CN103584796A - Robot vacuum cleaner - Google Patents

Abstract

The invention relates to a robot vacuum cleaner. The robot vacuum cleaner is characterized in that the robot vacuum cleaner comprises a plurality of sensors and a suction motor, the robot vacuum cleaner can advance in a barrier-avoidance mode, and meanwhile the robot vacuum cleaner can suck foreign matters in a cleaning area, an advance limiting portion is integrally formed on a chassis forming the lower portion of a body of the robot vacuum cleaner, and the advance limiting portion enables the robot vacuum cleaner to be interfered by barriers with a proper height and to be incapable of jumping over the barriers with a certain height when the robot vacuum cleaner advances. By the robot vacuum cleaner, when misoperation of a threshold perception sensor of the robot vacuum cleaner occurs, a threshold can still be sensed, and the advancing stability of the robot vacuum cleaner is improved.

Description

Robot cleaner

Technical field

The present invention is the invention of associated machine people dust catcher.

Background technology

General robot cleaner is when not having user's ongoing operation also to treat independently to advance in purging zone, and the dust that ground is existed and foreign matter suck and the dust exhaust apparatus removed together with air.

For this reason, on robot cleaner, comprise for the sensor of disturbance of perception thing with for a plurality of sensors of sensor of perceiving ground and threshold or steep cliff (Cliff) etc.

Wherein the sensor for perceiving ground and threshold or steep cliff is to possess on the chassis of bottom that forms robot cleaner, thereby utilize to downside and send light or infrared ray and the information that receives to distinguish ground and threshold or steep cliff etc. according to reception value, and realize and avoid controlling of advancing according to distinguishing result.

But, according in the robot cleaner of prior art when the sensor misoperation for perceiving ground and threshold or steep cliff as above, the damaged misgivings that robot cleaner occurs are high.

That is, by the misoperation of sensor in the situation of perception less than threshold, have robot cleaner to depart from the possibility of the purging zone of demand, and in the not perceived situation of steep cliff, robot cleaner falls and damaged misgivings are high.

Summary of the invention

The invention provides the threshold of the perception travel limits height by the lower shape on chassis or the robot cleaner of barrier.

The invention provides to possess has for when allowing threshold highly or barrier by advancing, and alleviates the robot cleaner of the castor of impact.

In the present embodiment, be to utilize a plurality of sensors and sucking motor and carry out sucking when obstacle avoidance is advanced in the robot cleaner of foreign matter of purging zone, on the chassis that forms body bottom, be formed with and robot cleaner interfered in advancing and the barrier travel limits portion of the certain altitude of can not jumping over is feature with the suitable barrier of height.

Advantage and good effect that the present invention has are:

According to the robot cleaner of the present embodiment by the sensor holding tank being recessed to form on chassis with include on above-mentioned chassis the outstanding travel limits portion that stops boss forming and limit it and advance.

; by travel limits portion, distinguished the threshold or the barrier that have the damaged misgivings of robot cleaner and can not jump over; in order to clean threshold or the barrier that can jump over; thereby when the perceptional function mistake of detecting sensor or misoperation, also can form advancing of stable robot cleaner.

In addition, in the present embodiment, the castor that auxiliary robot dust catcher is advanced can be regulated forming of height by elasticity.Thus by can by height barrier time, alleviate the impact being applied on robot cleaner.

Moreover, for perception consists of semiconductor photodetector as the detecting sensor of the barrier of steep cliff (Cliff) or threshold, it is inner that such detecting sensor is positioned at the sensor holding tank being recessed to form to inner side, chassis, thereby the inflow degree of light quantity that has nothing according to barrier is significantly different, and then can improve the performance of detecting sensor.

To sum up, the perceptual performance that improves sensor according to the robot cleaner of the present embodiment is certain, also possess and have in order to supply the institutional travel limits structure of sensor misoperation, and by the castor of position changeable barrier by time effectively reduce to be applied on robot cleaner and impact, thereby improved the stability of advancing.

Accompanying drawing explanation

Fig. 1 is according to the side view of the robot cleaner of the present embodiment.

