, a detection system and the like. Therefore, the detecting system has a very different use feeling. The sweeping robot frequently collides with furniture, walls and the like when sweeping the sanitation, and the sweeping robot is easy to damage for a long time and the furniture.

Disclosure of Invention

The invention aims to provide a collision-proof mechanism of a sweeping robot, which can effectively detect obstacles, reduce working speed and adjust movement direction in time, thereby being beneficial to reducing damage of collision to the sweeping robot and furniture.

The invention further provides an intelligent sweeping robot which can effectively avoid obstacles, works more smoothly and has longer service life.

In order to achieve at least one of the above objects, an embodiment of the present invention adopts the following technical solutions:

the utility model provides a robot anticollision mechanism sweeps floor, it includes the machine body of sweeping floor, the anticollision lantern ring, a distance sensor, speed regulation module and turn to the module, a distance sensor installs in the side that the machine body of sweeping floor is used for responding to the machine body of sweeping floor and between the barrier, a distance sensor is connected with speed regulation module, the mounting groove that holds the anticollision lantern ring has been seted up to the machine body of sweeping floor, the cladding of anticollision lantern ring just can slide in the mounting groove in the outside of machine body of sweeping floor, be provided with steering switch in the mounting groove, the anticollision lantern ring can contact and control steering switch's start and stop, steering switch is connected with steering module.

Optionally, in a preferred embodiment of the present invention, the anti-collision collar includes an anti-collision layer, a buffer spring, and a paddle, one end of the buffer spring is connected to a bottom wall of the mounting groove, the other end of the buffer spring is connected to the anti-collision layer, and the paddle is connected to the buffer spring, and the paddle can contact and control the turning on and off of the steering switch.

Optionally, in a preferred embodiment of the present invention, the anti-collision collar further includes a sliding frame, a side wall of the mounting groove is provided with a sliding rail, the sliding frame is slidably mounted in the mounting groove and is matched with the sliding rail, and one end of the sliding frame extends out of the mounting groove to be connected with the anti-collision layer.

Optionally, in a preferred embodiment of the present invention, the steering switch is a rocker type push switch, a push surface of the steering switch is provided with a guide groove, the paddle is provided with a guide block, and the paddle is accommodated in the guide groove, and the guide block is matched with the guide groove.

Optionally, in a preferred embodiment of the present invention, the anti-collision collar further includes a mounting plate and a connection ball, the mounting plate is connected with the spring, a spherical cavity is provided on a side of the mounting plate away from the spring, the connection ball is accommodated in the spherical cavity and can rotate in the spherical cavity, and an end of the paddle away from the guide block is connected with the connection ball.

Alternatively, in a preferred embodiment of the present invention, the impact layer includes an inner impact layer, an outer impact layer, and a hollow silica gel ball mounted between the inner impact layer and the outer impact layer.

Optionally, in a preferred embodiment of the present invention, the anti-collision outer layer is made of rubber plastic material.

Optionally, in a preferred embodiment of the present invention, the first distance sensors are a plurality of and are uniformly distributed on the sweeper body, the anti-collision collar correspondingly comprises a plurality of anti-collision units, any two adjacent anti-collision units are arranged at intervals, and the plurality of first distance sensors and the plurality of anti-collision units are alternately arranged.

Optionally, in a preferred embodiment of the present invention, the bottom of the sweeper body is provided with a plurality of second distance sensors for sensing a distance between the bottom of the sweeper body and the ground.

An intelligent sweeping robot comprises the sweeping robot collision prevention mechanism.

The beneficial effects of the embodiment of the invention include, for example:

according to the anti-collision mechanism of the floor sweeping robot, the anti-collision sleeve ring is arranged in the installation groove of the floor sweeping machine body, the distance between the floor sweeping machine body and the obstacle is pre-judged by the first distance sensor, when the distance between the floor sweeping machine body and the obstacle is smaller than the safety distance, the speed regulation module is controlled to reduce the speed of the floor sweeping machine body, the collision of the floor sweeping machine body on the obstacle is reduced, meanwhile, the anti-collision sleeve ring can be pushed to slide in the installation groove to trigger the turning switch to be turned on when the anti-collision sleeve ring is extruded by the obstacle, the situation that the to-be-cleaned object near the obstacle cannot be measured due to the fact that the collision obstacle is immediately turned on can be avoided, the situation that the to-be-cleaned object near the obstacle is prevented from being suddenly collided with the obstacle is effectively cleaned, the cleaning effect is good, and the situation that the to-be-cleaned object near the obstacle cannot be measured is avoided.

