CN109394088A - A kind of method and sweeping robot preventing LDS component damaged in collision - Google Patents
A kind of method and sweeping robot preventing LDS component damaged in collision Download PDFInfo
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- CN109394088A CN109394088A CN201811481391.8A CN201811481391A CN109394088A CN 109394088 A CN109394088 A CN 109394088A CN 201811481391 A CN201811481391 A CN 201811481391A CN 109394088 A CN109394088 A CN 109394088A
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- sweeping robot
- lds
- lds component
- assembly
- component
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- 238000010408 sweeping Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004888 barrier function Effects 0.000 claims abstract description 25
- 230000002745 absorbent Effects 0.000 claims description 57
- 239000002250 absorbent Substances 0.000 claims description 57
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims 1
- 241001417527 Pempheridae Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Manipulator (AREA)
Abstract
The present invention relates to a kind of methods and sweeping robot for preventing LDS component damaged in collision, belong to sweeping robot technical field, barrier that existing sweeping robot encounters is solved just above sweeping robot main body and when being lower than the position of LDS component highest point, the problem of LDS component is easily damaged.The sweeping robot, including sweeping robot ontology, wheel assembly, LDS component and controller, further include the recessed portion for accommodating LDS component；The rear wall of recessed portion is equipped with trigger assembly；When LDS component and trigger assembly contact, LDS collision alarm is generated, and be sent to controller, controller drives wheel assembly to retreat.Present invention effectively avoids cause LDS component to damage because of collision.
Description
Technical field
The present invention relates to sweeping robot technical field more particularly to a kind of method for preventing LDS component damaged in collision and
Sweeping robot.
Background technique
Existing sweeping robot is when carrying out cleaning to ground, since ambient enviroment is complex, so at it
It when moving around, often collides with the barrier of surrounding, to be damaged to robot.So in order to avoid sweeping the floor
The collision of robot and peripheral obstacle, existing solution are often installed directly around sweeping robot main body anti-
Plate is hit, when the barrier of sweeping robot and surrounding collides, Crashworthy plate can play preferable buffer function, and pass
Information is passed to control centre, controls sweeping robot rotation direction.
However, the shape, structure of sweeping robot is increasingly with the development of robot technology and the increase of its function
Diversification.When the existing sweeping robot walking with LDS component (laser ranging system), sweeping robot body top is equipped with
LDS component, if the barrier that sweeping robot encounters at this time is just above sweeping robot main body and is lower than LDS component highest point
Position when, sweeping robot main body can not perceive the presence of the barrier, so that LDS component is easy to impinge upon obstacle
On object, LDS component is caused to be damaged.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of method for preventing LDS component damaged in collision and machine of sweeping the floor
People, to solve barrier that existing sweeping robot encounters just above sweeping robot main body and lower than LDS component highest
When the position of point, sweeping robot main body can not perceive the presence of the barrier, so that LDS component is easy to impinge upon barrier
The problem of hindering on object, LDS component caused to be damaged.
The purpose of the present invention is mainly achieved through the following technical solutions:
On the one hand a kind of sweeping robot, including sweeping robot ontology, wheel assembly, LDS component and controller are provided,
It further include the recessed portion for accommodating LDS component；The rear wall of recessed portion is equipped with trigger assembly；When LDS component and trigger assembly
When contact, LDS collision alarm is generated, and be sent to controller, controller drives wheel assembly to retreat.
Further, LDS component is mobile in the inside of recessed portion by moving assembly.
Further, moving assembly is roll wheel assembly comprising column, column are connected by the lower end of bolt and LDS component
It connects；Column two sides are equipped with idler wheel, and idler wheel can move in the track for being set to recessed portion bottom.
Further, it is additionally provided with the first absorbent module and reset assembly in the inside of recessed portion, the first absorbent module is located at
On the front side wall of recessed portion, reset assembly driving LDS component is moved to the position of the first absorbent module.
Further, reset assembly is the driving motor being set on roll wheel assembly, and driving motor driving makes LDS component exist
It is moved in recessed portion, and is moved to the position of the first absorbent module.