Fig. 2 schemes below the part of the robot cleaner of the present embodiment.

Fig. 3 is the A-A portion sectional view of Fig. 2.

Fig. 4 and Fig. 5 are according to the schematic drawing of the structure of the castor of the robot cleaner of the present embodiment.

Fig. 6 avoids travel condition figure according to the threshold of the robot cleaner of the present embodiment.

Fig. 7 is according to the travel condition figure of the threshold of jumping over of the robot cleaner of the present embodiment.

Fig. 8 and Fig. 9 are the schematic drawings of the movement structure of castor in the travel condition of Fig. 7.

Critical piece symbol description in accompanying drawing:

1: robot cleaner 120: travel limits portion

The specific embodiment

Below in conjunction with drawing, embodiments of the invention are described.But, thought of the present invention is not only limited on the embodiment of prompting, and the those of ordinary skill in the art who understands inventive concept easily visualizes other embodiment's.

In Fig. 1, demonstrate according to the side view of the robot cleaner of the present embodiment.

With reference to drawing, according to the robot cleaner of the present embodiment (1), be that the lid (200) that forms the top of body by the chassis that forms body bottom (100) and the upside that covers above-mentioned chassis (100) forms outward appearance, on the inner space being formed by the combination of above-mentioned chassis (100) and lid (200), possess suction motor and dust bucket and a plurality of electric component having for the suction of dust.

In addition, on above-mentioned chassis (200), possess and have the installation of sensors portion (300) of arranging along edge certain intervals, thereby had a sensor senses barrier and wall etc., and then in purging zone, avoid these barriers or wall etc. and advance.

In addition, on above-mentioned chassis (100), comprise in order to make robot cleaner (1) mobile driving wheel (500) and castor (600) and to make round brush (160 with reference to Fig. 2) and the subsidiary brush (400) of the scattering foreign matter of purging zone.

For detailed explanation, in Fig. 2, demonstrate below the part of the robot cleaner of the present embodiment and scheme.

With reference to drawing, above-mentioned round brush (160) is to be positioned at the dust sucting (not giving drawing symbol) that above-mentioned chassis (100) forms below, and rotatable configuration, possesses to the side of above-mentioned round brush (160) and has the subsidiary brush (400) of narrating above.

In addition, to the rear side of above-mentioned subsidiary brush (400), possess and have in order to make the mobile driving wheel (500) of robot cleaner (1), to the front side of above-mentioned round brush (160), possess the castor (600) that has auxiliary robot dust catcher (1) mobile.

In addition, on above-mentioned chassis (100), possess and have in order to limit the travel limits portion (120) of advancing of robot cleaner (1).The barrier that the structural differentiation of the above-mentioned limiting unit of advancing (120) can be gone beyond according to the height robot cleaner (1) of barrier and the barrier that can not go beyond.

For this reason, the above-mentioned limiting unit of advancing (120) comprise the part depression on above-mentioned chassis (100) and the sensor holding tank (124) that forms and, in the sensor holding tank (124) depression time, is relatively outstanding, thereby stops boss (122) with barrier is interfered in advancing.

Fig. 3 demonstrates the A-A portion sectional view of Fig. 2.

As shown in the figure, the front side of above-mentioned chassis (100) the past direction rear forms the shape of thickness thickening.

In addition, the sensor holding tank (124) is that the edge along above-mentioned chassis (100) is recessed to form with arc (Arc) shape in the front side of above-mentioned driving wheel (500), thereby the installing space for the detecting sensor (126) of perception threshold or steep cliff (Cliff) is provided.

And then the degree of depth of the sensor holding tank (124) is to take above-mentioned chassis (100) below as benchmark rear side is compared with the darker formation in front side, the formation of the corresponding said sensed sensor of width (126) size.

In addition, in the bottom surface of the sensor holding tank (124), maintain a plurality of installation of sensors of being formed with of certain distance interval location hole (not giving drawing symbol), thereby will sandwich, above-mentioned detecting sensor (126) is installed.