In addition, the intelligent sweeping robot provided by the embodiment of the invention comprises the sweeping robot collision prevention mechanism. The cleaning device can effectively avoid obstacles, works more smoothly, cleans more completely and has longer service life.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an anti-collision mechanism of a sweeping robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of an anti-collision collar according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of an anti-collision layer according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a paddle and a steering switch according to an embodiment of the present invention.

Icon: 100-a collision prevention mechanism of the sweeping robot; 110-a sweeper body; 111-a first distance sensor; 112-mounting slots; 113-a slide rail; 114-a steering switch; 115-guide slots; 120-anti-collision collar; 121-an anti-collision layer; 1211-an inner anti-collision layer; 1212-an outer collision avoidance layer; 1213-crashproof hollow silica gel ball; 122-buffer spring; 123-pulling sheets; 124-a sliding frame; 125-guide blocks; 126-mounting plates; 127-connecting ball; 128-spherical cavity.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Examples

Referring to fig. 1, the present embodiment provides a collision avoidance mechanism 100 of a robot for cleaning floor, which includes a main body 110 of the robot for cleaning floor, a collision avoidance ring 120, a first distance sensor 111, a second distance sensor (not shown), a speed regulation module (not shown), and a steering module (not shown).

The sweeper body 110 is approximately disc-shaped, the bottom of the sweeper body 110 is provided with universal wheels for driving the sweeper body 110 to move, a motor for driving the universal wheels to move and a sweeping system for sweeping sanitation are arranged in the sweeper body, and the specific structures of the universal wheels, the motor and the sweeping system can be referred to as structures of sweeping robots in the prior art.

The speed adjusting module and the steering module are both disposed inside the sweeper body 110, and are conventional structures in the existing dust collectors for adjusting the speed and the rotation direction of the dust collectors, and the specific structures thereof can refer to the prior art and are not described herein.

The first distance sensor 111 is used for sensing the distance between the side surface of the sweeper body 110 and the obstacle, and the first distance sensor 111 is connected with the speed regulating module. After the first distance sensor 111 detects that the distance between the sweeper body 110 and the obstacle is smaller than the preset safety distance, the distance is fed back to the speed regulating module, and the speed regulating module controls the motor to reduce the rotating speed so as to reduce the movement speed of the universal wheel, so that the impact force caused by collision is reduced. The first distance sensors 111 are a plurality of and evenly distributed in the sweeper body 110, the anti-collision lantern ring 120 correspondingly comprises a plurality of anti-collision units, any two adjacent anti-collision units are arranged at intervals, and a plurality of first distance sensors 111 and a plurality of anti-collision units are alternately arranged.

The second distance sensor is arranged at the bottom of the sweeper body 110 and is used for sensing the distance between the bottom of the sweeper body 110 and the ground, and the second distance sensor can be used for effectively preventing the sweeper body 110 from falling.

In this embodiment, the damage to the sweeping robot caused by the collision can be effectively alleviated by wrapping the anti-collision collar 120 on the outer side of the sweeping machine body 110. Specifically, the sweeper body 110 is provided with a mounting groove 112 for accommodating the anti-collision collar 120, the anti-collision collar 120 is coated on the outer side of the sweeper body 110 and can slide in the mounting groove 112, a steering switch 114 is arranged in the mounting groove 112, the anti-collision collar 120 can contact and control the on-off of the steering switch 114, and the steering switch 114 is connected with a steering module.

When the anti-collision collar 120 of the sweeper body 110 contacts with an obstacle, the speed regulation module regulates the movement speed of the sweeper body 110 in advance, the sweeper body 110 moves to the obstacle at a slow speed, and when the anti-collision collar 120 is pressed close to the obstacle, the obstacle can squeeze the anti-collision collar 120, so that the anti-collision collar moves in the mounting groove 112 and triggers the steering switch 114, and the steering switch 114 can control the steering module to drive the universal wheels to steer after being started. In the process that the sweeper body 110 approaches to the obstacle and contacts the obstacle at a slow speed, the sweeping robot can sweep the object to be cleaned near the obstacle, so that the situation that the object to be cleaned near the obstacle is ignored because the object to be cleaned turns immediately when the object is encountered is avoided.

Specifically, referring to fig. 2, the anti-collision collar 120 includes an anti-collision layer 121, a sliding frame 124, a buffer spring 122, a dial 123, a mounting plate 126, and a connection ball 127.