Further, reset assembly is telescopic rod, and telescopic rod is set to the rear wall of recessed portion, the telescopic direction of telescopic rod with
The longitudinal centre line of LDS component is vertical；Telescopic rod driving moves LDS component in recessed portion, and is moved to the first absorption group
The position of part.
Further, the rear wall of recessed portion is equipped with guard assembly, and trigger assembly can retract into guard assembly, and
It can automatically reset.
Further, LDS component includes upper cover and cylinder, and the diameter of recessed portion is greater than the diameter of cylinder and is less than upper cover
Diameter.
Further, the front surface of cylinder is equipped with the second absorbent module, and the second absorbent module can be in the band of reset assembly
It is mobile to the first absorbent module under dynamic, and the reset for realizing LDS component is mutually adsorbed with the first absorbent module.
On the other hand a kind of method of LDS component damaged in collision for preventing sweeping robot is also provided, sweeping robot is
Above-mentioned sweeping robot, comprising the following steps:
Step 1: LDS component with barrier when being in contact, opposite side of the LDS component to sweeping robot direction of travel
It is mobile；
Step 2: when LDS component is in contact with trigger assembly, collision alarm is sent to controller by trigger assembly, control
Device processed issues backing signal to wheel assembly, drives sweeping robot exiting obstacles object area.
Further, in step 1, LDS component with barrier when being in contact, LDS component and the first absorbent module point
From the separation signal of LDS component and the first absorbent module is sent to controller by the first absorbent module.
Further, in step 2, after controller receives separation signal, reduce-speed sign, control are sent to wheel assembly
Device control wheel component deceleration；After deceleration reaches the stipulated time, if trigger assembly does not send collision alarm, controller to controller
Then send driving signal to reset assembly, reset assembly drives LDS component mobile to the first absorbent module, until LDS component with
The LDS component reset signal of generation is sent to controller by absorbent module contact, the first absorbent module, and controller controls reset group
Part resets, and controls sweeping robot and restore travel speed.
It further, further include step 3, when sweeping robot retreats, controller detects that wheel assembly rotates backward regulation
After time, controller control reset assembly is detached from LDS component with trigger assembly and contacts with the first absorbent module, the first absorption
The LDS component reset signal of generation is sent to controller by component, and controller controls reset assembly and resets.
Compared with prior art, the present invention one of at least has the advantages that:
A) sweeping robot provided by the invention, the recess that LDS component can be arranged at the top of sweeping robot ontology
It is moved in portion, along sweeping robot direction of advance, the front side wall of recessed portion is equipped with the first absorbent module, the rear wall of recessed portion
It is equipped with trigger assembly, the reset assembly for driving LDS component mobile to the first absorbent module is additionally provided in recessed portion, this knot
Structure design can make sweeping robot when LDS component and the undetected barrier of sweeping robot collide, and make phase
The movement answered is damaged after avoiding LDS component from colliding with barrier with exiting the barrier region, is improved and is swept
The operational reliability of ground machine people, extends service life.
B) sweeping robot provided by the invention, by the way that anticollision layer is arranged in the outside of upper cover, as the LDS of sweeping robot
When component upper cover and barrier collide, the impact force to LDS component can be reduced, the service life of LDS component is extended.
C) method of the LDS component damaged in collision provided by the invention for preventing sweeping robot, passes through the absorption group of setting
Part, reset assembly and LDS component cooperate, and LDS component can move in the recessed portion that sweeping robot ontology top is not provided with, energy
Enough change routes in time, avoid LDS from colliding with barrier, this method is easy to operate, and high sensitivity is significantly improved and swept the floor
The operational reliability of robot.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is sweeping robot structural schematic diagram in embodiment one；
Fig. 2 is a-quadrant partial enlarged view in Fig. 1；
Fig. 3 is the operation principle schematic diagram of sweeping robot controller in embodiment one.