As said sensed sensor (126), can, with by according to light quantity and variable resistance value is carried out the semiconductor photodetector of perception steep cliff (Cliff) and threshold etc., use in the present embodiment cadmium sulfide (CdS) sensor.

Simultaneously, above-mentionedly stop that boss (122) is that the sensor holding tank (124) is when being recessed to form, rear side forms compared with front side-prominent length is elongated by the shape of chassis (100), thereby the same with the sensor holding tank (124), along the front side edge of above-mentioned chassis (100) along formation.

Thereby, during moulding that the above-mentioned projecting height that stops boss (122) is on chassis (100), determining, outstanding scope is to consider that the scope breaking the barriers that possesses the castor (600) in front side decides.

; above-mentioned stop boss (122) be for make robot cleaner (1) can by height barrier in; can not by as; towards the threshold in entrance hall or toilet threshold etc., do not allow the barrier of going beyond; make outstanding position, the above-mentioned end that stops boss (122) probably long than the wheel of above-mentioned castor (600) (610) upper end height, than being best on the short position of wheel (610) centre-height.

In addition, due to above-mentioned, stop that boss (122) is to the long formation of the installation site vertical direction of above-mentioned detecting sensor (126), thereby form the inflow path of the light source of perception from detecting sensor (126).Thereby, when above-mentioned while stopping the upper contact of boss (122) barrier, owing to stopping that from above-mentioned the light source of the rear side inflow of boss (122) will interdict, therefore the light source flowing into above-mentioned detecting sensor (126) will reduce significantly, thus further the improve detecting sensor barrier perceptual performance of (126).

In addition, in the situation that robot cleaner (1) arrives steep cliff (Cliff), by little incident angle, stopping the light source that stops boss (122) rear side that covers on boss (122) and can not flow into above-mentioned detecting sensor (126), with landing ground and the distance that stops boss (122) from time, also can flow into above-mentioned detecting sensor (126).

; make to stop boss (122) and ground away from time; because the light source of the large a great deal of of relative incidence angle flows into detecting sensor (126), so the in-depth that becomes of the intensity of variation of light quantity, thereby also can improve the steep cliff perceptual performance of detecting sensor (126).

Simultaneously, at above-mentioned chassis (100) upper castor (600) of advancing for auxiliary robot dust catcher (1) can be installed, possess and have the castor installation portion (140) being recessed to form to the inside.

Below with reference to drawing, the structure of above-mentioned castor (600) and effect are dissected in detail.

In Fig. 4 and Fig. 5, show according to the schematic drawing of the structure of the castor of the robot cleaner of the present embodiment.

As shown in the figure, according to the main shaft (620) comprising on the castor of the robot cleaner of the present embodiment (1) (600) for 360 ° of rotations of wheel (610), the variable framework (680) can turn on above-mentioned main shaft (620) connecting, in addition the elastomeric element (670) of the above-mentioned variable framework of resiliency supported (680).

Detailed, on above-mentioned chassis (100) upper castor installation portion (140) arranging, possess and have rotatable fixing main shaft (620).

Above-mentioned main shaft (620) is the middle body that is positioned at above-mentioned castor installation portion (140), and upper end connects the middle body of above-mentioned castor installation portion (140) and sandwiches.In addition, the end of the main shaft (620) exposing to the outside of above-mentioned castor installation portion (140) utilizes independent steady pin to be fixed, thereby makes main shaft (620) with respect to independent being rotated of castor installation portion (140).

For the round and smooth rotation of above-mentioned main shaft (620), in above-mentioned castor installation portion (140) inner side, also comprise hold main shaft (620) axle sleeve (640) and, possess in the bearing (640) of axle sleeve (640) inside.

Thus, above-mentioned castor (600) can be realized the round and smooth rotation of 360 °.

In addition, upper by the rotatable variable framework (680) that is fixed with of axle steady pin (630) at above-mentioned main shaft (620), one side of variable framework (680) is connected with when contacting with ground or barrier, does the wheel (Wheel, 610) of rolling movement.