With continued reference to fig. 3, the crush layer 121 is a multi-layer structure, and specifically, the crush layer 121 includes a crush inner layer 1211, a crush outer layer 1212, and a hollow silica gel ball mounted between the crush inner layer 1211 and the crush outer layer 1212. In this embodiment, the inner and outer crash-

proof layers

1211 and 1212 are each supported by an elastic material, and preferably, the outer crash-proof layer 1212 is made of a rubber-plastic material. The rubber and plastic material not only has certain elasticity, but also is friction-resistant, and can effectively avoid scratch. The hollow silica gel ball can deform when being extruded, so that damage caused by collision is reduced.

By providing the sliding rail 113 on the side wall of the mounting groove 112, the sliding frame 124 is slidably mounted in the mounting groove 112 and is matched with the sliding rail 113, one end of the sliding frame 124 extends out of the mounting groove 112 to be connected with the anti-collision layer 121, and in this embodiment, one end of the sliding frame 124 extending out of the mounting groove 112 is connected with the anti-collision inner layer 1211 of the anti-collision layer 121. The anti-collision layer 121 slides in the mounting groove 112 by sliding the sliding frame 124 on the slide rail 113.

One end of the buffer spring 122 is connected to the bottom wall of the mounting groove 112 (the bottom in the longitudinal direction of the mounting groove 112), and the other end of the buffer spring 122 is connected to the bump protection layer 121. In the present embodiment, the length of the sliding rail 113 is smaller than the length of the mounting groove 112, and the sliding rail 113 is spaced apart from the bottom of the mounting groove 112 so that the end of the sliding frame 124 can move toward the bottom of the mounting groove 112. The pulling piece 123 is connected to the buffer spring 122, and can move along with the buffer spring 122, and the pulling piece 123 can contact and control the turning on and off of the steering switch 114 in the moving process. The anti-collision layer 121 moves under the driving of the sliding frame 124 to further press the buffer spring 122, and the buffer spring 122 can drive the pulling piece 123 to move to contact and press the steering switch 114, so that the steering switch 114 is turned on.

Further, referring to fig. 4, in the present embodiment, the steering switch 114 is a rocker-type push switch, a guide groove 115 is provided on a push surface of the steering switch 114, a guide block 125 is provided on a paddle 123, the paddle 123 is accommodated in the guide groove 115, and the guide block 125 is matched with the guide groove 115. The pulling piece 123 is connected with the spring through a mounting plate 126 and a connecting ball 127, specifically, the mounting plate 126 is connected with the spring, a spherical cavity 128 is formed in one side, far away from the spring, of the mounting plate 126, the connecting ball 127 is contained in the spherical cavity 128 and can rotate in the spherical cavity 128, and one end, far away from the guide block 125, of the pulling piece 123 is connected with the connecting ball 127. When the pulling piece 123 moves under the drive of the buffer spring 122, the pulling piece 123 can move along the guide groove 115, and since the steering switch 114 is a rocker type push switch, the pulling piece has a certain thickness (especially when the pulling piece 123 moves to the middle part of the steering switch 114), in the embodiment, the pulling piece 123 is connected to the rotatable connecting ball 127, so that the pulling piece 123 can move up and down in a certain range, so as to adapt to the height difference of different positions of the rocker type push switch, the pulling piece 123 moves more smoothly, and the opening and closing of the rocker type push switch can be controlled better.

The working principle of the anti-collision mechanism 100 of the robot for sweeping floor provided in this embodiment is: through installing crashproof lantern ring 120 in the mounting groove 112 of sweeper body 110, crashproof lantern ring 120 can promote crashproof lantern ring 120 and slide in mounting groove 112 when receiving the extrusion of barrier, when sweeper body 110 is close to the barrier, first distance sensor 111 detects that the distance between sweeper body 110 and the barrier is less than the safe distance, first distance sensor 111 transmits the signal to speed regulation module makes speed regulation module reduce the velocity of motion of sweeper body 110, in order to realize slowly to barrier motion, avoid the violent striking that great speed brought, at the in-process of sweeper body 110 slowly moves to the barrier, sweeper body 110 does not turn to this moment, still clear up the waiting clearance thing around the barrier, when sweeper body 110 and barrier contact, because sweeper body 110's speed is at the bottom, the striking is little, the barrier is to sweeping the crashproof lantern ring 120 on sweeper body 110 and extruding, promote crashproof lantern ring 120 to the mounting groove 112 internal motion, crashproof lantern ring 120 can contact and install in the switch 114 and turn to the switch to the place and turn to the switch to the bridge 114 and turn to the switch to the opposite direction 114 and realize the realization when the switch to turn to the switch to 114 and the switch to the road 114 and the switch to the place to the road 114 is kept away from the switch to 114.