Appended drawing reference:
1- sweeping robot ontology；2-LDS component；21- upper cover；22- cylinder；23- anticollision ring；3- controller, 4- idler wheel
Component；The first absorbent module of 5-；The second absorbent module of 6-；7- trigger assembly；The first telescopic rod of 8-；The second telescopic rod of 9-；10- wheel
Component.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.In order to understand table
Each part position relations of sweeping robot are stated, following agreement are done to the word "front", "rear" for indicating positional relationship: with sweeping robot
Direction of advance is " preceding ", and direction of retreat is " rear ".
Embodiment one
A specific embodiment of the invention discloses a kind of sweeping robot, including sweeper as shown in Figure 1 to Figure 2
Device human body 1, the wheel assembly 10 for being set to 1 bottom of sweeping robot ontology and the control for controlling sweeping robot movement
Device 3, the top of sweeping robot ontology 1 are equipped with the LDS component 2 that can establish environmental map；The top of sweeping robot ontology 1
Equipped with the recessed portion for accommodating LDS component 2, LDS component 2 is connect by roll wheel assembly 4 with the bottom of recessed portion；Along sweeper
Device people's direction of advance, the front side wall of recessed portion are equipped with the first absorbent module 5, and the rear wall of recessed portion is equipped with trigger assembly 7；
The reset assembly for driving LDS component 2 mobile to the first absorbent module 5 is additionally provided in recessed portion.
In the present embodiment, LDS component 2 includes upper cover 21 and cylinder 22, the diameter of recessed portion be greater than the diameter of cylinder 22 and
Less than the diameter of upper cover 21, the cylinder 22 of LDS component 2 can be placed in recessed portion, and the bottom surface of recessed portion is equipped with track, LDS group
22 bottom of cylinder of part 2 is equipped with roll wheel assembly 4, and LDS component 2 is moved in recessed portion by roll wheel assembly 4.Specifically, idler wheel
Component 4 includes column, and column is connect by bolt with the lower end of LDS component 2；Column two sides are equipped with idler wheel, and idler wheel can be
It is set in the track of recessed portion bottom and moves.
In the present embodiment, it is at this time LDS that under original state, the cylinder 22 of LDS component 2 is contacted with the front side wall of recessed portion
The initial position of component 2, after LDS component 2 collides with barrier, LDS component 2 is separated with the front side wall of recessed portion, to
The rear wall of recessed portion is mobile, and the reset assembly that can be realized LDS component 2 recovery to initial position includes but do not limit following two
Kind mode, first way, reset assembly are telescopic rod, and telescopic rod is set to the rear wall of recessed portion, the telescopic direction of telescopic rod
It is vertical with the longitudinal centre line of LDS component 2, by the elongation of telescopic rod, LDS component 2 is reset to initial position, it is then flexible
Bar, which is shunk, restores reset condition.Preferably, the quantity of telescopic rod is two, specifically includes the first telescopic rod 8 and the second telescopic rod
9, the two sides up and down of trigger assembly 7 are respectively arranged at, the movement of LDS component 2 can be made more steady, avoid stretching because of one of them
The damage of contracting bar influences the reset of LDS component 2, to improve the operation stability of sweeping robot.The second way, reset group
Part is the driving motor being set on roll wheel assembly 4, and driving motor can drive roll wheel assembly 4 to make LDS component 2 in recessed portion
Mobile, when needing LDS component 2 to reset, controller 3 controls the driving motor driving movement of roll wheel assembly 4, makes LDS component 2 by recessed
The rear wall of concave portion is mobile to front side wall, until the cylinder 22 of LDS component 2 is contacted with the front side wall of recessed portion.