Above-mentioned axle steady pin (630) is to fix by the central authorities of above-mentioned variable framework (680) and above-mentioned main shaft (620), thereby forms the pivot of variable framework (680).

Simultaneously, the end of above-mentioned main shaft (620) is formed with to the downside of above-mentioned variable framework (680) and extends the member supporting portion (622) forming.

In addition, do not connect above-mentioned wheel (610) variable framework (680) opposite side and from above-mentioned main shaft (620), extend to form between the member supporting portion (622) of the downside that is positioned at above-mentioned variable framework (680) be the elastomeric element (670) that possesses the above-mentioned variable framework of flexible support (680).

Above-mentioned elastomeric element (670) is by forming with the size that member supporting portion (622) contacts with above-mentioned variable framework (680), and material that can elastic compression can be used, and uses in the present embodiment helical spring.

Simultaneously, above-mentioned elastomeric element (670) also can be used as torsion spring form.That is, can make to produce same effect on being connected to above-mentioned main shaft (620) and being connected the axle steady pin (630) of variable framework (680).

While possessing the elastomeric element (670) just like above-mentioned functions, upper because above-mentioned elastomeric element (670) is brought into play its restoring force at above-mentioned variable framework (680), thus make variable framework (680) to lopsidedness.

And then, on above-mentioned main shaft (620), possess and have under the state not contacting with barrier at above-mentioned variable framework (680) in order to maintain the support frame (660) of level.

Above-mentioned support frame (660) be for can guarantee above-mentioned variable framework (680) can turn space, on above-mentioned variable framework (680) upside certain altitude position, be fixed on above-mentioned main shaft (620).In addition, the end of above-mentioned support frame (660) is the direction that is opposite in the restoring force effect of above-mentioned elastomeric element (670), and is bent to form in order to make to be positioned at variable framework (680) the end downside of horizontal level.

Thereby, even the restoring force of above-mentioned elastomeric element (670) continuingly acts on above-mentioned variable framework (680), also by above-mentioned support frame (660), the movement of variable framework (680) is restricted towards restoring force action direction, thereby makes above-mentioned variable framework (680) can maintain horizontal level.

Fig. 6 is the avoidance threshold travel condition figure demonstrating according to the robot cleaner of the present embodiment.The A of Fig. 6 is that robot cleaner (1) arrives threshold (T) and the state that stops in cleaning work, the robot cleaner (1) that continues to advance towards threshold (T) in cleaning work, when touching above-mentioned threshold (T), by above-mentioned, stop that boss (122) stops when producing interference with threshold (T).In addition, when reach as above state time, by the above-mentioned light quantity that stops boss (122) and threshold (T) and flow into above-mentioned detecting sensor (126), will be reduced, thereby above-mentioned threshold (T) cognition, be not allow the barrier gone beyond in robot cleaner (1).

The threshold (T) of height can be between entrance hall and living room or between living room and toilet like this, and the space of the above-mentioned threshold (T) of jumping over will be removed in the purging zone in robot cleaner (1).

And then robot cleaner (1) is as shown in Figure 6B, first, towards the direction away from threshold (T), move, while keeping at a certain distance away, allow to avoid after the conversion direction of threshold (T), continue the purging zone of advancing.

In addition, above-mentioned robot cleaner (1) continues in the approaching situation of above-mentioned threshold (T), above-mentioned stop that boss (122) and threshold (T) interfere before, by the light quantity flowing into above-mentioned detecting sensor (126), first will perceive threshold (T), before stopping that boss (122) and threshold (T) clash, can avoid threshold (T) and advance.

Simultaneously, Fig. 7 demonstrates according to the travel condition of the threshold of jumping over of the robot cleaner of the present embodiment.

The A of Fig. 7 is the state that robot cleaner (1) is advanced towards highly relatively low threshold (T) or barrier in cleaning work, height compared with the above-mentioned above-mentioned threshold of outstanding length (T) that stops boss (122) is low, thereby robot cleaner (1) can be jumped over threshold (T) and advance.

The threshold (T) of height is with the situation between room or between living room and room, to be many in room like this, therefore can be included in the purging zone of robot cleaner (1).