In addition, the embodiment of the invention also provides an intelligent sweeping robot, which comprises the sweeping robot collision prevention mechanism 100. The cleaning device can effectively avoid obstacles, works more smoothly, cleans more completely and has longer service life.

In summary, according to the anti-collision mechanism 100 of the robot for sweeping floor provided by the embodiment of the invention, the anti-collision collar 120 is installed in the installation groove 112 of the body 110 of the robot for sweeping floor, the distance between the body 110 of the robot for sweeping floor and the obstacle is predicted by the first distance sensor 111, when the distance between the body 110 of the robot for sweeping floor and the obstacle is smaller than the safety distance, the speed regulating module is controlled to reduce the speed of the body 110 of the robot for sweeping floor, the collision of the body 110 of the robot for sweeping floor on the obstacle is reduced, meanwhile, the anti-collision collar 120 can push the anti-collision collar 120 to slide in the installation groove 112 to trigger the steering switch 114 to start to realize steering when being extruded by the obstacle, the cleaning effect is good while the cleaning of the object to be cleaned near the obstacle is effectively performed while the obstacle is prevented from being violently impacted, and the situation that the object to be cleaned near the obstacle cannot be measured for cleaning is avoided.

In addition, the intelligent sweeping robot provided by the embodiment of the invention comprises the sweeping robot collision prevention mechanism 100. The cleaning device can effectively avoid obstacles, works more smoothly, cleans more completely and has longer service life.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a robot anticollision mechanism sweeps floor, its characterized in that includes the machine body of sweeping floor, crashproof lantern ring, first distance sensor, speed governing module and turns to the module, first distance sensor install in the machine body of sweeping floor is used for responding to sweep the distance between the side of machine body and the barrier, first distance sensor with speed governing module connects, the machine body of sweeping floor has seted up the mounting groove that holds crashproof lantern ring, crashproof lantern ring cladding in the outside of machine body of sweeping floor just can slide in the mounting groove, be provided with the steering switch in the mounting groove, crashproof lantern ring can contact and control turn to switch's start and stop, turn to switch with turn to the module and be connected;

the anti-collision sleeve ring comprises an anti-collision layer, a buffer spring and a poking plate, one end of the buffer spring is connected with the bottom wall of the mounting groove, the other end of the buffer spring is connected with the anti-collision layer, the poking plate is connected to the buffer spring, and the poking plate can contact and control the turning switch to be turned on or turned off; the steering switch is a rocker type press switch, a guide groove is formed in the press surface of the steering switch, the poking plate is provided with a guide block, the poking plate is accommodated in the guide groove, and the guide block is matched with the guide groove;

the anti-collision sleeve ring further comprises a mounting plate and a connecting ball, the mounting plate is connected with the spring, a spherical cavity is formed in one side, far away from the spring, of the mounting plate, the connecting ball is contained in the spherical cavity and can rotate in the spherical cavity, and one end, far away from the guide block, of the poking piece is connected with the connecting ball;

the bottom of the sweeper body is provided with a plurality of second distance sensors for sensing the distance between the bottom of the sweeper body and the ground.

2. The robot cleaner of claim 1, wherein the anti-collision collar further comprises a sliding frame, a sliding rail is disposed on a side wall of the mounting groove, the sliding frame is slidably mounted in the mounting groove and cooperates with the sliding rail, and one end of the sliding frame extends out of the mounting groove to be connected with the anti-collision layer.

3. The robot cleaner of claim 1, wherein the anti-collision layer includes an anti-collision inner layer, an anti-collision outer layer, and a hollow silicone ball mounted between the anti-collision inner layer and the anti-collision outer layer.

4. The robot cleaner of claim 3, wherein the outer layer is made of a rubber-plastic material.

5. The robot anticollision mechanism of claim 1, wherein the first distance sensor is a plurality of and evenly distributed in the sweeper body, the anticollision collar correspondingly comprises a plurality of anticollision units, any two adjacent anticollision units are arranged at intervals, and a plurality of first distance sensors and a plurality of anticollision units are alternately arranged.

6. An intelligent floor sweeping robot comprising the floor sweeping robot collision avoidance mechanism as claimed in any one of claims 1 to 5.