In view of the cylinder 22 of LDS component 2 is when contacting trigger assembly 7, if hitting, pressure is excessive to will cause trigger assembly 7
Damage, therefore in order to extend the service life of trigger assembly 7 and improve the work operation stability of sweeping robot, recessed portion
Rear wall is equipped with guard assembly, and trigger assembly 7 can retract into guard assembly, and can automatically reset, and illustratively, prevents
Protecting assembly is the stereoplasm tube that section is rectangle or annular, and trigger assembly 7 is connected by the rear wall of elastic parts and recessed portion, bullet
The property preferred spring of component.Under natural conditions, trigger assembly 7 and spring are located in guard assembly cavity, and trigger assembly 7 stretches out
Guard assembly, when LDS component 2 and bar contact are mobile to trigger assembly 7, when touching trigger assembly 7, trigger assembly 7 is sent out
It stretches, is effectively prevented from because shock causes trigger assembly 7 to damage, to extend trigger assembly backward while touching signal out
7 service life improves the operational reliability of sweeping robot.Subsequent LDS component 2 resets, when LDS component 2 leaves protection
After component, trigger assembly 7 restores under the elastic force effect of elastic parts to initial position.Preferably, trigger assembly 7 is pressure biography
Sensor.
LDS component 2 is damaged with barrier collision in order to prevent, and LDS component 2 is equipped with anticollision layer, it is preferable that anticollision layer
For anticollision ring 23, anticollision ring 23 is sheathed on the outer wall of upper cover 21, it is further preferred that anticollision layer is made of elastic material, has
The machine of sweeping the floor of anticollision layer structure, extends the service life of LDS component 2, improves the operation stability of sweeping robot.
In order to accelerate the reset speed of LDS component 2, the front surface of cylinder 22 is equipped with the second absorbent module 6, the second absorption group
Part 6 can be mobile to the first absorbent module 5 under the drive of reset assembly, and adsorbs with 5 phase of the first absorbent module and realize LDS group
The reset of part 2, it is preferable that the first absorbent module 5 and the second absorbent module 6 are electromagnet, and the first absorbent module 5 and second is inhaled
Attached component 6 has certain attraction, and the absorbent module of this structure can accelerate the reset speed of LDS component 2, improves sweeper
The operational flexibility of device people.
Wherein, the position of 22 front surface of cylinder is that the direction that sweeping robot advances is identical.
Compared with prior art, sweeping robot provided in this embodiment, LDS component 2 can be in sweeping robot ontologies 1
Top setting recessed portion in move, along sweeping robot direction of advance, the front side wall of recessed portion is equipped with the first absorption group
Part 5, the rear wall of recessed portion are equipped with trigger assembly 7, are additionally provided in recessed portion for driving LDS component 2 to the first absorbent module 5
Mobile reset assembly, the design of this structure can make sweeping robot in LDS component 2 and the undetected obstacle of sweeping robot
When object collides, corresponding movement is made to exit the barrier region, and then LDS component 2 is avoided to touch with barrier
It is damaged after hitting, improves the operational reliability of sweeper people, extend service life.By being arranged in the outside of upper cover 21
Anticollision layer can be avoided when 2 upper cover 21 of LDS component of sweeping robot collides with barrier to upper cover 21 and LDS group
The impact force of part 2 extends the service life of LDS component 2.
Embodiment two
Present embodiment discloses a kind of methods of LDS component damaged in collision for preventing sweeping robot, wherein machine of sweeping the floor
Sweeping robot in artificial embodiment one, comprising the following steps:
Step 1: for LDS component 2 when being in contact with barrier, LDS component 2 is opposite to sweeping robot direction of travel
Side is mobile, and LDS component 2 is separated with the first absorbent module 5, and the first absorbent module 5 is divided LDS component 2 and the first absorbent module 5
Controller 3 is sent to from signal.
Step 2: when LDS component 2 is in contact with trigger assembly 7, collision alarm is generated, trigger assembly 7 is by collision alarm
It is sent to controller 3, controller 3 issues backing signal to wheel assembly 10, drives sweeping robot exiting obstacles object area；Specifically
, controller 3 issues backing signal to wheel assembly 10, retreats wheel assembly 10, with the phase of the current direction of travel of sweeping robot
It tosses about traveling, to exit the barrier region.