And then as above the threshold (T) of height is as shown in Figure 7 B, robot cleaner (1) will be jumped over, and at this moment, in the time of the alterable height of above-mentioned castor (600), reduces and is applied to the impact on robot cleaner (1).

Detailed, in Fig. 8 and Fig. 9, demonstrate the movement structure schematic drawing as the castor in the travel condition of Fig. 7.

The robot cleaner (1) of advancing towards the low threshold of relative altitude (T) as previously mentioned, is above-mentionedly to stop that boss (122) and above-mentioned threshold (T) will can not produce interference.And then even above-mentioned wheel (610) contact at above-mentioned threshold (T) afterwards, advancing of robot cleaner (1) also can continue, finally will threshold crossing (T).

At this moment, above-mentioned wheel (610) upwards side promotes and when promoting, and a side of the variable framework (680) connecting the therewith sidespin that will make progress is moving, when opposite side is moving by downward sidespin, to above-mentioned elastomeric element (670), exert pressure, form state as shown in Figure 9.

Through state described above, the advancing while continuing of robot cleaner (1), castor (600) contacts equal threshold crossing (T) with driving wheel (500) with ground.

At this moment, above-mentioned castor (600) is the movement by wheel (610), when the compressive state of elastomeric element (670) is removed, due to, the restoring force of elastomeric element (670), variable framework (680) is by the initial position resetting to as shown in Figure 8.

In reseting procedure, be, when above-mentioned elastomeric element (670) repeatedly shakes till getting back to initial position, stablize the position of variable framework (680), the variable framework (680) that stabilisation finishes is can stop at initial position by above-mentioned support frame (660).

Thus, robot cleaner will reduce the impact while breaking the barriers in (1), therefore will improve the stability of advancing.

Claims (8)

1. one kind is utilized a plurality of sensors and sucks motor avoid-obstacles and suck when advancing in the robot cleaner of foreign matter of purging zone, is formed with robot cleaner to be interfered in advancing and the barrier travel limits portion of the certain altitude of can not jumping over is feature with the suitable barrier of height on the chassis that forms body bottom.

2. robot cleaner according to claim 1, is characterized in that; The above-mentioned limiting unit of advancing comprises the part depression on above-mentioned chassis (100) and the sensor holding tank (124) that forms is relative outstanding when caving in the sensor holding tank (124), thereby in advancing, stop boss (122) with barrier is interfered, wherein the sensor holding tank provides the installing space of the detecting sensor of perception threshold or steep cliff (Cliff).

3. robot cleaner according to claim 2, is characterized in that; On the sensor holding tank, be formed with the installation of sensors hole that above-mentioned detecting sensor is installed.

4. robot cleaner according to claim 1, is characterized in that; The above-mentioned restriction site of advancing is in the front side of the driving wheel for mobile, and forms along the edge on above-mentioned chassis.

5. robot cleaner according to claim 1, is characterized in that; On above-mentioned chassis, include when jumping over the barrier not interfering with the above-mentioned limiting unit of advancing, by position variable, reduce the mobile castor impacting.

6. robot cleaner according to claim 5, is characterized in that; Above-mentioned castor comprises, the rotatable main shaft being fixed on above-mentioned chassis; Rotatable being fixed on above-mentioned main shaft, and a side is connected with the variable framework of wheel (Wheel); Possess in not connecting between the opposite side of variable framework and the member supporting portion at above-mentioned variable framework underside of prolongation formation on above-mentioned main shaft of above-mentioned wheel, thus the elastomeric element of the above-mentioned variable framework of resiliency supported.

7. robot cleaner according to claim 6, is characterized in that; On above-mentioned main shaft, possess and have a part of blocking the variable framework that is connected with above-mentioned wheel and the support frame that can maintain the level of above-mentioned variable framework.

8. robot cleaner according to claim 6, is characterized in that; On the middle body of above-mentioned variable framework, sandwich the axle steady pin that install to connect above-mentioned main shaft and variable framework and form pivot.

Images