Step 3: when sweeping robot retreats, controller 3 detects that wheel assembly 10 rotated backward after the stipulated time, such as to
After rotate at least 3 seconds after, controller 3 control reset assembly make LDS component 2 and trigger assembly 7 be detached from and with the first absorbent module 5
2 reset signal of LDS component of generation is sent to controller 3 by contact, the first absorbent module 5, and it is multiple that controller 3 controls reset assembly
Position.If reset assembly be telescopic rod, after controller 3 detects that wheel assembly 10 rotates backward, after a period of time, preferably 3 seconds with
Afterwards, issued to two telescopic rods and stretch out signals so that telescopic rod pushes forward LDS component 2, make the cylinder 22 of LDS component 2 with
Trigger assembly 7 separates, until LDS component 2 resets；If reset assembly is driving motor, controller 3 detects wheel assembly 10 backward
After rotation, issue run signal to driving motor, driving motor pushes forward LDS component 2, make the cylinder 22 of LDS component 2 with
Trigger assembly 7 separates, until LDS component 2 resets, after LDS component 2 and the contact of the first absorbent module 5, it is multiple to generate LDS component 2
Position signal, the first absorbent module 5 is by 2 reset signal of LDS component and is sent to controller 3, and controller 3 is controlled after receiving reset signal
Telescopic rod or driving motor processed reset.
In step 2, after controller 3 receives separation signal, reduce-speed sign is sent to wheel assembly 10, controller 3 controls
Wheel assembly 10 slows down, and reduces the current travel speed of sweeping robot；Deceleration reach the stipulated time after, preferably slow down 10 seconds with
Afterwards, if trigger assembly 7 does not send collision alarm to controller 3, controller 3 sends driving signal to reset assembly, resets
Component driver LDS component 2 is mobile to the first absorbent module 5, until LDS component 2 is contacted with absorbent module, the first absorbent module 5
2 reset signal of LDS component of generation is sent to controller 3, controller 3 controls reset assembly and resets, and controls machine of sweeping the floor
People restores travel speed.
Compared with prior art, it is damaged after the LDS component and bar contact provided in this embodiment for preventing sweeping robot
Bad method, is cooperated by the controller 3 of setting, absorbent module, reset assembly and LDS component 2, and Fig. 3 shows controller 3
Controller 3 and absorbent module, reset assembly, trigger assembly 7, wheel assembly 10 and first has been shown in particular in operation principle schematic diagram
The work matching relationship of absorbent module 5, LDS component 2 can be pushed up in the recessed portion being not provided in sweeping robot ontology 1 and be moved, energy
Enough change routes in time, avoid LDS component 2 from colliding with barrier, this method is easy to operate, and high sensitivity significantly improves
The operational reliability and safety of sweeping robot.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (13)
1. a kind of sweeping robot, including sweeping robot ontology, wheel assembly, LDS component and controller, which is characterized in that
It further include the recessed portion for accommodating the LDS component；
The rear wall of the recessed portion is equipped with trigger assembly；
When the LDS component and the trigger assembly contact, LDS collision alarm is generated, and be sent to the controller, it is described
Controller drives the wheel assembly to retreat.
2. sweeping robot according to claim 1, which is characterized in that the LDS component is by moving assembly described
The inside of recessed portion is mobile.
3. sweeping robot according to claim 2, which is characterized in that the moving assembly is roll wheel assembly comprising
Column, the column are connect by bolt with the lower end of the LDS component；
The column two sides are equipped with idler wheel, and the idler wheel can move in the track for being set to the recessed portion bottom.
4. sweeping robot according to claim 2 or 3, which is characterized in that be additionally provided in the inside of the recessed portion
One absorbent module and reset assembly, first absorbent module are located on the front side wall of the recessed portion, and the reset assembly drives
Dynamic LDS component is moved to the position of first absorbent module.
5. sweeping robot according to claim 4, which is characterized in that the reset assembly is to be set on roll wheel assembly
Driving motor, driving motor driving moves LDS component in the recessed portion, and is moved to the first absorption group
The position of part.
6. sweeping robot according to claim 4, which is characterized in that the reset assembly is telescopic rod, described flexible
Bar is set to the rear wall of the recessed portion, and the telescopic direction of the telescopic rod is vertical with the longitudinal centre line of the LDS component；
The telescopic rod driving moves LDS component in the recessed portion, and is moved to the position of first absorbent module.
7. sweeping robot according to claim 4, which is characterized in that the rear wall of the recessed portion is equipped with protection group
Part, the trigger assembly can retract into the guard assembly, and can automatically reset.
8. sweeping robot according to claim 4, which is characterized in that the LDS component includes upper cover and cylinder, described
The diameter of recessed portion is greater than the diameter of the cylinder and is less than the diameter of the upper cover.
9. sweeping robot according to claim 8, which is characterized in that the front surface of the cylinder is equipped with the second absorption group
Part, second absorbent module can be mobile to first absorbent module under the drive of reset assembly, and with described first
Absorbent module mutually adsorbs the reset for realizing LDS component.
10. a kind of method for the LDS component damaged in collision for preventing sweeping robot, the sweeping robot is claim 1-9
The sweeping robot, comprising the following steps:
Step 1: for LDS component when being in contact with barrier, LDS component is mobile to the opposite side of sweeping robot direction of travel；
Step 2: when LDS component is in contact with trigger assembly, collision alarm is sent to controller, controller by trigger assembly
Backing signal is issued to wheel assembly, drives sweeping robot exiting obstacles object area.
11. the method for the LDS component damaged in collision according to claim 10 for preventing sweeping robot, which is characterized in that
In step 1, when being in contact with barrier, LDS component separates LDS component with the first absorbent module, and the first absorbent module will
LDS component and the separation signal of the first absorbent module are sent to controller.
12. the method for the LDS component damaged in collision according to claim 10 for preventing sweeping robot, which is characterized in that
In step 2, after controller receives separation signal, reduce-speed sign, controller control wheel component deceleration are sent to wheel assembly；
After deceleration reaches the stipulated time, if trigger assembly is not to controller transmission collision alarm, controller is to reset assembly
Driving signal is sent, reset assembly drives LDS component mobile to the first absorbent module, until LDS component is contacted with absorbent module,
The LDS component reset signal of generation is sent to controller by the first absorbent module, and controller controls reset assembly and resets, and controls
Sweeping robot restores travel speed.
13. the method for the LDS component damaged in collision according to claim 10 for preventing sweeping robot, which is characterized in that
It further include step 3, when sweeping robot retreats, controller detects that wheel assembly rotated backward after the stipulated time, controller control
Reset assembly is detached from LDS component and trigger assembly and contacts with the first absorbent module, and the first absorbent module is by the LDS group of generation
Part reset signal is sent to controller, and controller controls reset assembly and resets.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481391.8A CN109394088A (en) | 2018-12-05 | 2018-12-05 | A kind of method and sweeping robot preventing LDS component damaged in collision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811481391.8A CN109394088A (en) | 2018-12-05 | 2018-12-05 | A kind of method and sweeping robot preventing LDS component damaged in collision |
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| CN201811481391.8A Pending CN109394088A (en) | 2018-12-05 | 2018-12-05 | A kind of method and sweeping robot preventing LDS component damaged in collision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074732A (en) * | 2019-05-28 | 2019-08-02 | 东莞市智科智能科技有限公司 | A kind of collision steering structure of sweeping robot |
| CN114668342A (en) * | 2022-05-06 | 2022-06-28 | 瑞信塑胶电子(深圳)有限公司 | Energy-saving intelligent sweeping robot capable of automatically avoiding obstacles and method thereof |
| WO2022142393A1 (en) * | 2020-12-28 | 2022-07-07 | 追觅创新科技(苏州)有限公司 | Collision plate structure and robot vacuum cleaner |
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Address after: 7-605, 6th floor, building 1, yard a, Guanghua Road, Chaoyang District, Beijing 100026 Applicant after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 100101 6, 1 building, 169 Beiyuan Road, Chaoyang District, Beijing. Applicant before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |